Expand description
Model sanity checks.
These catch the class of authoring mistake that produces a plausible
simulation rather than an obviously broken one. The motivating case: a joint
whose range excludes zero. Model::default_state() starts every joint at
q = 0, so such a model begins already violating its own limit, the limit
spring fires at full strength on step one, and the robot catapults. Nothing
about that failure points at the model file.
Structsยง
- Issue
- A problem found in a model.