Merge pull request #272 from thowell/ctrl_limit

Check model for missing actuator limits

Author: erez-tom

mjpc/agent.cc

@@ -73,6 +73,19 @@ void Agent::Initialize(const mjModel* model) {
   if (model_) mj_deleteModel(model_);
   model_ = mj_copyModel(nullptr, model);  // agent's copy of model
 
+  // check for limits on all actuators
+  int num_missing = 0;
+  for (int i = 0; i < model_->nu; i++) {
+    if (!model_->actuator_ctrllimited[i]) {
+      num_missing++;
+      printf("%s (actuator %i) missing limits\n",
+             model_->names + model_->name_actuatoradr[i], i);
+    }
+  }
+  if (num_missing > 0) {
+    mju_error("Ctrl limits required for all actuators.\n");
+  }
+
   // planner
   planner_ = GetNumberOrDefault(0, model, "agent_planner");