The response of the ATLAS detector to large-radius jets is measured in situ using 36.2 fb$\mathrm{<mrow\; data-mjx-texclass="ORD">-1</mrow>}$ of $s=13$ TeV proton-proton collisions provided by the LHC and recorded by the ATLAS experiment during 2015 and 2016. The jet energy scale is measured in events where the jet recoils against a reference object, which can be either a calibrated photon, a reconstructed $Z$ boson, or a system of well-measured small-radius jets. The jet energy resolution and a calibration of forward jets are derived using dijet balance measurements. The jet mass response is measured with two methods: using mass peaks formed by $W$ bosons and top quarks with large transverse momenta and by comparing the jet mass measured using the energy deposited in the calorimeter with that using the momenta of charged-particle tracks. The transverse momentum and mass responses in simulations are found to be about 2-3% higher than in data. This difference is adjusted for with a correction factor. The results of the different methods are combined to yield a calibration over a large range of transverse momenta ($pT$). The precision of the relative jet energy scale is 1-2% for , while that of the mass scale is 2-10%. The ratio of the energy resolutions in data and simulation is measured to a precision of 10-15% over the same $pT$ range.