I have a project where i have to modify a mujoco environment - Doubleinvertedpendulum into a closed loop kinematic chain, thus i have change the xml file to include a second cart with the end poles joined with the poles of the initial cart, as well as fixing the positions of the carts and only allowing rotational movement.
However i am still using the environment file from the original Doubleinvertedpendulum environment with a single cart.
My question is: if i were to change the xml file, does mujoco somehow modifies the environment dynamics (etc how reward is given) according to how the xml file is modified? Or do i have to modifiy the environment file myself, if so, which are the functions
i should be modifying?
I have a project where i have to modify a mujoco environment - Doubleinvertedpendulum into a closed loop kinematic chain, thus i have change the xml file to include a second cart with the end poles joined with the poles of the initial cart, as well as fixing the positions of the carts and only allowing rotational movement.
However i am still using the environment file from the original Doubleinvertedpendulum environment with a single cart.
My question is: if i were to change the xml file, does mujoco somehow modifies the environment dynamics (etc how reward is given) according to how the xml file is modified? Or do i have to modifiy the environment file myself, if so, which are the functions i should be modifying?
xml file: