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openai / mujoco-py

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.
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Question about the mocap control term #689

Open YuheGong opened 2 years ago

YuheGong commented 2 years ago

Hello, here is actually not a bug. I am just wondering, is there a way to use the sim.data.ctrl to control mocap robot(like FetchReacher)? Actually for mujoco model, there are two control method, one is mocap, the other is actuator, which use sim.data.ctrl. But for mocap control model, there are no actuators.

However, in our project, we want to recently use a PD controller into the Fetch Reacher environment, which means, we want to use sim.data.ctrl term to control the mocap model,

So is there any way to use the sim.data.ctrl to control mocap robot(like FetchReacher)? For example, use some method or class to change the control signal inside mujoco?

Thank you very much

best regards, Yuhe