I would like to implement a custom gain function. In raw MuJoCo it would be about writing a piece of code for the mjcb_act_gain callback. I guess that in the mujoco_py is not the case.
In the documentation of mujoco_py, I found that I can access to MuJoCo by raw cython declaration. I dig a little into the code and I found callback function types for actuators dynamics, gain and bias in mjdata.pxd file, probably giving an opportunity to solve my problem. Unfortunately, I have no idea how I should use them.
Did anyone try to do that or can point me in the right direction for solving this problem?
Hi Guys,
I would like to implement a custom gain function. In raw MuJoCo it would be about writing a piece of code for the mjcb_act_gain callback. I guess that in the mujoco_py is not the case.
In the documentation of mujoco_py, I found that I can access to MuJoCo by raw cython declaration. I dig a little into the code and I found callback function types for actuators dynamics, gain and bias in mjdata.pxd file, probably giving an opportunity to solve my problem. Unfortunately, I have no idea how I should use them.
Did anyone try to do that or can point me in the right direction for solving this problem?
Thanks!