Support for acceleration-based policies?

[benjamin-macadam]

I was wondering if you have any plans to support training acceleration-based policies (I have a few that I would like to try out with Brax), or if there is any workaround to using joint accelerations in Brax/computing joint forces from joint accelerations.

[btaba]

Hi @benjamin-macadam thanks for using brax! Could you clarify what you mean by acceleration-based policies? You can supply a tau, a joint actuation force to the engine, example, xml ref. Is that what you mean or something else?