I want to use brax and make an environment where the action space isn't the control signal for the actuators but rather the joint configurations (qpos) of all the non root joints and then use this as a setpoint for PD control to generate the ctrl signal. I cannot find anyway to do this. The base env class does have a property called action_size but it has no setter. So cannot change it. It automatically gets set to the ctrl size from the xml model. This is very inconvenient and it would have been better if the user had more control over the environment action space. Please let me know if there is a way to use a custom action space. Or please consider adding a feature to do so!
Thank you
I want to use brax and make an environment where the action space isn't the control signal for the actuators but rather the joint configurations (qpos) of all the non root joints and then use this as a setpoint for PD control to generate the ctrl signal. I cannot find anyway to do this. The base env class does have a property called action_size but it has no setter. So cannot change it. It automatically gets set to the ctrl size from the xml model. This is very inconvenient and it would have been better if the user had more control over the environment action space. Please let me know if there is a way to use a custom action space. Or please consider adding a feature to do so!
Thank you