Solve it!
By mj_contactForce(const mjModel* m,const mjData* d,int id, mjtNum* result) , I can get a 6D force/torque for one contact, in contact frame....
The train script and play script are all in the experiment directory of that HER repository.
Hi guys, I am trying to implement a robot, which could fetch stuff while avoiding hurting or colliding the surrounding humans. And there is...
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