Is there a relatively simple way to modify certain parameters of the environment, such as gravity level, friction, etc? For example I tried modifying the ‘G’ variable found in the L2M2019Env class both on the class and instance level, but it seems to make no change. I’m also starting to look into the osim package code, but not sure if that will pay off.
You can change the physics parameters in the .osim file. For example, you can set zero gravity in the ./osim/models/gait14dof22musc_20170320.osim by changing line 9 to 0 0 0. Hope this helps.
Great thanks, it worked!