Changing mjx_model parameters at runtime

[schefferac2020]

Apologies if this is a simple question, but is there a clean way of changing model parameters (i.e. surface friction, torso mass, etc) with some probability during an environment rollout instead of at reset()? Thanks!

[SakuraToErii]

I have the same need, and it's quite challenging for me.

[btaba]

Hello, you can likely do it, just don't use the stock wrappers we provide. Instead of using the static model, modify it here on the fly. Your throughput will likely drop.