Hi, I was wondering what is the right way to change cheetah configuration such that it cannot apply torques to a joint? or simply to disable a joint of cheetah during simulation? In addation, how about making Ant to have a crippled leg? Want to do something similar to experiments in https://openreview.net/pdf?id=HyztsoC5Y7 (Check out figure 2) Any examples or links would be great help. Thanks
You cannot remove actuators from the model during runtime. You could for example alter the joint friction during runtime to a very high value in order to simulate a "crippled leg". Another approach would be to add constraints that are disabled by default and enable them during simulation.