Possibility to Access the Activation Level of the Joints

[Nielssss99]

Hey

I was wondering whether there is an option to access the outputs of the CPPN over time? If this feature does not exist; where in the code can I find the call to the CPPN during the Mujoco simulation?

Thanks in advance!

Niels

[oliverweissl]

If you want to know the control signals, you can looke at ControlInterfaceImplin mujoco_simulator. The control interface is then used by the SimulationHandlerwhich you can look at in modular_robot_simulation.ModularRobotSimulationHandler.

Going through these two classes you will see where the outputs are passed and how they are used.
Additionally you might want to look into simulators.mujoco_simulator.simulate_scene to see how they are used in sequence during the simulation.