Hello, I am trying to implement PD controller for upper body in frequency of 2000Hz, and apply policy action for lower body in frequency of 250Hz. So I decided to apply this inside the task code in function pre_physics_step with tuned dt=1/2000 & control_freq = 8. But for updating PD values for upper body, can I use for loop inside pre_physics_step to call the function gym.set_dof_actuation_force_tensor several times? (8 times per pre_physics_step function for my case) I’ll be glad to know if this could work, or whether i need to use different algorithm.
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