Maximilian Stölzle

@armantekinalp Here is a first prototype of the controller interface. I mainly took the external forces mixin and adjusted it to the purposes of the control task. Can you please...

I updated the initial post of this PR with the example of a pendulum tracking a sphere. @skim0119 @armantekinalp From my side this PR is ready except for the missing...

> I updated the initial post of this PR with the example of a pendulum tracking a sphere. > > > > @skim0119 @armantekinalp From my side this PR is...

> We have come up with a rough concept and interface to address above, and we would like to know if this covers the features you want. @skim0119 Thanks a...

### Regarding actions Ok thanks, I understand the purpose a bit better then. > parameters = [np.ones(17,), np.zeros(17,)] > controller.set_action(parameters) I don't understand why you are passing here a list...

> Here the idea is there might be more than one active system in the simulator and we pass a list containing actions for each rod. @skim0119 can confirm Ok,...

### Regarding the major comment > Maybe there is something I'm missing, but I believe we are getting closer to what is needed. Could you maybe provide some example scripts...

@skim0119 Thanks for going through the effort and coding the implementation of this example :) I think this would work and cover the technical needs of my project. From a...

Would the `Controller` mixin mentioned here have access to the whole simulator state (e.g. not just the state of a single rod)? This is a requirement we have for the...

> * [ ] `Controller` mixin interface : interface for attaching arbitrary controllers (once again needs a different PR) I will make a first proposal / attempt for the `Controller`...