Force_mode (source code)

I would like to know if there is any way to get more information about force_mode()
I know that there are functions like force_mode_set_damping(damping) and force_mode_set_gain_scaling(scaling) but I would like to get a glimpse of whats happening under the hood when force_mode is executed.

We are working with Reinforcement Learning in simulation and then transfer learned policies to real robot. We cant model simulation well if we do not know what does force_mode do under the hood.

I would appreciate any info :slight_smile:

@mmi is there any chance for assistance related to this?

Unfortunately we don’t have any materials that we can freely publish outside of R&D.