failure to enable energy computation

[BlaiseDio23]

Hi everyone,

I'm working on a humanoid stable gait generation scheme and need to analyse the energy consumption but i don't really understand how to enable energy computation.

I understand that this is accomplished using the "mjENBL_ENERGY" bit but where and how?
Currently, setting
PE = self.data.energy[0]
KE = self.data.energy[1]
then printing PE and KE returns nothing. Yes becuase energy computation has not been enabled but i just seem not to understand how to go about it.

Kindly assist ASAP

[hukz18]

Late response but may help others, you can just add

<option>
  <flag energy="enable"/>
</option>

to the XML file, as shown in this MuJoCo tutorial.