I implemented the MPC algorithm. However, I was unable to run the provided HalfCheetahEnvNew as it threw 'mujoco_py.cymj.PyMjModel' object has no attribute 'data'
I think in the latest mujoco, the data has been moved out from model by replacing self.model.data with self.data
self.sim = MjSim(self.model)
self.data = self.sim.data
I think in the latest mujoco, the data has been moved out from model by replacing
self.model.datawithself.data