Method act

sandbox/simulation_utils.py:46–51

(
        self, simulator: simple.Simulator, q: np.ndarray, v: np.ndarray, dt
    )

        self.damping_factor = damping_factor

    def act(
        self, simulator: simple.Simulator, q: np.ndarray, v: np.ndarray, dt
    ) -> np.ndarray:
        # Note: simulator and model should coincide
        tau_act = -self.damping_factor * v[6:]
        return self.actuation @ tau_act


class RobotArmDampingPolicy(Policy):