A `composer.Task` that tracks call order of callbacks.
| 250 | |
| 251 | |
| 252 | class TrackedTask(HooksTracker, composer.NullTask): |
| 253 | """A `composer.Task` that tracks call order of callbacks.""" |
| 254 | |
| 255 | def __init__(self, physics_timestep, control_timestep, *args, **kwargs): |
| 256 | super().__init__( |
| 257 | physics_timestep=physics_timestep, |
| 258 | control_timestep=control_timestep, |
| 259 | *args, |
| 260 | **kwargs) |
| 261 | self.set_timesteps( |
| 262 | physics_timestep=physics_timestep, control_timestep=control_timestep) |
| 263 | add_bodies_and_actuators(self.root_entity.mjcf_model, num_actuators=4) |
| 264 | |
| 265 | |
| 266 | class HooksTestMixin: |