Returns list of arrays making up internal physics simulation state. The physics state consists of the state variables, their derivatives and actuation activations. If the model contains plugins, then the state will also contain any plugin state. Returns: List of NumPy arrays
(self)
| 565 | return self._data |
| 566 | |
| 567 | def _physics_state_items(self): |
| 568 | """Returns list of arrays making up internal physics simulation state. |
| 569 | |
| 570 | The physics state consists of the state variables, their derivatives and |
| 571 | actuation activations. If the model contains plugins, then the state will |
| 572 | also contain any plugin state. |
| 573 | |
| 574 | Returns: |
| 575 | List of NumPy arrays containing full physics simulation state. |
| 576 | """ |
| 577 | if self.model.nplugin > 0: |
| 578 | return [ |
| 579 | self.data.qpos, |
| 580 | self.data.qvel, |
| 581 | self.data.act, |
| 582 | self.data.plugin_state, |
| 583 | ] |
| 584 | else: |
| 585 | return [self.data.qpos, self.data.qvel, self.data.act] |
| 586 | |
| 587 | # Named views of simulation data. |
| 588 |
no outgoing calls