Runs after resetting internal variables of the physics simulation.
(self)
| 327 | self.forward() |
| 328 | |
| 329 | def after_reset(self): |
| 330 | """Runs after resetting internal variables of the physics simulation.""" |
| 331 | # Disable actuation since we don't yet have meaningful control inputs. |
| 332 | with self.model.disable('actuation'): |
| 333 | self.forward() |
| 334 | |
| 335 | def forward(self): |
| 336 | """Recomputes the forward dynamics without advancing the simulation.""" |