Method copy

dm_control/mujoco/engine.py:287–304

Creates a copy of this `Physics` instance. Args: share_model: If True, the copy and the original will share a common MjModel instance. By default, both model and data will both be copied. Returns: A `Physics` instance.

(self, share_model=False)

      )

  def copy(self, share_model=False):
    """Creates a copy of this `Physics` instance.

    Args:
      share_model: If True, the copy and the original will share a common
        MjModel instance. By default, both model and data will both be copied.

    Returns:
      A `Physics` instance.
    """
    new_data = self.data._make_copy(share_model=share_model)  # pylint: disable=protected-access
    cls = self.__class__
    new_obj = cls.__new__(cls)
    # pylint: disable=protected-access
    new_obj._warnings_cause_exception = True
    new_obj._reload_from_data(new_data)
    # pylint: enable=protected-access
    return new_obj

  def reset(self, keyframe_id=None):
    """Resets internal variables of the simulation, possibly to a keyframe.