Python mj_forward Examples

Example #1

 def forward(self):
   """Recomputes the forward dynamics without advancing the simulation."""
   # Note: `mj_forward` differs from `mj_step1` in that it also recomputes
   # quantities that depend on acceleration (and therefore on the state of the
   # controls). For example `mj_forward` updates accelerometer and gyro
   # readings, whereas `mj_step1` does not.
   # http://www.mujoco.org/book/programming.html#siForward
   mjlib.mj_forward(self.model.ptr, self.data.ptr)

Example #2

File: runtime.py Project: tsinghua-rll/dm_control

 def _step_paused(self):
     mjlib.mj_forward(self._env.physics.model.ptr,
                      self._env.physics.data.ptr)