def step(self, n_sub_steps=1):
"""Advances physics with up-to-date position and velocity dependent fields.
The actuation can be updated by calling the `set_control` function first.
Args:
n_sub_steps: Optional number of times to advance the physics. Default 1.
"""
# In the case of Euler integration we assume mj_step1 has already been
# called for this state, finish the step with mj_step2 and then update all
# position and velocity related fields with mj_step1. This ensures that
# (most of) mjData is in sync with qpos and qvel. In the case of non-Euler
# integrators (e.g. RK4) an additional mj_step1 must be called after the
# last mj_step to ensure mjData syncing.
for _ in xrange(n_sub_steps):
if self.model.opt.integrator == enums.mjtIntegrator.mjINT_EULER:
mjlib.mj_step2(self.model.ptr, self.data.ptr)
mjlib.mj_step1(self.model.ptr, self.data.ptr)
else:
mjlib.mj_step(self.model.ptr, self.data.ptr)
if self.model.opt.integrator != enums.mjtIntegrator.mjINT_EULER:
mjlib.mj_step1(self.model.ptr, self.data.ptr)
self.check_divergence()
def step(self):
"""Advances physics with up-to-date position and velocity dependent fields.
The actuation can be updated by calling the `set_control` function first.
"""
# In the case of Euler integration we assume mj_step1 has already been
# called for this state, finish the step with mj_step2 and then update all
# position and velocity related fields with mj_step1. This ensures that
# (most of) mjData is in sync with qpos and qvel. In the case of non-Euler
# integrators (e.g. RK4) an additional mj_step1 must be called after the
# last mj_step to ensure mjData syncing.
# print("applying", self.named.data.ctrl)
with self.check_invalid_state():
if self.model.opt.integrator == enums.mjtIntegrator.mjINT_EULER:
mjlib.mj_step2(self.model.ptr, self.data.ptr)
else:
mjlib.mj_step(self.model.ptr, self.data.ptr)
mjlib.mj_step1(self.model.ptr, self.data.ptr)
