def act(self, i, numOptim=0, use_window=0, friction=0.5, optim_effectors=True, time_scale=1, verbose=True, draw=False, trackedEffectors=[]): return step(self.fullBody, self.configs, i, numOptim, self.pp, self.limbsCOMConstraints, friction, optim_effectors=optim_effectors, time_scale=time_scale, useCOMConstraints=False, use_window=use_window, verbose=verbose, draw=draw, trackedEffectors=trackedEffectors, use_velocity=self.use_velocity, pathId=self.pathId)
def act(i, numOptim=0): return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.5, optim_effectors=False, time_scale=20., useCOMConstraints=False)
def act(i, numOptim=0, use_window=0, friction=0.5, optim_effectors=True, verbose=False, draw=False): return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors=optim_effectors, time_scale=20., useCOMConstraints=True, use_window=use_window, verbose=verbose, draw=draw)
def act(i, numOptim = 0): return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.5, optim_effectors = False, time_scale = 20., useCOMConstraints = False)