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