def _update_ghost(self, physics: 'mjcf.Physics'):
if self._ghost_offset is not None:
target = tree.map_structure(lambda x: x[self._time_step],
self._clip_reference_features)
utils.set_walker_from_features(physics, self._ghost, target,
self._ghost_offset)
mjlib.mj_kinematics(physics.model.ptr, physics.data.ptr)
def _set_walker(self, physics: 'mjcf.Physics'):
timestep_features = tree.map_structure(lambda x: x[self._time_step],
self._clip_reference_features)
utils.set_walker_from_features(physics, self._walker,
timestep_features)
if self._props:
utils.set_props_from_features(physics, self._props,
timestep_features)
mjlib.mj_kinematics(physics.model.ptr, physics.data.ptr)
