code: def forward_dynamics(self, torques, start=0, states=None):
          '''Move the body according to a set of torque data.'''
          if states is not None:
              self.skeleton.set_body_states(states)
          for frame_no, torque in enumerate(torques):
              if frame_no < start:
                  continue
              if frame_no >= end:
                  break
              self.ode_space.collide(None, self.on_collision)
              self.skeleton.add_torques(torque)
              self.ode_world.step(self.dt)
              yield
              self.ode_contactgroup.empty(f forward_dynamics(self, torques, start=0, states=None):
          '''Move the body according to a set of torque data.'''
          if states is not None:
              self.skeleton.set_body_states(states)
          for frame_no, torque in enumerate(torques):
              if frame_no < start:
                  continue
              if frame_no >= end:
                  break
              self.ode_space.collide(None, self.on_collision)
              self.skeleton.add_torques(torque)
              self.ode_world.step(self.dt)
              yield
              self.ode_contactgroup.empty()
docs: Move the body according to a set of torque data.