(self)
Recomputes the forward dynamics without advancing the simulation.
Recomputes the forward dynamics without advancing the simulation.
Recomputes the forward dynamics without advancing the simulation .
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
    with self.check_invalid_state():
      mjlib.mj_forward(self.model.ptr, self.data.ptr)
def forward ( self ) : # 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 with self . check_invalid_state ( ) : mjlib . mj_forward ( self . model . ptr , self . data . ptr )