sim.sap_runtime.SapState#

class sim.sap_runtime.SapState(joint_q: array, joint_qd: array, body_q: array, body_qd: array | None = None, body_f: array | None = None, joint_qd_order: Literal['sap', 'public'] = 'sap', body_f_order: Literal['sap', 'public'] = 'sap', requires_grad: bool = False)[source]#

Bases: object

Mutable SAP simulation state. Positions, velocities, body poses, body velocities, and external forces live here while SapModel remains immutable.

__init__(joint_q: array, joint_qd: array, body_q: array, body_qd: array | None = None, body_f: array | None = None, joint_qd_order: Literal['sap', 'public'] = 'sap', body_f_order: Literal['sap', 'public'] = 'sap', requires_grad: bool = False) → None#

Methods

`__init__`(joint_q, joint_qd, body_q[, ...])
`assign`(other)	Copy all state arrays from another SapState with matching optional-buffer layout.
`clear_forces`()	Clear external body forces in place while leaving positions and velocities unchanged.

Attributes

`body_f`
`body_f_order`
`body_qd`
`joint_qd_order`
`requires_grad`
`joint_q`
`joint_qd`
`body_q`