Optionally enable actuation in `physics.after_reset`?

[vaxenburg]

Would it make sense to optionally enable actuation in the after_reset method here?

The use case I have in mind is initializing episode with actuators in a certain activation state physics.data.act, before any control input is provided. What do you think?

[yuvaltassa]

Disabling actuation only clears out qfrc_actuator, it doesn't touch mjData.act, so are you sure this is actually required? Ie on the next step everything should be fine

[vaxenburg]

Yeah in practice it works from the next physics step too, but still feels a bit odd that I can't initialize from the state I want? But probably it would be a hassle to implement this change in dm_control anyway, so not a big deal. Thanks!