Comment out code

tray_sim.py

@@ -103,17 +103,17 @@ def run_tray_simulation(seed=0, num_objects=N_OBJECTS, azimuth=45, elevation=-25
             #data.qvel[pusher_vel_idx:pusher_vel_idx+3] = [-0.05, 0.05, 0.0]  # toward center
             data.qvel[pusher_vel_idx:pusher_vel_idx+3] = push_velocity  # toward center
 
-        if t == IMPACT_STEP and not tray_force_applied:
-            mujoco.mj_applyFT(
-                model,
-                data,
-                np.array([5.0, 0.0, 0.0]),       # force (e.g. impulse to the right; adjust magnitude)
-                np.array([0.0, 0.0, 0.0]),       # torque
-                np.array([0.0, 0.0, 0.0]),       # point in global frame (apply at body origin)
-                tray_id,                         # body ID
-                data.qfrc_applied                # force accumulator to apply into
-            )
-            tray_force_applied = True
+        #if t == IMPACT_STEP and not tray_force_applied:
+        #    mujoco.mj_applyFT(
+        #        model,
+        #        data,
+        #        np.array([5.0, 0.0, 0.0]),       # force (e.g. impulse to the right; adjust magnitude)
+        #        np.array([0.0, 0.0, 0.0]),       # torque
+        #        np.array([0.0, 0.0, 0.0]),       # point in global frame (apply at body origin)
+        #        tray_id,                         # body ID
+        #        data.qfrc_applied                # force accumulator to apply into
+        #    )
+        #    tray_force_applied = True
         
         mujoco.mj_step(model, data)
         renderer.update_scene(data, camera=cam, scene_option=scene_option)