How to set actor's state and get its state just set


I want to set my actor’s states when reset function is called. I can easily set the state to the tensor I got from:


It can be set using root state + joint state. After done this, I want to get some other state, e.g. position/rotation of other body. However, I cannot get the state because the function gym.simulate(sim) has not been called. If gym.simulate(sim) has been called, then time dt passed.

So my question is how to get the full state tensor just after I set the state to the actor, is there a function like refresh or simulate 0s?

Thanks in advanced.