(self, actions)
| 124 | return sim |
| 125 | |
| 126 | def step(self, actions): |
| 127 | if self.dr_randomizations.get('actions', None): |
| 128 | actions = self.dr_randomizations['actions']['noise_lambda'](actions) |
| 129 | |
| 130 | # apply actions |
| 131 | self.pre_physics_step(actions) |
| 132 | |
| 133 | # step physics and render each frame |
| 134 | self._physics_step() |
| 135 | |
| 136 | # to fix! |
| 137 | if self.device == 'cpu': |
| 138 | self.gym.fetch_results(self.sim, True) |
| 139 | |
| 140 | # compute observations, rewards, resets, ... |
| 141 | self.post_physics_step() |
| 142 | |
| 143 | if self.dr_randomizations.get('observations', None): |
| 144 | self.obs_buf = self.dr_randomizations['observations']['noise_lambda'](self.obs_buf) |
| 145 | |
| 146 | def get_states(self): |
| 147 | return self.states_buf |
nothing calls this directly
no test coverage detected