Method _substep

dm_control/composer/environment.py:461–465

(self, action)

      return dm_env.TimeStep(dm_env.StepType.LAST, reward, discount, obs)

  def _substep(self, action):
    self._hooks.before_substep(
        self._physics_proxy, action, self._random_state)
    self._physics.step()
    self._hooks.after_substep(self._physics_proxy, self._random_state)

  def close(self):
    super().close()