Method step

dm_control/mujoco/engine.py:164–176

Advances the physics state by `nstep`s. Args: nstep: Optional integer, number of steps to take. The actuation can be updated by calling the `set_control` function first.

(self, nstep: int = 1)

    mujoco.mj_step1(self.model.ptr, self.data.ptr)

  def step(self, nstep: int = 1) -> None:
    """Advances the physics state by `nstep`s.

    Args:
      nstep: Optional integer, number of steps to take.

    The actuation can be updated by calling the `set_control` function first.
    """
    with self.check_invalid_state():
      if self.legacy_step:
        self._step_with_up_to_date_position_velocity(nstep)
      else:
        mujoco.mj_step(self.model.ptr, self.data.ptr, nstep)

  def render(
      self,