Optional method to update the task after the physics engine has stepped. Called by `control.Environment` after stepping the physics engine and before `control.Environment` calls `get_observation, `get_reward` and `get_termination`. The default implementation is a no-op. Args:
(self, physics)
| 299 | """ |
| 300 | |
| 301 | def after_step(self, physics): |
| 302 | """Optional method to update the task after the physics engine has stepped. |
| 303 | |
| 304 | Called by `control.Environment` after stepping the physics engine and before |
| 305 | `control.Environment` calls `get_observation, `get_reward` and |
| 306 | `get_termination`. |
| 307 | |
| 308 | The default implementation is a no-op. |
| 309 | |
| 310 | Args: |
| 311 | physics: Instance of `Physics`. |
| 312 | """ |
| 313 | |
| 314 | @abc.abstractmethod |
| 315 | def action_spec(self, physics): |