Method before_step

dm_control/rl/control.py:289–299

Updates the task from the provided action. Called by `control.Environment` before stepping the physics engine. Args: action: numpy array or array-like action values, or a nested structure of such arrays. Should conform to the specification returned by `self.action_spe

(self, action, physics)

  @abc.abstractmethod
  def before_step(self, action, physics):
    """Updates the task from the provided action.

    Called by `control.Environment` before stepping the physics engine.

    Args:
      action: numpy array or array-like action values, or a nested structure of
        such arrays. Should conform to the specification returned by
        `self.action_spec(physics)`.
      physics: Instance of `Physics`.
    """

  def after_step(self, physics):
    """Optional method to update the task after the physics engine has stepped.