Method _step

dm_control/viewer/runtime.py:238–257

Generates an action and applies it to the environment. If a `policy` was provided, this will be invoked to generate an action to feed to the environment, otherwise a default action will be generated. Returns: A boolean value, True if the environment signaled the episode end, Fals

(self)

    mujoco.mj_forward(self._env.physics.model.ptr, self._env.physics.data.ptr)

  def _step(self):
    """Generates an action and applies it to the environment.

    If a `policy` was provided, this will be invoked to generate an action to
    feed to the environment, otherwise a default action will be generated.

    Returns:
      A boolean value, True if the environment signaled the episode end, False
      if the episode is still running.
    """
    finished = True
    with self._error_logger:
      if self._policy:
        action = self._policy(self._time_step)
      else:
        action = self._default_action
      self._time_step = self._env.step(action)
      self._last_action = action
      finished = self._time_step.last()
    return finished or self._error_logger.errors_found