code: def step(self, a):
      reward = 1.0
      self.do_simulation(a, self.frame_skip)
  
      ob = self._get_obs()
      terminated = bool(
          not np.isfinite(ob).all() or (np.abs(ob[1]) > 0.2)
      )
  
      if self.render_mode == "human":
          self.render()
      return ob, reward, terminated, False, {}
  
file_path: gym/gym/envs/mujoco/inverted_pendulum.py
imports: import numpy
  from gym import utils
  from gym.envs.mujoco import MuJocoPyEnv
  from gym.spaces import Box
label_desc: Use image node_id 2 for calling the InvertedPendulumEnv obj's underlying member method code with example usage: obj.step(a) and returns: ob,  reward,  terminated,  False,  dict