How to Implement Frame-by-Frame Input Control Signals and Rendering in dm_control?

Hi,I would like to know how to achieve similar frame-by-frame input control signals and rendering logic in dm_control,like
`for i in range(len(retargeting_list['ctrl_history']) - 1):
ctrl = retargeting_list['ctrl_history'][i]
qfrc = retargeting_list['qfrc_history'][i]

if i == 0:
env.data.qpos[:30] = ctrl[:30]
mujoco.mj_forward(env.model, env.data)
else:
env.data.qfrc_applied = qfrc
env.data.ctrl[:30] = ctrl[:30]
for _ in range(5):
mujoco.mj_step(env.model, env.data)
viewer.render()`
Thank you!