Args: slots: ids for the array **key_vals:

Splits trajectories at done indices. Then concatenates them and padds with zeros up to the length og the longest trajectory. Returns masks corres

Args: slots: ids for the array **key_vals:

Reset selected robots

Compute torques from actions. Actions can be interpreted as position or velocity targets given to a PD controller, or directly as scaled

Creates environments: 1. loads the robot URDF/MJCF asset, 2. For each environment 2.1 creates the environme

Adds a ground plane to the simulation, sets friction and restitution based on the cfg.

Adds a heightfield terrain to the simulation, sets parameters based on the cfg.

Adds a triangle mesh terrain to the simulation, sets parameters based on the cfg. #

Draws visualizations for dubugging (slows down simulation a lot). Default behaviour: draws height measurement points