Randommly select commands of some environments Args: env_ids (List[int]): Environments ids for which new commands are needed

Compute the observation vector from current state

Creates the training algorithm either from a registered namme or from the provided config file. Args: env (isaacgym.VecTaskPyth

Creates an environment either from a registered namme or from the provided config file. Args: name (string): Name of a registere

Calculates torques from position commands

Reset selected robots

Set camera position and direction

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.