Callback between mujoco render and swapping GL buffers

This function resets the world and collects the first observation.

Get the position of the robot in the simulator world reference frame

Helper to get the world's simulation instance

This function executes an action in the environment.

Test that the angle components are about correct

We should have lidar for every object in the env

Run all the bench envs

Test that physics can flatten observations

Point should run into and get a goal

Point should run into and get a hazard

Run all the bench envs

Run all the bench envs

Episode should end with resampling failure

Point should observe compass/lidar differently for different rotations

Observation spaces should not unintentionally change from known good reference

Test that episode is over after num_steps

Buttons should wait a period before becoming active again

Point should run into and past a vase, pushing it out of the way

Helper to get the list of vase positions

Helper to get the hazards positions from layout

Return the world XY vector to a position from the robot

Helper to get the zones positions from layout