Convert a Gymnasium space to a JSON-serializable format. This is based on the __repr__ method implemented in Gymnasium spaces

Construct an ordered dictionary from the object :rtype: OrderedDict

Construct transform from quaternion and translation.

Combine two transformations.

Slow-ish implementation of concatenating leaves of a pytree with matching structures

Updates the viewer's origin to the origin of the selected environment.

Convert quaternion from wxyz to xyzw format.

model: The original PyTorch model. input_keys: List of input names as keys for the input dictionary.

:param node_names: a list of names for each tree node :type node_names: List[str] :param parent_indices: an int32-typed tenso

Return the rotation matrices for one of the rotations about an axis of which Euler angles describe, for each value of the angle given. A

Check if environments need to be reset

Compute rewards Calls each reward function which had a non-zero scale (processed in self._prepare_reward_function()) adds eac

Return a tensor where each element has the absolute value taken from the, corresponding element of a, with sign taken from the corresponding

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

Creates a heightfield terrain in MuJoCo.

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

Update scale of Kp, Kd, rfi lim

Sets environment origins. On rough terrain the origins are defined by the terrain platforms. Otherwise create a grid.

Prepares a list of reward functions, whcih will be called to compute the total reward. Looks for self._reward_<REWARD_NAME>, where <REWAR

Callback allowing to store/change/randomize the DOF properties of each environment. Called During environment creation. Base

Callback allowing to store/change/randomize the DOF properties of each environment. Called During environment creation. Base

Callback allowing to store/change/randomize the rigid shape properties of each environment. Called During environment creation.

Callback allowing to store/change/randomize the rigid shape properties of each environment. Called During environment creation.

Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0.

Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0.

Update the reward limits curriculum based on the average episode length.

Update the penalty curriculum based on the average episode length. If the average episode length is below the penalty level down thr