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 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.

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

construct arguments to `Vec` according to axis index.

Parse observations for the legged_robot_base class

Random pushes the robots. Emulates an impulse by setting a randomized base velocity.