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

Set camera position and direction

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

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

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

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

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

Samples heights of the terrain at required points around each robot. The points are offset by the base's position and rotated by the base

Sets a vector used to scale the noise added to the observations. [NOTE]: Must be adapted when changing the observations structure

Initialize torch tensors which will contain simulation states and processed quantities

Returns points at which the height measurments are sampled (in base frame) Returns: [torch.Tensor]: Tensor of shape (num_envs, s

Callback called before computing terminations, rewards, and observations Default behaviour: Compute ang vel command based on target and h

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.

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

Resets DOF position and velocities of selected environmments Positions are randomly selected within 0.5:1.5 x default positions. Velo

Resets ROOT states position and velocities of selected environmments Sets base position based on the curriculum Selects rando