set gamepad dead_zone parameter

start the work thread

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

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.

Check if environments need to be reset

Computes observations

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

无需更改：Unitree 提供的电机校验函数