Args: R: Bx3x3 array of a batch of rotation matrices t: Bx3x(1) array of a batch of translation vectors Returns: T: B

Combine two transformation together

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

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

: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

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

Computes observations

Compute the returns and advantages for the given policy state. This function calculates the returns and advantages for each step in the

Compute the returns and advantages for the given policy state. This function calculates the returns and advantages for each step in the

Compute the returns and advantages for the given policy state. This function calculates the returns and advantages for each step in the

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

Compute torques from actions. Actions can be interpreted as position or velocity targets given to a PD controller, or directly as scaled

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

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.

Adds a triangle mesh 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.