iterator that iterate through the name of each node

number of nodes in the skeleton tree

Creates environments: 1. loads the robot URDF/MJCF asset, 2. For each environment 2.1 creates the environme

Draws visualizations for dubugging (slows down simulation a lot). Default behaviour: draws height measurement points

reward translation and rotation

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

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