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. Very slow when horizontal_scale is small

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