Rapier environments
These tasks use Rapier2D rigid bodies, colliders, revolute joints, collision events, and ray queries. The shared equations and timestep model are described in Backends and dynamics.
| Environment | Observation | Action | Horizon |
|---|---|---|---|
| BipedalWalker | 24 values | 4 continuous motor commands | 1600 |
| LunarLander | 8 values | 4 discrete or 2 continuous controls | 1000 |