env = gym.make( 'Walker2d-v4', # xml_file="walker2d.xml", forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, terminate_when_unhealthy=True, healthy_z_range=(0.8, 2), healthy_angle_range=(-1, 1), reset_noise_scale=5e-3, exclude_current_positions_from_observatio...