def _process_rigid_shape_props(self, props, env_id):
        """ Callback allowing to store/change/randomize the rigid shape properties of each environment.
            Called During environment creation.
            Base behavior: randomizes the friction of each environment

        Args:
            props (List[gymapi.RigidShapeProperties]): Properties of each shape of the asset
            env_id (int): Environment id

        Returns:
            [List[gymapi.RigidShapeProperties]]: Modified rigid shape properties
        """
        for s in range(len(props)):
            props[s].friction = self.robot_friction_coeffs[env_id, 0]
            props[s].restitution = self.robot_restitutions[env_id, 0]

        return props
 Callback allowing to store/change/randomize the rigid shape properties of each environment.
            Called During environment creation.
            Base behavior: randomizes the friction of each environment

        Args:
            props (List[gymapi.RigidShapeProperties]): Properties of each shape of the asset
            env_id (int): Environment id

        Returns:
            [List[gymapi.RigidShapeProperties]]: Modified rigid shape properties
        
globe_walking/go1_gym/envs/base/legged_robot.py