def _create_ground_plane(self):
        """ Adds a ground plane to the simulation, sets friction and restitution based on the cfg.
        """
        plane_params = gymapi.PlaneParams()
        plane_params.normal = gymapi.Vec3(0.0, 0.0, 1.0)
        plane_params.static_friction = self.cfg.terrain.static_friction
        plane_params.dynamic_friction = self.cfg.terrain.dynamic_friction
        plane_params.restitution = self.cfg.terrain.restitution
        self.gym.add_ground(self.sim, plane_params)
 Adds a ground plane to the simulation, sets friction and restitution based on the cfg.
        
forward_locomotion/go1_gym/envs/base/legged_robot.py