def _post_physics_step_callback(self):
        """ Callback called before computing terminations, rewards, and observations
            Default behaviour: Compute ang vel command based on target and heading, compute measured terrain heights and randomly push robots
        """

        # teleport robots to prevent falling off the edge
        self._call_train_eval(self._teleport_robots, torch.arange(self.num_envs, device=self.device))

        # resample commands
        sample_interval = int(self.cfg.commands.resampling_time / self.dt)
        env_ids = (self.episode_length_buf % sample_interval == 0).nonzero(as_tuple=False).flatten()
        if self.cfg.commands.command_curriculum:
            self._resample_commands(env_ids)
        else:
            # Hardcoded constant command
            self.commands[:, :] = 0
            self.commands[:, 0] = 2.0

        # measure terrain heights
        if self.cfg.terrain.measure_heights:
            self.measured_heights = self._get_heights(torch.arange(self.num_envs, device=self.device), self.cfg)

        # push robots and randomize gravity
        self._call_train_eval(self._push_robots, torch.arange(self.num_envs, device=self.device))
        if self.common_step_counter % int(self.cfg.domain_rand.gravity_rand_interval) == 0:
            self._randomize_gravity()

        # randomize dof properties
        env_ids = (self.episode_length_buf % int(self.cfg.domain_rand.rand_interval) == 0).nonzero(
            as_tuple=False).flatten()
        self._call_train_eval(self._randomize_dof_props, env_ids)
        for env_id in env_ids:
            props = self.gym.get_actor_dof_properties(self.envs[env_id], 0)
            props = self._process_dof_props(props, env_id)
            self.gym.set_actor_dof_properties(self.envs[env_id], 0, props)
 Callback called before computing terminations, rewards, and observations
            Default behaviour: Compute ang vel command based on target and heading, compute measured terrain heights and randomly push robots
        
forward_locomotion/go1_gym/envs/base/legged_robot.py