def allocate_buffers(self):
        """Allocate the observation, states, etc. buffers.

        These are what is used to set observations and states in the environment classes which
        inherit from this one, and are read in `step` and other related functions.

        """

        # allocate buffers
        self.obs_buf = torch.zeros(
            (self.num_envs, self.num_obs), device=self.device, dtype=torch.float)
        self.states_buf = torch.zeros(
            (self.num_envs, self.num_states), device=self.device, dtype=torch.float)
        self.rew_buf = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.float)
        self.reset_buf = torch.ones(
            self.num_envs, device=self.device, dtype=torch.long)
        self.timeout_buf = torch.zeros(
             self.num_envs, device=self.device, dtype=torch.long)
        self.progress_buf = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.long)
        self.randomize_buf = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.long)
        self.extras = {}

        # @willjhliang for compatability with go1_gym.envs.base.BaseTask
        self.rew_buf_pos = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.float)
        self.rew_buf_neg = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.float)
        self.episode_length_buf = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.long)
        self.time_out_buf = torch.zeros(
            self.num_envs, device=self.device, dtype=torch.bool)
        self.privileged_obs_buf = torch.zeros(
            self.num_envs, self.num_privileged_obs, device=self.device, dtype=torch.float)
Allocate the observation, states, etc. buffers.

        These are what is used to set observations and states in the environment classes which
        inherit from this one, and are read in `step` and other related functions.

        
globe_walking/go1_gym/envs/base/vec_task.py