Probably as a result of #294

Issue might be that there is a detach().clone() missing somewhere. What ends up happening is that an underlying pointer reference is passes on which later becomes 0. For e.g.

rewards = torch.zeros(10) # Assuming there are 10 envs
rewards[i] = self.env.rewards[i] # This might be incompatible. As a clone operation might be needed.

Similarly f

The recently introduced SDF randomizer #177, part of the bigger randomization plan defined in #41, allows to randomize mostly all entries of an SDF model taking advantage of XPaths.

This is applied also to the inertia parameters that define the inertia matrix. However, sampling the parameters from a random distribution sometimes lea