Dojo.initialize!Method
initialize!(mechanism, model; kwargs)

state initialization for mechanism 

mechanism: Mechanism 
model: name of mechanism 
kwargs: mechanism specific parameters
Dojo.initialize!Method
initialize!(environment; kwargs...)

initializes the environment's mechanism

environment: Environment
kwargs:      same as for DojoEnvironments' mechanisms
Dojo.set_input!Method
set_input!(environment, input)

sets the provided input to the environment's mechanism

environment: environment 
input:       provided input
Dojo.simulate!Method
simulate!(environment, controller! = (mechanism, k) -> nothing; kwargs...)

simulates the mechanism of the environment

environment: Environment
controller!: Control function
kwargs:      same as for Dojo.simulate
Dojo.step!Function
step(environment, x, u; k, record, opts)

simulates environment one time step 

environment: Environment 
x:           state 
u:           input 
k:           current timestep
record:      record step in storage
opts:        SolverOptions
Dojo.visualizeMethod
visualize(environment; kwargs...)

visualizes the environment with its internal storage

environment: Environment
kwargs:      same as for Dojo.visualize
DojoEnvironments.get_environmentMethod
get_environment(model; kwargs...)

construct existing environment 

model: name of of environment 
kwargs: environment specific parameters
DojoEnvironments.get_mechanismMethod
get_mechanism(model; kwargs...)

constructs mechanism

model: name of mechanism 
kwargs: mechanism specific parameters
DojoEnvironments.input_mapMethod
input_map(environment, input)

maps the provided input to the environment's internal input

environment: environment 
input:       provided input
DojoEnvironments.state_mapMethod
state_map(environment, state)

maps the provided state to the environments internal state

environment: environment 
state:       provided state