code: def collect_random_trajectory(env, timesteps=1000):
      
  
      obs = env.reset()
      dof = env.dof
  
      for t in range(timesteps):
          action = 0.5 * np.random.randn(dof)
          obs, reward, done, info = env.step(action)
          env.render()
          if t % 100 == 0:
              print(t)
docs: Run a random policy to collect trajectories.
  
      The rollout trajectory is saved to files in npz format.
      Modify the DataCollectionWrapper wrapper to add new fields or change data formats.