Utilities

• Global utilities in global_utils provide math functions, network helpers and other common tools. For example, math_utils includes vector operations and angle calculations used throughout motion planning and skills.
• Replay system – the replay directory enables saving games to .pkl files and replaying them in the simulator, useful for analysis and debugging.
• Testing – the tests folder contains pytest files to validate modules; developers should run pixi run tests to ensure new code passes the existing suite.