def __init__(self,
*args,
sim_observation_noise: Optional[float] = 0.05,
**kwargs):
super().__init__(
*args, sim_observation_noise=sim_observation_noise, **kwargs)
self._randomizer = SimRandomizer(self)
self._dof_indices = (
self.robot.get_config('dkitty').qvel_indices.tolist())
def __init__(self, *args, randomize_hfield=0.0, **kwargs):
super().__init__(*args, **kwargs)
self._randomizer = SimRandomizer(self)
self._randomize_hfield = randomize_hfield
self._dof_indices = self.robot.get_config(
"dkitty").qvel_indices.tolist()