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self.table_friction = table_friction
# whether to use ground-truth object states
self.use_object_obs = use_object_obs
# number of objects to initialize on table
self._num_objects = num_objects
# reward configuration
self.reward_shaping = reward_shaping
# object placement initializer
if placement_initializer:
self.placement_initializer = placement_initializer
else:
self.placement_initializer = UniformRandomSampler(
x_range=[-0.3, 0.3],
y_range=[-0.3, 0.3],
ensure_object_boundary_in_range=False,
z_rotation=True,
)
super().__init__(
gripper_type=gripper_type,
gripper_visualization=gripper_visualization,
use_indicator_object=use_indicator_object,
has_renderer=has_renderer,
has_offscreen_renderer=has_offscreen_renderer,
render_collision_mesh=render_collision_mesh,
render_visual_mesh=render_visual_mesh,
control_freq=control_freq,
horizon=horizon,