def _push_robots(self, env_ids, cfg):
        """ Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
        """
        if cfg.domain_rand.push_robots:
            env_ids = env_ids[self.episode_length_buf[env_ids] % int(cfg.domain_rand.push_interval) == 0]

            max_vel = cfg.domain_rand.max_push_vel_xy
            self.root_states[env_ids, 7:9] = torch_rand_float(-max_vel, max_vel, (len(env_ids), 2),
                                                              device=self.device)  # lin vel x/y
            self.gym.set_actor_root_state_tensor(self.sim, gymtorch.unwrap_tensor(self.root_states))
 Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
        
forward_locomotion/go1_gym/envs/base/legged_robot.py