Added a simple Tool to 'Wiggle' Models #36
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…ed req for agents to insist on getting reward struc
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Also removed the hard requirement for models needing a defined reward structure in the parameter ) - for inference (and anytime we just want to simulate the physics in general), we don't need the training rewards.
**Note only for AAnt class because this implementation is a fake wrapper on top of Brax's PipelineEnv; we may want to think more about how we enforce this for all of the models we want to simulate?