v3.3.0

Added
^^^^^

• Create STAIRS_TERRAINS_CFG and STAIRS_TERRAINS_PLAY_CFG terrain configurations
• Create pen_flat_orientation penalization term for QuadrupedEnvCfg
• Create Go2BlindStairsEnvCfg, AnymalDBlindStairsEnvCfg and SpotBlindStairsEnvCfg environment configurations
• Create tasks for Stairs terrains for Go2, AnymalD and Spot robots
• Add pre-trained models for go2_blind_stairs, anymal_d_blind_stairs and spot_blind_stairs experiments
• Add --checkpoint_path argument to rsl_rl train script

Changed
^^^^^

• Create Go2BaseEnvCfg, AnymalDBaseEnvCfg and SpotBaseEnvCfg environment base classes

v3.2.0

Added
^^^^^

• Create BLIND_HARD_ROUGH_TERRAINS_CFG and BLIND_HARD_ROUGH_TERRAINS_PLAY_CFG terrain configurations
• Create pen_undesired_contacts penalization term for QuadrupedEnvCfg

Changed
^^^^^

• Update for Isaac Sim 4.2.0 and Isaac Lab 1.2.0
• Change scale of joint_pos action to 0.2
• Use new BLIND_HARD_ROUGH_TERRAINS_CFG in AnymalD and Spot tasks
• Update pre-trained models for go2_blind_flat and go2_blind_rough experiments
• Update pre-trained models for spot_blind_flat and spot_blind_rough experiments
• Update pre-trained models for anymal_d_blind_flat and anymal_d_blind_rough experiments

v3.1.0

Added
^^^^^

• Add pre-trained models for anymal_d_blind_flat and anymal_d_blind_rough experiments
• Add pre-trained models for spot_blind_flat and spot_blind_rough experiments

Changed
^^^^^

• Update pre-trained models for go2_blind_flat and go2_blind_rough experiments
• Update pen_joint_powers weight for QuadrupedEnvCfg
• Update pen_joint_powers weight for Spot environments
• Update pen_joint_powers and pen_joint_deviation weight fors ANYmalD environments
• Remove increase_push_vel curriculum from QuadrupedEnvCfg
• Remove bad_orientation termination from QuadrupedEnvCfg

v3.0.0

Added
^^^^^

• Create cfg, robot and agent folders
• Create tasks for Spot robot from Boston Dynamics
• Create tasks for ANYmal D robot from ANYbotics

Changed
^^^^^

• Move unitree_go2 to robots folder
• Move rsl_rl_cfg.py to agent folder
• Move quadruped_env_cfg.py to cfg folder
• Move go2_env_cfg.py to robots folder
• Move BLIND_ROUGH_TERRAINS_CFG and BLIND_ROUGH_TERRAINS_PLAY_CFG to quadruped_terrains_cfg.py

v2.1.0

Added
^^^^^

• Add pre-trained models for go2_blind_flat and go2_blind_rough experiments
• Create modify_event_parameter curriculum and include it in QuadrupedEnvCfg to modify push_robot event
• Create disable_termination curriculum
• Set terrain generator seed in go2_env_cfg.py

Changed
^^^^^

• Increase lin_vel_x range of vel_command command in QuadrupedEnvCfg
• Modify viewport camera of Go2BlindRoughEnvCfg
• Update terrains proportion in BLIND_ROUGH_TERRAINS_CFG in go2_env_cfg.py

v2.0.0

Added
^^^^^

• Include terrain_levels curriculum in QuadrupedEnvCfg
• Create terrain configurations for training Go2 in rough terrains
• Create Go2BlindFlatPPORunnerCfg and Go2BlindRoughPPORunnerCfg configurations
• Create Go2BlindFlatEnvCfg and Go2BlindRoughEnvCfg environment configurations for training Go2 robot
• Create Go2BlindFlatEnvCfg_PLAY and Go2BlindRoughEnvCfg_PLAY environment configurations for playing Go2 robot

Changed
^^^^^

• Update README.md with information for training and playing agents
• Remove robot initialization from QuadrupedSceneCfg
• Use TerrainImporterCfg in QuadrupedSceneCfg instead of GroundPlaneCfg
• Replace Isaac-Quadruped-Go2-Flat-v0 with Isaac-Quadruped-Go2-Blind-Flat-v0

v1.1.0

1.1.0 (2024-08-30)

Changed
^^^^^

* Update robot joint positions initial states in `QuadrupedEnvCfg`
* Include ``pen_joint_deviation`` and ``pen_feet_slide`` penalization terms in `QuadrupedEnvCfg`
* Remove ``rew_feet_air_time`` reward term from `QuadrupedEnvCfg`
* Remove ``joint_vel`` and ``feet_contact`` observations from `QuadrupedEnvCfg`

v1.0.0

1.0.0 (2024-07-04)

Added
^^^^^

* Created `RSL-RL` training and playing scripts
* Created Unitree Go2 `RSL-RL` agent
* Created `QuadrupedEnvCfg` environment
* Created `omni.isaac.lab_quadruped_tasks` extension for Isaac Lab