Added
^^^^^
- Create
STAIRS_TERRAINS_CFG
andSTAIRS_TERRAINS_PLAY_CFG
terrain configurations - Create
pen_flat_orientation
penalization term forQuadrupedEnvCfg
- Create
Go2BlindStairsEnvCfg
,AnymalDBlindStairsEnvCfg
andSpotBlindStairsEnvCfg
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
andspot_blind_stairs
experiments - Add
--checkpoint_path
argument to rsl_rl train script
Changed
^^^^^
- Create
Go2BaseEnvCfg
,AnymalDBaseEnvCfg
andSpotBaseEnvCfg
environment base classes