v0.1.13; add 2.5 rad trunctation; add LevelPipeline binary search maximum terrain levels

2025-12-22 22:57:20 +08:00
parent 6bbdceee2f
commit 50126ec9aa
24 changed files with 144 additions and 22 deletions
--- a/robogauge/tasks/simulator/mujoco_config.py
+++ b/robogauge/tasks/simulator/mujoco_config.py
@@ -45,3 +45,7 @@ class MujocoConfig(Config):
        ang_vel = 0.8       # [rad/s]
        joint_pos = 0.01    # [rad]
        joint_vel = 3.0    # [rad/s]
+
+    class truncation:
+        enabled = True
+        projected_gravity_rad = 2.5  # [rad], if gravity projection angle exceeds this value, truncate episode