v0.1.15; add stairs_up/down

2025-12-25 18:15:48 +08:00
parent 0dd3c10aba
commit 9d9d83ed9f
54 changed files with 1356 additions and 81 deletions
--- a/robogauge/tasks/simulator/mujoco_config.py
+++ b/robogauge/tasks/simulator/mujoco_config.py
@@ -49,3 +49,4 @@ class MujocoConfig(Config):
    class truncation:
        enabled = True
        projected_gravity_rad = 2.5  # [rad], if gravity projection angle exceeds this value, truncate episode
+        penetration_threshold = -0.05  # [m], if any contact penetration depth is below this threshold, truncate episode