v0.1.6; add move_down_by_acuumulated_xy_command, dynamic_resample_commands optional

legged_gym/envs/base/legged_robot_config.py

@@ -38,6 +38,7 @@ class LeggedRobotCfg(BaseConfig):
         terrain_proportions = [0.1, 0.1, 0.1, 0.2, 0.2, 0.1, 0.1, 0.1, 0.0]
         # trimesh only:
         slope_treshold = 0.75 # slopes above this threshold will be corrected to vertical surfaces
+        move_down_by_acuumulated_xy_command = False # move down the terrain curriculum based on accumulated xy command distance instead of absolute distance
 
     class commands:
         curriculum = False
@@ -53,6 +54,7 @@ class LeggedRobotCfg(BaseConfig):
         limit_vel_invert_when_continuous = True # invert the limit logic when using continuous sample limit velocity commands
         limit_vel = {"lin_vel_x": [-1, 1], "lin_vel_y": [-1, 1], "ang_vel_yaw": [-1, 0, 1]} # sample vel commands from min [-1] or zero [0] or max [1] range only
         stop_heading_at_limit = True # stop heading updates when vel is limited
+        dynamic_resample_commands = False # sample commands with low bounds
         command_range_curriculum = [] # list for command range curriculums at specific training iterations
         # eg: [{
         #     'iter': 20000, # training iteration at which the command ranges are updated