v0.1.4; Add terrain IS_HARD option

UPDATE.md

@@ -1,3 +1,6 @@
+# 20260105
+## v0.1.4
+1. `legged_gym/utils/terrain.py`加入地形难度选择默认`IS_HARD=True`
 # 20260104
 ## v0.1.3
 1. 修改moe-cts的torch script输出为`action, (weights, latent)`形式, cts输出为`action, (None, latent)`

legged_gym/utils/terrain.py

@@ -90,9 +90,18 @@ class Terrain:
                                 length=self.width_per_env_pixels,
                                 vertical_scale=self.cfg.vertical_scale,
                                 horizontal_scale=self.cfg.horizontal_scale)
-        slope = 0.1 + difficulty * 0.52
+        IS_HARD = True
-        step_height = 0.05 + 0.23 * difficulty
+        if IS_HARD:
-        discrete_obstacles_height = 0.05 + difficulty * 0.25
+            # hard
+            slope = 0.1 + difficulty * 0.52  # max: 29.6 degrees
+            step_height = 0.05 + 0.23 * difficulty  # max: 0.257 m
+            discrete_obstacles_height = 0.05 + difficulty * 0.25  # max: 0.275 m
+        else:
+            # default (easy)
+            slope = difficulty * 0.4  # max: 19.8 degrees
+            step_height = 0.05 + 0.18 * difficulty  # max: 0.212 m
+            discrete_obstacles_height = 0.05 + difficulty * 0.2  # max: 0.23 m
+
         stepping_stones_size = 1.5 * (1.05 - difficulty)
         stone_distance = 0.05 if difficulty==0 else 0.1
         gap_size = 1. * difficulty

setup.py

@@ -2,7 +2,7 @@ from setuptools import find_packages
 from distutils.core import setup
 
 setup(name='go2_rl_gym',
-      version='1.0.0',
+      version='0.1.4',
       author='Wu Tianyang',
       license="MIT",
       packages=find_packages(),