update better default training settings; update new policy and results; update readme.

source/robot_lab/robot_lab/tasks/go2/env_cfg.py

@@ -350,12 +350,12 @@ class RewardsCfg:
 
     track_lin_vel_xy_exp = RewTerm(
         func=mdp.track_lin_vel_xy_exp, 
-        weight=1.0, 
+        weight=2.0, 
         params={"command_name": "base_velocity", "std": 0.5}
     )
     track_ang_vel_z_exp = RewTerm(
         func=mdp.track_ang_vel_z_exp, 
-        weight=0.5, 
+        weight=1.0, 
         params={"command_name": "base_velocity", "std": 0.5}
     )
     lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0)
@@ -466,7 +466,7 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
     """Merged configuration for the Go2 robot on rough terrain."""
 
     # Scene settings
-    scene: Go2SceneCfg = Go2SceneCfg(num_envs=8192, env_spacing=0.5)
+    scene: Go2SceneCfg = Go2SceneCfg(num_envs=16384, env_spacing=0.5)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()

source/robot_lab/robot_lab/tasks/go2/mdp/terrains.py

@@ -178,7 +178,7 @@ TERRAIN_CFG = Go2TerrainGeneratorCfg(
     # slope correction = 0.75 ~ 36.9 degrees by default,
     # but recommended to set for each terrain type separately using with_slope_threshold
     slope_threshold=0.75,
-    use_gym_difficulty=True,
+    use_gym_difficulty=False,
     use_cache=False,
     sub_terrains={
         "wave": with_slope_threshold(