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Introduction

Purpose: Terrain Adaptive Locomotion (TerrainRLSim) project for simulating the environments for RL projects.

Getting Started

Features

Major Environments

Various Terrain Types

• Typical

Mixed, slopes-mixed, narrow-gaps, tight-gaps, slopes-gaps terrain, slopes-steps, and slopes-walls terrains

• Other

Rough and steps

Advanced Action Models

• Torques
• Desired velocity
• Desired position
• Muscle-based models

DeepLoco Environments

• 3D simulations
• Complex environments

PLAID Environments

• An extension of the major environments

Installation Instructions

See README.md

Libraries Support Available

• OpenGL >= 3.3
• Premake >= 4
• Python Library >= 3.5

Paper Reference

Paper reference: https://arxiv.org/pdf/1804.06424.pdf

Support and Collaboration

• FAQ Page
• Ask a Question
• Submit an Issue

Information

• Change Log