Add H1 walking env, generalize WalkingTask to be robot-agnostic - #82
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Port H1WalkEnv from reinforcement-learning-hrp and unify the walking task so it works for both JVRC and H1 (and future bipeds). mode_ref is now a 3-D [yaw_vel, vx, vy] reference; envs supply only the actuated-joint neutral pose. JVRC's external obs grows from 6 to 8 to match.
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Port H1WalkEnv and unify the walking task
so it works for both JVRC and H1 (and future bipeds). mode_ref is now a
3-D [yaw_vel, vx, vy] reference; envs supply only the actuated-joint
neutral pose. JVRC's external obs grows from 6 to 8 to match.