Create robot_run_turning.json

robot_run_turning.json

@@ -0,0 +1,29 @@
+{
+  "task": "robot_running_turn",
+  "description": "Running while turning left and right",
+  "fps": 30,
+  "episodes": [
+    {
+      "episode_id": 1,
+      "terrain": "flat",
+      "steps": [
+        {
+          "time": 0.0,
+          "joint_positions": [0.2, -0.1, 0.25, -0.05],
+          "joint_velocities": [1.1, -0.9, 1.2, -1.0],
+          "base_velocity": [1.3, 0.2, 0.0],
+          "yaw_rate": 0.15,
+          "action": [0.4, 0.5, 0.4, 0.5]
+        },
+        {
+          "time": 0.03,
+          "joint_positions": [0.25, -0.15, 0.3, -0.1],
+          "joint_velocities": [1.3, -1.0, 1.4, -1.1],
+          "base_velocity": [1.4, 0.25, 0.0],
+          "yaw_rate": 0.2,
+          "action": [0.5, 0.6, 0.5, 0.6]
+        }
+      ]
+    }
+  ]
+}