walk with two hind legs code

[JeffXu1]

Hi, in your paper, train the robot to walk with two hind legs and test the policy, dou you relase this part in your source code?

[wangjunyi9999]

The part you mentioned is similar with humanoid training. Actually, I have tried to modify the relative code as G1 robot training process, but the training time is very long, i.e., the train collection time is 180 seconds under --headless =True --num_envs=128 with a RTX4070S graphic card. The quadruped example also costs more time than the before legged_gym code, so I am confused about the efficient learning result.