TerrainRL Scenarios

Intro

A scenario is a particular type of simulation that controls the type of environment configuration that is generated for training. An example is the imitate scenario that will generate somewhat random poses from a provided motion capture clip. The scenario also determines the particular reward function to be used during train. This works well because the scenarios have access to all of the elements of the simulation.

Need to create a table out of this

Controller name	type	description	2d	3d	state
imitate		Can init the pose of the character to be from the mocap the reward function is pose difference + velocity diff	yes	yes	pos,phase(5),end_effector_contacts,footstep_plan(13)
imitate_track	Similar to imitate but also has a target position as part of the state features