import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task

locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()

simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0.002
simple_locomotion_task.SimpleForwardTask.min_com_height = 0.3
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.002
