Jumping CoD (Jumping Continuously over Discontinuities)

This repository contains the code for the paper "Agile Continuous Jumping over Discontinuous Terrains".

The main contents of the repo includes:

• The simulation environment to train the terrain-aware jumping controller.
• The code to deploy the trained controller to a real Unitree Go1 robot.
• Additional utilities to inspect robot logs and record data for real-to-sim study.

Please see our read_the_docs site for detailed documentation.