Behaviour commands: vertical stair edges

The training simulator builds stairs and curbs on a 2 cm grid, so their edges are short ramps, while the printed course has vertical edges. The commands were re-measured on vertical edges in the same simulator.

• Crouch at a 13 cm command, passes of 90 on 3 and 4 cm stairs and a 5 cm curb, ramped against vertical edges: 64 against 36 for the 1 B-step policy, 72 against 58 for the earlier policy
• Walks unchanged: the default walks and the stair policy move by at most 2 of 30 per lane
• 4 Hz steps on the 5 cm curb: 13 against 4 (1 B-step policy); on the 3 cm stairs 29 of 30 on vertical edges
• Commands on stairs and curbs are evaluated on vertical edges from now on; training has never shown the commands a vertical edge