# Description

This PR adds an interactive demo script that runs inference on a trained
H1 rough terrain locomotion policy and allows selection of environments
through clicking on a robot and controlling it with keyboard inputs.

Additionally, a minor hyperparameter is updated in the SKRL training
config for slightly better policy behavior.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots


![h1_locomotion](https://github.com/user-attachments/assets/2de90aba-1195-4fea-b909-2cbbd67e716c)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->