base_env_cfg

Classes:

Name	Description
ActionsCfg	Action specifications for the MDP.
ObservationsCfg	Observation specifications for the MDP.
EventCfg	Configuration for events.
CommandsCfg	Command specifications for the MDP.
RewardsCfg	Reward terms for the MDP.
RewardsCollectiveCfg	Base rewards plus a hover-tracking penalty.
TerminationsCfg	Termination terms for the MDP.
AerialBaseEnvCfg	Configuration for the aerial base environment.
AerialBaseVELEnvCfg	Base task with explicit cmd_vel control mode.
AerialBaseACCEnvCfg	Base task with explicit cmd_acc control mode.
AerialBaseCollectiveEnvCfg	LAV2 base task variant with the hover-throttle tracking penalty.
AerialBaseCTATTEnvCfg	Base task with explicit cmd_ctatt control mode.
AerialBaseCTBREnvCfg	Base task with explicit cmd_ctbr control mode.
AerialBaseCTBMEnvCfg	Base task with explicit cmd_ctbm control mode.

ActionsCfg

Action specifications for the MDP.

ObservationsCfg

Observation specifications for the MDP.

Classes:

Name	Description
PolicyCfg	Observations for policy group.

PolicyCfg

Bases: ObservationGroupCfg

Observations for policy group.

EventCfg

Configuration for events.

CommandsCfg

Command specifications for the MDP.

RewardsCfg

Reward terms for the MDP.

RewardsCollectiveCfg

Bases: RewardsCfg

Base rewards plus a hover-tracking penalty.

TerminationsCfg

Termination terms for the MDP.

AerialBaseEnvCfg

Bases: ManagerBasedRLEnvCfg

Configuration for the aerial base environment.

Methods:

Name	Description
__post_init__	Post initialization.

__post_init__

__post_init__() -> None

Post initialization.

AerialBaseVELEnvCfg

Bases: AerialBaseEnvCfg

Base task with explicit cmd_vel control mode.

AerialBaseACCEnvCfg

Bases: AerialBaseEnvCfg

Base task with explicit cmd_acc control mode.

AerialBaseCollectiveEnvCfg

Bases: AerialBaseEnvCfg

LAV2 base task variant with the hover-throttle tracking penalty.

Methods:

Name	Description
__post_init__	Post initialization.

__post_init__

__post_init__() -> None

Post initialization.

AerialBaseCTATTEnvCfg

Bases: AerialBaseCollectiveEnvCfg

Base task with explicit cmd_ctatt control mode.

AerialBaseCTBREnvCfg

Bases: AerialBaseCollectiveEnvCfg

Base task with explicit cmd_ctbr control mode.

AerialBaseCTBMEnvCfg

Bases: AerialBaseCollectiveEnvCfg

Base task with explicit cmd_ctbm control mode.