Functions:
| Name | Description |
|---|---|
landing_too_high |
Terminate when the robot flies above |
landing_too_far |
Terminate when horizontal distance to the landing target exceeds |
landing_too_fast |
Terminate when total linear velocity exceeds |
landing_flipped |
Terminate when the body z-axis tilts more than |
landing_low_without_contact |
Terminate when the robot drops below |
landing_too_high(env: ManagerBasedRLEnv, max_height: float, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Terminate when the robot flies above max_height.
landing_too_far(env: ManagerBasedRLEnv, command_name: str, max_xy_error: float) -> torch.Tensor
Terminate when horizontal distance to the landing target exceeds max_xy_error.
landing_too_fast(env: ManagerBasedRLEnv, max_speed: float, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Terminate when total linear velocity exceeds max_speed.
landing_flipped(env: ManagerBasedRLEnv, max_tilt_error: float, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Terminate when the body z-axis tilts more than max_tilt_error from upright.
landing_low_without_contact(env: ManagerBasedRLEnv, min_height: float, contact_sensor_cfg: SceneEntityCfg, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Terminate when the robot drops below min_height without wheel contact.