trajectory_env_cfg

ATMO planar trajectory tasks with wheel-speed or CTBR actions.

Classes:

Name	Description
`ATMOEventCfg`	Randomize wheel contact and hold the arms in their ground pose.
`ATMOCTBRActionsCfg`	Deployment-aligned forward-speed and yaw-rate actions.
`ATMOGroundTrajectoryPosCTBREnvCfg`	Position-trajectory tracking with normalized `(speed, yaw-rate)` actions.
`ATMOGroundTrajectoryVelCTBREnvCfg`	Velocity-trajectory tracking with normalized `(speed, yaw-rate)` actions.

Attributes:

Name	Type	Description
`ATMO_GROUND_ARM_ANGLE`		Arm tilt (rad) for ATMO's ground-mode modal transition: arms horizontal so the

ATMO_GROUND_ARM_ANGLE `module-attribute`

ATMO_GROUND_ARM_ANGLE = math.pi / 2

Arm tilt (rad) for ATMO's ground-mode modal transition: arms horizontal so the four prop-guard wheels land on the ground instead of the base_link chassis.

ATMOEventCfg

Bases: EventCfg

Randomize wheel contact and hold the arms in their ground pose.

ATMOCTBRActionsCfg

Bases: ActionsCfg

Deployment-aligned forward-speed and yaw-rate actions.

ATMOGroundTrajectoryPosCTBREnvCfg

Bases: ATMOGroundTrajectoryPosEnvCfg

Position-trajectory tracking with normalized (speed, yaw-rate) actions.

ATMOGroundTrajectoryVelCTBREnvCfg

Bases: ATMOGroundTrajectoryVelEnvCfg

Velocity-trajectory tracking with normalized (speed, yaw-rate) actions.