velocity_env_cfg

ATMO ground velocity task with left/right wheel-speed 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.
ATMOCTBREnvCfg	Ground velocity 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.

ATMOCTBREnvCfg

Bases: ATMOEnvCfg

Ground velocity tracking with normalized (speed, yaw-rate) actions.