Functions:
| Name | Description |
|---|---|
track_lin_vel_x_exp |
Reward forward-speed tracking without treating lateral speed as a command. |
lateral_velocity_l2 |
Penalize nonholonomic lateral slip separately from command tracking. |
track_lin_vel_x_exp(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward forward-speed tracking without treating lateral speed as a command.
lateral_velocity_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Penalize nonholonomic lateral slip separately from command tracking.