rewards

函数：

名称	描述
lin_vel_l2	Penalize base linear velocity using L2 squared kernel.
ang_vel_l2	Penalize base angular velocity using L2 squared kernel.
pos_error_l2	Penalize asset pos from its target pos using L2 squared kernel.
pos_error_tanh	Penalize asset pos from its target pos using tanh kernel.

lin_vel_l2

lin_vel_l2(env: GenesisEnv, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor

Penalize base linear velocity using L2 squared kernel.

ang_vel_l2

ang_vel_l2(env: GenesisEnv, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor

Penalize base angular velocity using L2 squared kernel.

pos_error_l2

pos_error_l2(env: GenesisEnv, target_pose: Tensor = None, pose_command: CommandManager = None) -> torch.Tensor

Penalize asset pos from its target pos using L2 squared kernel.

pos_error_tanh

pos_error_tanh(env: GenesisEnv, target_pose: Tensor = None, std: float = 0.8, pose_command: CommandManager = None) -> torch.Tensor

Penalize asset pos from its target pos using tanh kernel.