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.
yaw_error_l2	Penalize heading error from target heading using L2 squared kernel.
yaw_error_tanh	Penalize heading error from target heading.
wrap_to_pi	Wraps input angles (in radians) to the range :math:[-\pi, \pi].

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, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = 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, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor

Penalize asset pos from its target pos using tanh kernel.

yaw_error_l2

yaw_error_l2(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor

Penalize heading error from target heading using L2 squared kernel.

yaw_error_tanh

yaw_error_tanh(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None, std: float = 0.8) -> torch.Tensor

Penalize heading error from target heading.

wrap_to_pi

wrap_to_pi(angles: Tensor) -> torch.Tensor

Wraps input angles (in radians) to the range :math:[-\pi, \pi].

This function wraps angles in radians to the range :math:[-\pi, \pi], such that :math:\pi maps to :math:\pi, and :math:-\pi maps to :math:-\pi. In general, odd positive multiples of :math:\pi are mapped to :math:\pi, and odd negative multiples of :math:\pi are mapped to :math:-\pi.

The function behaves similar to MATLAB's wrapToPi <https://www.mathworks.com/help/map/ref/wraptopi.html>_ function.

参数：

名称	类型	描述	默认
angles	Tensor	Input angles of any shape.	必需

返回：

类型	描述
Tensor	torch.Tensor: Angles in the range :math:[-\pi, \pi].