LAV2_traj_env_cfg

类：

名称	描述
ActionsCfg	Action specifications for the MDP.
EventCfg	Configuration for events.
RewardsPosCollectiveCfg	Position-tracking rewards plus a hover-tracking penalty.
RewardsVelCollectiveCfg	Velocity-tracking rewards plus a hover-tracking penalty.
TerminationsCfg	Termination terms for the MDP.
LAV2TrajectoryPosCollectiveEnvCfg	Trajectory position task variant with the collective-thrust penalty.
LAV2TrajectoryVelCollectiveEnvCfg	Trajectory velocity task variant with the collective-thrust penalty.
LAV2TrajectoryPosCTATTEnvCfg	Trajectory position task with explicit cmd_ctatt control mode.
LAV2TrajectoryPosCTBREnvCfg	Trajectory position task with explicit cmd_ctbr control mode.
LAV2TrajectoryPosCTBMEnvCfg	Trajectory position task with explicit cmd_ctbm control mode.
LAV2TrajectoryVelCTATTEnvCfg	Trajectory velocity task with explicit cmd_ctatt control mode.
LAV2TrajectoryVelCTBREnvCfg	Trajectory velocity task with explicit cmd_ctbr control mode.
LAV2TrajectoryVelCTBMEnvCfg	Trajectory velocity task with explicit cmd_ctbm control mode.

ActionsCfg

Action specifications for the MDP.

EventCfg

Configuration for events.

RewardsPosCollectiveCfg

Bases: RewardsPosCfg

Position-tracking rewards plus a hover-tracking penalty.

RewardsVelCollectiveCfg

Bases: RewardsVelCfg

Velocity-tracking rewards plus a hover-tracking penalty.

TerminationsCfg

Termination terms for the MDP.

LAV2TrajectoryPosCollectiveEnvCfg

Bases: LAV2TrajectoryPosEnvCfg

Trajectory position task variant with the collective-thrust penalty.

LAV2TrajectoryVelCollectiveEnvCfg

Bases: LAV2TrajectoryVelEnvCfg

Trajectory velocity task variant with the collective-thrust penalty.

LAV2TrajectoryPosCTATTEnvCfg

Bases: LAV2TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctatt control mode.

LAV2TrajectoryPosCTBREnvCfg

Bases: LAV2TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctbr control mode.

LAV2TrajectoryPosCTBMEnvCfg

Bases: LAV2TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctbm control mode.

LAV2TrajectoryVelCTATTEnvCfg

Bases: LAV2TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctatt control mode.

LAV2TrajectoryVelCTBREnvCfg

Bases: LAV2TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctbr control mode.

LAV2TrajectoryVelCTBMEnvCfg

Bases: LAV2TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctbm control mode.