trajectory_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.
TrajectoryPosCollectiveEnvCfg	Trajectory position task variant with the collective-thrust penalty.
TrajectoryVelCollectiveEnvCfg	Trajectory velocity task variant with the collective-thrust penalty.
TrajectoryPosCTATTEnvCfg	Trajectory position task with explicit cmd_ctatt control mode.
TrajectoryPosCTBREnvCfg	Trajectory position task with explicit cmd_ctbr control mode.
TrajectoryPosCTBMEnvCfg	Trajectory position task with explicit cmd_ctbm control mode.
TrajectoryVelCTATTEnvCfg	Trajectory velocity task with explicit cmd_ctatt control mode.
TrajectoryVelCTBREnvCfg	Trajectory velocity task with explicit cmd_ctbr control mode.
TrajectoryVelCTBMEnvCfg	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.

TrajectoryPosCollectiveEnvCfg

Bases: TrajectoryPosEnvCfg

Trajectory position task variant with the collective-thrust penalty.

TrajectoryVelCollectiveEnvCfg

Bases: TrajectoryVelEnvCfg

Trajectory velocity task variant with the collective-thrust penalty.

TrajectoryPosCTATTEnvCfg

Bases: TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctatt control mode.

TrajectoryPosCTBREnvCfg

Bases: TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctbr control mode.

TrajectoryPosCTBMEnvCfg

Bases: TrajectoryPosCollectiveEnvCfg

Trajectory position task with explicit cmd_ctbm control mode.

TrajectoryVelCTATTEnvCfg

Bases: TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctatt control mode.

TrajectoryVelCTBREnvCfg

Bases: TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctbr control mode.

TrajectoryVelCTBMEnvCfg

Bases: TrajectoryVelCollectiveEnvCfg

Trajectory velocity task with explicit cmd_ctbm control mode.