Robot-agnostic manager-based bimodal landing task.
Split out from the old flat LAV2_landing package: the landing MDP (scene,
actions, observations, events, commands, rewards, terminations) lives here with
robot = MISSING; the concrete robot + contact/IMU sensors are supplied under
config/<robot>/. Shared MDP terms come from the aerial base mdp; landing-only
reward/termination terms live in this task's mdp/.
类：
| 名称 | 描述 |
|---|---|
LandingSceneCfg |
Robot-agnostic landing scene. |
ActionsCfg |
Four-rotor flight action using the shared LAV2 action term. |
ObservationsCfg |
Landing observations aligned with aerial/ground tasks (euler + base vel). |
EventCfg |
Reset randomization and disturbances for landing. |
CommandsCfg |
Fixed landing target near the environment origin. |
RewardsCfg |
Landing rewards adapted from ATMO without tilt-transition terms. |
TerminationsCfg |
Timeout and unsafe landing terminations (split for per-condition logging). |
LandingEnvCfg |
Manager-based controlled landing task (robot supplied per-config). |
Bases: InteractiveSceneCfg
Robot-agnostic landing scene.
The concrete robot articulation and its contact/IMU sensors are provided by
the per-robot config (see config/<robot>/landing_env_cfg.py).
Four-rotor flight action using the shared LAV2 action term.
Landing observations aligned with aerial/ground tasks (euler + base vel).
Reset randomization and disturbances for landing.
Fixed landing target near the environment origin.
Landing rewards adapted from ATMO without tilt-transition terms.
Timeout and unsafe landing terminations (split for per-condition logging).
Bases: ManagerBasedRLEnvCfg
Manager-based controlled landing task (robot supplied per-config).