函数：
| 名称 | 描述 |
|---|---|
planar_pos_error_tanh |
Reward XY position tracking without constraining ground-contact height. |
track_trajectory_ang_vel_z_exp |
Reward yaw-rate tracking for trajectory commands with yaw at index three. |
planar_pos_error_tanh(env: ManagerBasedRLEnv, std: float, command_name: str) -> torch.Tensor
Reward XY position tracking without constraining ground-contact height.
track_trajectory_ang_vel_z_exp(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward yaw-rate tracking for trajectory commands with yaw at index three.