observations

函数：

名称	描述
base_roll_pitch	Return roll and pitch without exposing task-irrelevant absolute yaw.
ground_velocity_commands	Return the controllable nonholonomic command channels: forward speed and yaw rate.

base_roll_pitch

base_roll_pitch(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor

Return roll and pitch without exposing task-irrelevant absolute yaw.

ground_velocity_commands

ground_velocity_commands(env: ManagerBasedRLEnv, command_name: str) -> torch.Tensor

Return the controllable nonholonomic command channels: forward speed and yaw rate.