rewards

函数：

名称	描述
lin_vel_l2	Penalize base linear velocity using L2 squared kernel.
ang_vel_l2	Penalize base angular velocity using L2 squared kernel.
pos_error_l2	Penalize asset pos from its target pos using L2 squared kernel.
pos_error_tanh	Penalize asset pos from its target pos using tanh kernel.
yaw_error_l2	Penalize heading error from target heading using L2 squared kernel.
yaw_error_tanh	Penalize heading error from target heading using tanh kernel.

lin_vel_l2

lin_vel_l2(env: ManagerBasedRlEnv, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize base linear velocity using L2 squared kernel.

ang_vel_l2

ang_vel_l2(env: ManagerBasedRlEnv, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize base angular velocity using L2 squared kernel.

pos_error_l2

pos_error_l2(env: ManagerBasedRlEnv, command_name: str, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize asset pos from its target pos using L2 squared kernel.

pos_error_tanh

pos_error_tanh(env: ManagerBasedRlEnv, command_name: str, std: float = 0.8, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize asset pos from its target pos using tanh kernel.

yaw_error_l2

yaw_error_l2(env: ManagerBasedRlEnv, command_name: str, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize heading error from target heading using L2 squared kernel.

yaw_error_tanh

yaw_error_tanh(env: ManagerBasedRlEnv, command_name: str, std: float = 0.8, asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG) -> torch.Tensor

Penalize heading error from target heading using tanh kernel.