base_env_cfg

Parameterized base environment configuration for mjlab aerial tasks.

This module provides robot-agnostic factory functions for building ManagerBasedRlEnvCfg instances. Concrete robot platforms (e.g. LAV2) subclass or wrap these with platform-specific scene, viewer, and actuator defaults in config/<robot>/env_cfgs.py.

函数：

名称	描述
`create_scene_cfg`	Build a scene config for the given robot entity.
`create_action_cfg`	Build the action-manager config.
`create_observation_cfg`	Build the observation-manager config (robot-agnostic terms).
`create_event_cfg`	Build the event-manager config (robot-agnostic domain-randomisation).
`create_command_cfg`	Build the command-manager config for pose-command tracking.
`create_reward_cfg`	Build the reward-manager config (robot-agnostic).
`create_termination_cfg`	Build the termination-manager config (robot-agnostic).
`create_viewer_config`	Build a viewer config anchored to an asset body.
`create_simulation_cfg`	Build the simulation config.
`create_env_cfg`	Build a complete `ManagerBasedRlEnvCfg` for an aerial base task.

create_scene_cfg

create_scene_cfg(robot_cfg: EntityCfg, *, num_envs: int = 1, extent: float = 2.0) -> SceneCfg

Build a scene config for the given robot entity.

create_action_cfg

create_action_cfg(actuator_names: tuple[str, ...] | None = None, rotor_body_names: tuple[str, ...] | None = None, root_body_name: str | None = None) -> dict[str, ActionTermCfg]

Build the action-manager config.

参数：

名称	类型	描述	默认
`actuator_names`	`tuple[str, ...] \| None`	Override the default wrench-actuator list. When None the `FlightControlActionCfg` default is used, which matches the LAV2 layout.	`None`
`rotor_body_names`	`tuple[str, ...] \| None`	Ordered rotor bodies matching the actuator/mixer order. When None, the `FlightControlActionCfg` default is used.	`None`
`root_body_name`	`str \| None`	Body receiving drag and prescribed external force.	`None`

create_observation_cfg

create_observation_cfg() -> dict[str, ObservationGroupCfg]

Build the observation-manager config (robot-agnostic terms).

create_event_cfg

create_event_cfg() -> dict[str, EventTermCfg]

Build the event-manager config (robot-agnostic domain-randomisation).

create_command_cfg

create_command_cfg(entity_name: str = 'robot') -> dict[str, CommandTermCfg]

Build the command-manager config for pose-command tracking.

create_reward_cfg

create_reward_cfg() -> dict[str, RewardTermCfg]

Build the reward-manager config (robot-agnostic).

create_termination_cfg

create_termination_cfg() -> dict[str, TerminationTermCfg]

Build the termination-manager config (robot-agnostic).

create_viewer_config

create_viewer_config(entity_name: str = 'robot', body_name: str = 'base_link') -> ViewerConfig

Build a viewer config anchored to an asset body.

create_simulation_cfg

create_simulation_cfg(timestep: float = 0.01, iterations: int = 2) -> SimulationCfg

Build the simulation config.

create_env_cfg

create_env_cfg(*, robot_cfg: EntityCfg, entity_name: str = 'robot', body_name: str = 'base_link', actuator_names: tuple[str, ...] | None = None, rotor_body_names: tuple[str, ...] | None = None, scene_num_envs: int = 1, scene_extent: float = 2.0, sim_timestep: float = 0.01, sim_iterations: int = 2, decimation: int = 2, episode_length_s: float = 10.0) -> ManagerBasedRlEnvCfg

Build a complete ManagerBasedRlEnvCfg for an aerial base task.

Robot-platform specifics (scene entity, viewer body name, actuator list, and ordered rotor bodies) are injected via parameters so the same builder works for LAV2, ATMO, or any other multirotor supported by FlightControlActionCfg.