unilab.envs.locomotion.common.rewards.joint_pos_penalty¶
- unilab.envs.locomotion.common.rewards.joint_pos_penalty(ctx, *, stand_still_scale=5.0, velocity_threshold=0.5, command_threshold=0.1)[source]¶
Penalty for joint deviation that switches scale based on command/body motion.
- Parameters:
ctx (
RewardContext)stand_still_scale (
float)velocity_threshold (
float)command_threshold (
float)
- Return type: