unilab.envs.locomotion.common.rewards.track_lin_vel_xy_yaw_frame_exp¶
- unilab.envs.locomotion.common.rewards.track_lin_vel_xy_yaw_frame_exp(ctx)[source]¶
Exponential tracking of xy linear velocity in the gravity-aligned yaw frame.
Requires
ctx.linvel_yaw(base linvel rotated into yaw frame).- Parameters:
ctx (
RewardContext)- Return type: