Batched aerodynamic-effect models for multirotor simulation.
Each implemented equation is tied to the literature cited beside the relevant method. Their composition order and the analytic-plane geometry are LAV2 integration choices, not claims made by a downstream benchmark or simulator.
Classes:
| Name | Description |
|---|---|
AerodynamicEffectsCfg |
Environment-specific aerodynamic-effect configuration. |
AerodynamicEffects |
Compute drag, ground effect, and planar near-wall effect in batches. |
dataclass
AerodynamicEffectsCfg(*, enable_drag: bool = False, enable_external_force: bool = False, enable_ground_effect: bool = False, enable_wall_effect: bool = False, external_force_w: tuple[float, float, float] = (0.0, 0.0, 0.0), ground_height: float = 0.0, max_ground_effect_gain: float = 2.0, wall_plane_point_w: tuple[float, float, float] = (0.0, 0.0, 0.0), wall_plane_normal_w: tuple[float, float, float] = (1.0, 0.0, 0.0), max_surface_distance: float = 5.0)
Environment-specific aerodynamic-effect configuration.
Plane coordinates use each simulator environment's local world frame. Effects default to disabled so existing tasks retain their current physics.
Attributes:
| Name | Type | Description |
|---|---|---|
enable_drag |
bool
|
Apply body-axis linear drag. |
enable_external_force |
bool
|
Apply the configured world-frame external force. |
enable_ground_effect |
bool
|
Augment per-rotor thrust near a horizontal ground plane. |
enable_wall_effect |
bool
|
Apply per-rotor forces near the configured wall plane. |
external_force_w |
tuple[float, float, float]
|
Constant environment-local world-frame external force (N). |
ground_height |
float
|
Height of the analytic horizontal ground plane (m). |
max_ground_effect_gain |
float
|
Maximum ground-effect thrust multiplier used near the model singularity. |
wall_plane_point_w |
tuple[float, float, float]
|
One point on the analytic wall plane (m). |
wall_plane_normal_w |
tuple[float, float, float]
|
Wall-plane unit-normal direction; either side of the plane is valid. |
max_surface_distance |
float
|
Distance beyond which surface effects are exactly disabled (m). |
class-attribute
instance-attribute
enable_drag: bool = False
Apply body-axis linear drag.
class-attribute
instance-attribute
enable_external_force: bool = False
Apply the configured world-frame external force.
class-attribute
instance-attribute
enable_ground_effect: bool = False
Augment per-rotor thrust near a horizontal ground plane.
class-attribute
instance-attribute
enable_wall_effect: bool = False
Apply per-rotor forces near the configured wall plane.
class-attribute
instance-attribute
external_force_w: tuple[float, float, float] = (0.0, 0.0, 0.0)
Constant environment-local world-frame external force (N).
class-attribute
instance-attribute
ground_height: float = 0.0
Height of the analytic horizontal ground plane (m).
class-attribute
instance-attribute
max_ground_effect_gain: float = 2.0
Maximum ground-effect thrust multiplier used near the model singularity.
class-attribute
instance-attribute
wall_plane_point_w: tuple[float, float, float] = (0.0, 0.0, 0.0)
One point on the analytic wall plane (m).
class-attribute
instance-attribute
wall_plane_normal_w: tuple[float, float, float] = (1.0, 0.0, 0.0)
Wall-plane unit-normal direction; either side of the plane is valid.
class-attribute
instance-attribute
max_surface_distance: float = 5.0
Distance beyond which surface effects are exactly disabled (m).
AerodynamicEffects(params: VehicleParams = VehicleParams(), cfg: AerodynamicEffectsCfg | None = None, num_envs: int = 1, num_rotors: int = 4, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)
Compute drag, ground effect, and planar near-wall effect in batches.
Surface geometry is represented in each environment's local world frame. Rotor-force increments, body forces, and force telemetry are represented in the vehicle body frame. The model owns no simulator objects and can therefore be shared by NumPy, Torch, JAX, and CuPy callers.
Initialize coefficients, plane geometry, and telemetry buffers.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
VehicleParams
|
Vehicle physical and aerodynamic coefficients. |
VehicleParams()
|
|
AerodynamicEffectsCfg | None
|
Environment-specific switches, wind, and plane geometry. |
None
|
|
int
|
Number of parallel simulation environments. |
1
|
|
int
|
Number of rotors per environment. |
4
|
|
Optional backend device, mainly used by Torch. |
None
|
|
|
BackendName | None
|
Explicit Array API backend name. |
None
|
|
ModuleType | None
|
Pre-resolved Array API namespace. Overrides |
None
|
Methods:
| Name | Description |
|---|---|
set_external_force |
Set one shared or per-environment world-frame external force. |
set_wall_plane |
Set one shared or per-environment wall plane. |
update |
Compute rotor-force increments and root-body force for one simulation step. |
Attributes:
| Name | Type | Description |
|---|---|---|
enabled |
bool
|
Whether any aerodynamic effect is enabled. |
property
enabled: bool
Whether any aerodynamic effect is enabled.
set_external_force(external_force_w: ArrayLike) -> None
Set one shared or per-environment world-frame external force.
set_wall_plane(point_w: ArrayLike, normal_w: ArrayLike) -> None
Set one shared or per-environment wall plane.
Door tasks can call this with the current door pose before
:meth:update, allowing the analytic plane to follow a moving panel.
update(rotor_thrusts: ArrayLike, rotor_positions_w: ArrayLike, rotor_axes_b: ArrayLike, body_velocity_b: ArrayLike, body_rotation_wb: ArrayLike) -> tuple[ArrayLike, ArrayLike]
Compute rotor-force increments and root-body force for one simulation step.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
ArrayLike
|
Positive rotor thrust magnitudes, shape |
required |
|
ArrayLike
|
Rotor centers in environment-local world frame,
shape |
required |
|
ArrayLike
|
Rotor positive-thrust axes in vehicle body frame, shape
|
required |
|
ArrayLike
|
Root-body velocity in the vehicle body frame,
shape |
required |
|
ArrayLike
|
Body-to-world rotation matrices, shape
|
required |
Returns:
| Type | Description |
|---|---|
ArrayLike
|
Tuple of per-rotor vehicle-body-frame force increments |
ArrayLike
|
and root-body-frame drag plus prescribed force |