rotor

Torch rotor dynamics for batched simulation.

Classes:

Name	Description
RotorDynamics	Batched rotor dynamics model.

RotorDynamics

RotorDynamics(params: VehicleParams = VehicleParams(), num_envs: int = 1, device: str | device = 'cpu')

Bases: DynamicsBase

Batched rotor dynamics model.

Initialize batched rotor dynamics on the specified device.

Methods:

Name	Description
randomize	Randomize rotor runtime parameters from nominal values.
update	Calculate the output thrust and torque for each motor based on the motor commands.
reset	Resets the rotor model to initial conditions.

Attributes:

Name	Type	Description
params	VehicleParams	Vehicle parameters for the dynamics model.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the dynamics model.

randomize

randomize(env_ids: slice | Sequence[int] | Tensor | None = None, randomization: dict[str, tuple[float, float]] | None = None) -> None

Randomize rotor runtime parameters from nominal values.

update

update(commands: Tensor) -> torch.Tensor

Calculate the output thrust and torque for each motor based on the motor commands.

Parameters:

Name	Type	Description	Default
commands	Tensor	Command tensor for each motor. Shape: (num_envs, 4)	required

Returns:

Type	Description
Tensor	torch.Tensor: Thrust and torque tensor for each motor. Shape: (num_envs, 8)

reset

reset(env_ids: slice | Sequence[int] | Tensor) -> None

Resets the rotor model to initial conditions.

Parameters:

Name	Type	Description	Default
env_ids	slice | Sequence[int] | Tensor	The environment ids to reset.	required