track

Torch track dynamics for batched simulation.

Classes:

Name	Description
TrackDynamics	Batched track dynamics model.

TrackDynamics

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

Bases: DynamicsBase

Batched track dynamics model.

Initialize batched track dynamics on the specified device.

Methods:

Name	Description
update	Compute track forces for batched environments.
reset	Resets the track 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.

update

update(commands: Tensor, state: Tensor) -> torch.Tensor

Compute track forces for batched environments.

Parameters:

Name	Type	Description	Default
commands	Tensor	Shape (num_envs, 2) track commands [left, right].	required
state	Tensor	Shape (num_envs, 3) body-frame velocities [u, v, r].	required

Returns:

Type	Description
Tensor	torch.Tensor: Tensor of shape (num_envs, 2, n_w, 2) [side, wheel, (Fx, Fy)].

reset

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

Resets the track model to initial conditions.

Parameters:

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