models

Command and result models for sim2real runtimes.

Classes:

Name	Description
HoldCommand	Hold current position and yaw.
MotorCommand	Direct motor command in normalized [0, 1] form.
WrenchCommand	Transport-ready collective thrust [0, 1] and normalized body moments [-1, 1].
VelocityCommand	Body-frame velocity with yaw-rate command.
BodyRateCommand	Body-rate command with normalized collective thrust.
AttitudeCommand	Attitude command with normalized collective thrust and yaw-rate feed-forward.
BasePlayStepResult	One runtime step result.

HoldCommand dataclass

HoldCommand(position_world: NDArray, yaw: float)

Hold current position and yaw.

MotorCommand dataclass

MotorCommand(controls: NDArray)

Direct motor command in normalized [0, 1] form.

WrenchCommand dataclass

WrenchCommand(thrust: float, body_moment: NDArray)

Transport-ready collective thrust [0, 1] and normalized body moments [-1, 1].

VelocityCommand dataclass

VelocityCommand(velocity_body: NDArray, yaw_rate: float)

Body-frame velocity with yaw-rate command.

BodyRateCommand dataclass

BodyRateCommand(thrust: float, body_rate: NDArray)

Body-rate command with normalized collective thrust.

AttitudeCommand dataclass

AttitudeCommand(thrust: float, roll: float, pitch: float, yaw: float, yaw_rate: float)

Attitude command with normalized collective thrust and yaw-rate feed-forward.

BasePlayStepResult dataclass

BasePlayStepResult(command: HoldCommand | MotorCommand | WrenchCommand | VelocityCommand | BodyRateCommand | AttitudeCommand, debug_action: NDArray, fsm_state: str)

One runtime step result.