Modules:
| Name | Description |
|---|---|
actions |
|
rewards |
|
Classes:
| Name | Description |
|---|---|
FlightActionMapper |
Map batched normalized actions into controller targets, wrench, or RPM. |
Mixer |
Map thrust and moment demands to rotor commands. |
VehicleParams |
LAV2 vehicle parameters. |
RotorDynamics |
Batched rotor dynamics model. |
ControlActionManager |
Base class for action managers that control actuators. |
FlightActionMapper(control_mode: str, params: VehicleParams = VehicleParams(), limits: FlightMappingLimits = FlightMappingLimits(), *, num_envs: int = 1, device: str | device = 'cpu')
Map batched normalized actions into controller targets, wrench, or RPM.
Initialize a batched Torch flight action mapper for the selected mode.
Methods:
| Name | Description |
|---|---|
map_action |
Map a normalized batched action into RPM commands and intermediates. |
Attributes:
| Name | Type | Description |
|---|---|---|
requires_controller |
bool
|
Whether this mode needs a controller target expansion step. |
property
requires_controller: bool
Whether this mode needs a controller target expansion step.
map_action(action: Tensor, mixer: Mixer, *, state: Tensor | None = None, flight_controller: ControllerBase | None = None) -> FlightMappingResult
Map a normalized batched action into RPM commands and intermediates.
Mixer(params: VehicleParams = VehicleParams(), num_envs: int = 1, device: str | device = 'cpu')
Map thrust and moment demands to rotor commands.
Note
电机推力分配： 电机1 = 推力 - 横滚(roll) + 俯仰(pitch) + 偏航(yaw) 电机2 = 推力 + 横滚(roll) - 俯仰(pitch) + 偏航(yaw) 电机3 = 推力 + 横滚(roll) + 俯仰(pitch) - 偏航(yaw) 电机4 = 推力 - 横滚(roll) - 俯仰(pitch) - 偏航(yaw)
Initialize the torch mixer with vehicle parameters and device.
Methods:
| Name | Description |
|---|---|
randomize |
Randomize mixer runtime parameters from nominal values. |
apply_thrust_curve |
Apply thrust curve to normalized thrust command. |
calculate_rotor_commands |
Allocate thrust and moments into rotor speeds. |
randomize(env_ids=None, randomization=None)
Randomize mixer runtime parameters from nominal values.
apply_thrust_curve(normalized_thrust: Tensor, mode: int = 1) -> torch.Tensor
Apply thrust curve to normalized thrust command.
References
cmd_ctatt: https://github.com/PX4/PX4-Autopilot/blob/e5a483e4b71ab4b994cb0121fe28992d8ce0c8cd/src/modules/mc_att_control/mc_att_control_main.cpp#L111-L137 cmd_ctbr: https://github.com/PX4/PX4-Autopilot/blob/e5a483e4b71ab4b994cb0121fe28992d8ce0c8cd/src/modules/mc_rate_control/MulticopterRateControl.cpp#L156-L179
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
Tensor
|
Normalized thrust command [-1, 1]. Shape: arbitrary, e.g. (num_envs, n_motors). Applied elementwise. |
required |
|
int
|
Thrust curve mode. |
1
|
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: Thrust in Newtons with the same shape as |
Raises:
| Type | Description |
|---|---|
NotImplementedError
|
If the specified mode is not implemented. |
calculate_rotor_commands(control: Tensor) -> torch.Tensor
Allocate thrust and moments into rotor speeds.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
Tensor
|
Desired total thrust and roll/pitch/yaw moments. Shape: (num_envs, 4) |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: The amplitude of each motor's rotational speed (calculated using |
dataclass
VehicleParams(rho: float = 1.184, g: float = 9.81, sim_dt: float = 0.01, step_dt: float = 0.01, randomization: dict[str, dict[str, tuple[float, float]]] = dict(), mass: float = 2.1, inertia: list = (lambda: np.diag([0.11, 0.108, 0.215]).tolist())(), diameter: float = 0.476, Cdx: float = 0.5, x: float = 0.0952, y: float = 0.114423, h: float = -0.0125, alpha: float = 8 * (np.pi / 180), r_p: float = 0.0775, J_m: float = 1e-05, Ct: float = 0.666, Cq: float = 0.0716, theta0: float = 14.6 * (np.pi / 180), thetaTip: float = 6.8 * (np.pi / 180), lock: float = 0.6051, max_rpm: float = 10000.0, init_rpm: float = -1.0, rotor_rpm_rate_limit: float = 50000.0, tau_f: float = 0.01, tau_m: float = 0.05, tau_up: float = -1.0, tau_down: float = -1.0, r_w: float = 0.0285, n_w: int = 4, B: float = 0.136, L: float = 0.23, h_cg: float = 0.078, f: float = 0.01, mu0: float = 0.8, K: float = 20, track_cmd_rate_limit: float = 100, min_throttle_manual: float = 0.08, min_throttle: float = 0.12, max_throttle: float = 1.0, hover_throttle: float = -1)
LAV2 vehicle parameters.
Methods:
| Name | Description |
|---|---|
__post_init__ |
Calculate derived parameters. |
Attributes:
| Name | Type | Description |
|---|---|---|
rho |
float
|
空气密度 (kg/m^3) |
g |
float
|
重力加速度 (m/s^2) |
sim_dt |
float
|
仿真步长 (s) |
step_dt |
float
|
控制步长 (s) |
randomization |
dict[str, dict[str, tuple[float, float]]]
|
运行时参数随机化配置，按组件 (e.g. rotor/mixer) 划分为多个 scale 相对范围子表 |
mass |
float
|
质量 (kg) |
inertia |
list
|
惯性矩阵 (kg*m^2) |
diameter |
float
|
直径 (m) |
Cdx |
float
|
空气阻力系数 |
x |
float
|
x方向臂长 (m) |
y |
float
|
y方向臂长 (m) |
h |
float
|
重心高度 (m) |
alpha |
float
|
y方向涵道外倾角度 (rad) |
r_p |
float
|
螺旋桨半径 (m) |
J_m |
float
|
电机转动惯量 (kg*m^2) |
Ct |
float
|
推力系数 |
Cq |
float
|
扭矩系数 |
theta0 |
float
|
桨根角 (rad) |
thetaTip |
float
|
桨尖角 (rad) |
theta1 |
float
|
桨叶扭转角 (rad) |
lock |
float
|
Lock number |
max_rpm |
float
|
最大转速 |
init_rpm |
float
|
初始转速 |
rotor_rpm_rate_limit |
float
|
旋翼转速变化率限制 (rpm/s) |
cT |
float
|
转速平方到推力增益 (N/(rpm^2)) |
cM |
float
|
转速平方到扭矩增益 (N*m/(rpm^2)) |
tau_f |
float
|
电机滤波时间常数 (s) |
tau_m |
float
|
兼容保留的电机时间常数 (s) |
tau_up |
float
|
电机升速时间常数 (s) |
tau_down |
float
|
电机降速时间常数 (s) |
r_w |
float
|
主动轮半径 (m) |
n_w |
int
|
负重轮个数 |
B |
float
|
两侧履带中心距 (m) |
L |
float
|
履带节点接地部分长度 (m) |
h_cg |
float
|
车体质心高度 (m) |
f |
float
|
滚动阻力系数(以干燥混凝土路面或沥青路面为例) |
mu0 |
float
|
滑转率为1时的摩擦系数 |
K |
float
|
依赖于土壤黏聚系数和摩擦特性的常数 |
track_cmd_rate_limit |
float
|
履带主动轮指令变化率限制 (rad/s^2) |
min_throttle_manual |
float
|
MPC_MANTHR_MIN: Minimum manual thrust (0.0 - 1.0). Default: 0.08 |
min_throttle |
float
|
MPC_THR_MIN: Minimum thrust in auto thrust control (0.05 - 1.0). Default: 0.12 |
max_throttle |
float
|
MPC_THR_MAX: Maximum thrust in auto thrust control (0.0 - 1.0). Default: 1.0 |
hover_throttle |
float
|
MPC_THR_HOVER: Hover throttle manual (0.1 - 0.8). Default: 0.5 in PX4, calculated hover throttle in LAV2 |
class-attribute
instance-attribute
rho: float = 1.184
空气密度 (kg/m^3)
class-attribute
instance-attribute
g: float = 9.81
重力加速度 (m/s^2)
class-attribute
instance-attribute
sim_dt: float = 0.01
仿真步长 (s)
class-attribute
instance-attribute
step_dt: float = 0.01
控制步长 (s)
class-attribute
instance-attribute
randomization: dict[str, dict[str, tuple[float, float]]] = field(default_factory=dict)
运行时参数随机化配置，按组件 (e.g. rotor/mixer) 划分为多个 scale 相对范围子表
class-attribute
instance-attribute
mass: float = 2.1
质量 (kg)
class-attribute
instance-attribute
inertia: list = field(default_factory=lambda: tolist())
惯性矩阵 (kg*m^2)
class-attribute
instance-attribute
diameter: float = 0.476
直径 (m)
class-attribute
instance-attribute
Cdx: float = 0.5
空气阻力系数
class-attribute
instance-attribute
x: float = 0.0952
x方向臂长 (m)
class-attribute
instance-attribute
y: float = 0.114423
y方向臂长 (m)
class-attribute
instance-attribute
h: float = -0.0125
重心高度 (m)
class-attribute
instance-attribute
alpha: float = 8 * (pi / 180)
y方向涵道外倾角度 (rad)
class-attribute
instance-attribute
r_p: float = 0.0775
螺旋桨半径 (m)
class-attribute
instance-attribute
J_m: float = 1e-05
电机转动惯量 (kg*m^2)
class-attribute
instance-attribute
Ct: float = 0.666
推力系数
class-attribute
instance-attribute
Cq: float = 0.0716
扭矩系数
class-attribute
instance-attribute
theta0: float = 14.6 * (pi / 180)
桨根角 (rad)
class-attribute
instance-attribute
thetaTip: float = 6.8 * (pi / 180)
桨尖角 (rad)
class-attribute
instance-attribute
theta1: float = field(init=False)
桨叶扭转角 (rad)
class-attribute
instance-attribute
lock: float = 0.6051
Lock number
class-attribute
instance-attribute
max_rpm: float = 10000.0
最大转速
class-attribute
instance-attribute
init_rpm: float = -1.0
初始转速
class-attribute
instance-attribute
rotor_rpm_rate_limit: float = 50000.0
旋翼转速变化率限制 (rpm/s)
class-attribute
instance-attribute
cT: float = field(init=False)
转速平方到推力增益 (N/(rpm^2))
class-attribute
instance-attribute
cM: float = field(init=False)
转速平方到扭矩增益 (N*m/(rpm^2))
class-attribute
instance-attribute
tau_f: float = 0.01
电机滤波时间常数 (s)
class-attribute
instance-attribute
tau_m: float = 0.05
兼容保留的电机时间常数 (s)
class-attribute
instance-attribute
tau_up: float = -1.0
电机升速时间常数 (s)
class-attribute
instance-attribute
tau_down: float = -1.0
电机降速时间常数 (s)
class-attribute
instance-attribute
r_w: float = 0.0285
主动轮半径 (m)
class-attribute
instance-attribute
n_w: int = 4
负重轮个数
class-attribute
instance-attribute
B: float = 0.136
两侧履带中心距 (m)
class-attribute
instance-attribute
L: float = 0.23
履带节点接地部分长度 (m)
class-attribute
instance-attribute
h_cg: float = 0.078
车体质心高度 (m)
class-attribute
instance-attribute
f: float = 0.01
滚动阻力系数(以干燥混凝土路面或沥青路面为例)
class-attribute
instance-attribute
mu0: float = 0.8
滑转率为1时的摩擦系数
class-attribute
instance-attribute
K: float = 20
依赖于土壤黏聚系数和摩擦特性的常数
class-attribute
instance-attribute
track_cmd_rate_limit: float = 100
履带主动轮指令变化率限制 (rad/s^2)
class-attribute
instance-attribute
min_throttle_manual: float = 0.08
MPC_MANTHR_MIN: Minimum manual thrust (0.0 - 1.0). Default: 0.08
class-attribute
instance-attribute
min_throttle: float = 0.12
MPC_THR_MIN: Minimum thrust in auto thrust control (0.05 - 1.0). Default: 0.12
class-attribute
instance-attribute
max_throttle: float = 1.0
MPC_THR_MAX: Maximum thrust in auto thrust control (0.0 - 1.0). Default: 1.0
class-attribute
instance-attribute
hover_throttle: float = -1
MPC_THR_HOVER: Hover throttle manual (0.1 - 0.8). Default: 0.5 in PX4, calculated hover throttle in LAV2
__post_init__()
Calculate derived parameters.
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. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the dynamics model.
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(commands: Tensor) -> torch.Tensor
Calculate the output thrust and torque for each motor based on the motor commands.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
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(env_ids: slice | Sequence[int] | Tensor) -> None
Resets the rotor model to initial conditions.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
slice | Sequence[int] | Tensor
|
The environment ids to reset. |
required |
ControlActionManager(env: GenesisEnv, delay_step: int = 0, params: VehicleParams = VehicleParams(), entity_attr: str = 'robot')
Bases: BaseActionManager
Base class for action managers that control actuators.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
GenesisEnv
|
The environment to manage the DOF actuators for. |
required |
|
int
|
The number of steps to delay the actions for. This is an easy way to emulate the latency in the system. |
0
|
|
VehicleParams
|
Vehicle physical parameters. |
VehicleParams()
|
|
str
|
Attribute name on the environment for the robot entity. |
'robot'
|
Methods:
| Name | Description |
|---|---|
step |
Handle the received actions. |
reset |
Reset environments. |
get_actions |
Get the current actions for the environments. |
Attributes:
| Name | Type | Description |
|---|---|---|
num_actions |
int
|
The total number of actions. |
action_space |
tuple[float, float]
|
If using the default action handler, the action space is [-1, 1]. |
actions |
Tensor
|
The actions for for the current step. |
raw_actions |
Tensor
|
The actions received from the policy, before being converted. |
property
num_actions: int
The total number of actions.
property
action_space: tuple[float, float]
If using the default action handler, the action space is [-1, 1].
property
actions: Tensor
The actions for for the current step.
property
raw_actions: Tensor
The actions received from the policy, before being converted.
step(actions: Tensor) -> None
Handle the received actions.
reset(envs_idx: list[int] | None)
Reset environments.
get_actions() -> torch.Tensor
Get the current actions for the environments.