Modules:
| Name | Description |
|---|---|
actions |
|
commands |
|
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. |
HeadingVelocityCommandRange |
4-D velocity command range: vx, vy, vz, wz. |
HeadingVelocityCommandManager |
Velocity command manager with heading-based yaw rate control and z velocity. |
Functions:
| Name | Description |
|---|---|
wrap_to_pi |
Wraps input angles (in radians) to the range :math: |
lin_vel_l2 |
Penalize base linear velocity using L2 squared kernel. |
ang_vel_l2 |
Penalize base angular velocity using L2 squared kernel. |
pos_error_l2 |
Penalize asset pos from its target pos using L2 squared kernel. |
pos_error_tanh |
Penalize asset pos from its target pos using tanh kernel. |
yaw_error_l2 |
Penalize heading error from target heading using L2 squared kernel. |
yaw_error_tanh |
Penalize heading error from target heading. |
command_tracking_lin_vel |
Reward for tracking commanded linear velocity (xyz axes). |
command_tracking_ang_vel |
Reward for tracking commanded angular velocity (yaw). |
FlightActionMapper(control_mode: str, params: VehicleParams = VehicleParams(), mapping: FlightMappingConfig | None = None, *, 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 |
|---|---|
randomize |
Randomize mapper runtime parameters used by action scaling. |
action_to_collective_acc |
Map a normalized policy collective action to total collective acceleration. |
collective_acc_to_thrust |
Convert total collective acceleration into total thrust in Newtons. |
action_to_collective_thrust |
Convert a normalized policy collective action into total thrust. |
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.
randomize(env_ids=None, randomization: dict[str, tuple[float, float]] | None = None) -> None
Randomize mapper runtime parameters used by action scaling.
action_to_collective_acc(action: Tensor, mixer: Mixer) -> torch.Tensor
Map a normalized policy collective action to total collective acceleration.
collective_acc_to_thrust(collective_acc: Tensor) -> torch.Tensor
Convert total collective acceleration into total thrust in Newtons.
action_to_collective_thrust(action: Tensor, mixer: Mixer) -> torch.Tensor
Convert a normalized policy collective action into total thrust.
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. |
calculate_rotor_commands |
Allocate thrust and moments into rotor speeds. |
randomize(env_ids=None, randomization=None)
Randomize mixer runtime parameters from nominal values.
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([0.015, 0.0348, 0.042503]).tolist())(), diameter: float = 0.476, Cdx: float = 0.5, x: float = 0.0952, y: float = 0.114423, h: float = -0.0125, alpha: float = math.radians(8.0), r_p: float = 0.0775, Ct: float = 0.666, Cq: float = 0.0716, theta0: float = math.radians(14.6), thetaTip: float = math.radians(6.8), lock: float = 0.6051, max_rpm: float = 10000.0, init_rpm: float = math.nan, rotor_rpm_rate_limit: float = 50000.0, tau_f: float = 0.01, tau_m: float = 0.05, tau_up: float = math.nan, tau_down: float = math.nan, 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, mpc_xy_vel_max: float = 12.0, mpc_z_vel_max_up: float = 3.0, mpc_z_vel_max_dn: float = 1.5, mpc_man_tilt_max: float = math.radians(35.0), mc_rollrate_max: float = math.radians(220.0), mc_pitchrate_max: float = math.radians(220.0), mc_yawrate_max: float = math.radians(200.0))
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) |
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) |
mpc_xy_vel_max |
float
|
Maximum horizontal velocity setpoint magnitude in m/s (0 - 20). |
mpc_z_vel_max_up |
float
|
Maximum upward velocity setpoint in m/s (0.5 - 8). |
mpc_z_vel_max_dn |
float
|
Maximum downward velocity setpoint magnitude in m/s (0.5 - 4). |
mpc_man_tilt_max |
float
|
Maximum manual tilt angle in radians (deg: 0 - 90). |
mc_rollrate_max |
float
|
Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800). |
mc_pitchrate_max |
float
|
Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800). |
mc_yawrate_max |
float
|
Maximum yaw-rate setpoint in rad/s (deg/s: 0 - 1800). |
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 = radians(8.0)
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
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 = radians(14.6)
桨根角 (rad)
class-attribute
instance-attribute
thetaTip: float = radians(6.8)
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 = nan
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 = nan
电机升速时间常数 (s)
class-attribute
instance-attribute
tau_down: float = nan
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
mpc_xy_vel_max: float = 12.0
Maximum horizontal velocity setpoint magnitude in m/s (0 - 20).
class-attribute
instance-attribute
mpc_z_vel_max_up: float = 3.0
Maximum upward velocity setpoint in m/s (0.5 - 8).
class-attribute
instance-attribute
mpc_z_vel_max_dn: float = 1.5
Maximum downward velocity setpoint magnitude in m/s (0.5 - 4).
class-attribute
instance-attribute
mpc_man_tilt_max: float = radians(35.0)
Maximum manual tilt angle in radians (deg: 0 - 90).
class-attribute
instance-attribute
mc_rollrate_max: float = radians(220.0)
Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800).
class-attribute
instance-attribute
mc_pitchrate_max: float = radians(220.0)
Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800).
class-attribute
instance-attribute
mc_yawrate_max: float = radians(200.0)
Maximum yaw-rate setpoint in rad/s (deg/s: 0 - 1800).
__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.
Bases: TypedDict
4-D velocity command range: vx, vy, vz, wz.
HeadingVelocityCommandManager(env: GenesisEnv, range: HeadingVelocityCommandRange, resample_time_sec: float = 5.0, standing_probability: float = 0.0, heading_command: bool = False, heading_control_stiffness: float = 1.0, rel_heading_envs: float = 1.0, heading_range: tuple[float, float] = (-math.pi, math.pi), debug_visualizer: bool = False, debug_visualizer_cfg: VelocityDebugVisualizerConfig = DEFAULT_VISUALIZER_CONFIG)
Bases: VelocityCommandManager
Velocity command manager with heading-based yaw rate control and z velocity.
Uses its own HeadingVelocityCommandRange config with 4 velocity dimensions.
The parent's _command buffer stores 4-D [vx, vy, vz, wz].
The public command property returns the same 4-D tensor.
When heading_command=True, the angular velocity (wz) is overridden for
heading-enabled environments by a proportional controller on the heading error::
wz = clip(stiffness * wrap_to_pi(heading_target - heading_w), ang_vel_z_range)
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
GenesisEnv
|
The environment to control. |
required |
|
HeadingVelocityCommandRange
|
The ranges of linear & angular velocities (4-D: vx, vy, vz, wz). |
required |
|
float
|
The time interval between changing the command. |
5.0
|
|
float
|
Probability of standing still. |
0.0
|
|
bool
|
Enable heading-based angular velocity control. |
False
|
|
float
|
P-gain for heading error to yaw rate. |
1.0
|
|
float
|
Fraction of environments that use heading control. |
1.0
|
|
tuple[float, float]
|
Range for sampling heading targets (radians). |
(-pi, pi)
|
|
bool
|
Enable debug arrow visualization. |
False
|
|
VelocityDebugVisualizerConfig
|
Configuration for the debug visualizer. |
DEFAULT_VISUALIZER_CONFIG
|
Attributes:
| Name | Type | Description |
|---|---|---|
command |
Tensor
|
The desired velocity command in base frame. Shape is (num_envs, 4). |
property
command: Tensor
The desired velocity command in base frame. Shape is (num_envs, 4).
Columns: [vx, vy, vz, wz].
wrap_to_pi(angles: Tensor) -> torch.Tensor
Wraps input angles (in radians) to the range :math:[-\pi, \pi].
This function wraps angles in radians to the range :math:[-\pi, \pi], such that
:math:\pi maps to :math:\pi, and :math:-\pi maps to :math:-\pi. In general,
odd positive multiples of :math:\pi are mapped to :math:\pi, and odd negative
multiples of :math:\pi are mapped to :math:-\pi.
The function behaves similar to MATLAB's wrapToPi <https://www.mathworks.com/help/map/ref/wraptopi.html>_
function.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
Tensor
|
Input angles of any shape. |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: Angles in the range :math: |
lin_vel_l2(env: GenesisEnv, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Penalize base linear velocity using L2 squared kernel.
ang_vel_l2(env: GenesisEnv, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Penalize base angular velocity using L2 squared kernel.
pos_error_l2(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Penalize asset pos from its target pos using L2 squared kernel.
pos_error_tanh(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Penalize asset pos from its target pos using tanh kernel.
yaw_error_l2(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Penalize heading error from target heading using L2 squared kernel.
yaw_error_tanh(env: GenesisEnv, target_pose: Tensor, pose_command: CommandManager = None, entity_attr: str = 'robot', entity_manager: EntityManager = None, std: float = 0.8) -> torch.Tensor
Penalize heading error from target heading.
command_tracking_lin_vel(env: GenesisEnv, vel_cmd_manager: VelocityCommandManager, sensitivity: float = 0.25, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Reward for tracking commanded linear velocity (xyz axes).
Uses 4-D command [vx, vy, vz, wz] and tracks all three linear axes.
command_tracking_ang_vel(env: GenesisEnv, vel_cmd_manager: VelocityCommandManager, sensitivity: float = 0.25, entity_attr: str = 'robot', entity_manager: EntityManager = None) -> torch.Tensor
Reward for tracking commanded angular velocity (yaw).
Uses 4-D command [vx, vy, vz, wz] where wz is at index 3.