Modules:
| Name | Description |
|---|---|
actions |
|
commands |
|
events |
|
observations |
|
rewards |
|
terminations |
|
Classes:
| Name | Description |
|---|---|
FlightActionMapper |
Map batched normalized actions into controller targets, wrench, or RPM. |
FlightMappingLimits |
Per-channel limits used when mapping normalized actions to targets. |
Mixer |
Map thrust and moment demands to rotor commands. |
FlightController |
PID flight controller (batched). |
VehicleParams |
LAV2 vehicle parameters. |
RotorDynamics |
Batched rotor dynamics model. |
TrackDynamics |
Batched track dynamics model. |
ControlAction |
Body torque control action term. |
ControlActionCfg |
See :class: |
TrackControlAction |
Track force control action term. |
TrackControlActionCfg |
See :class: |
UniformPoseCommandGlobal |
Command generator that generates pose commands containing a 3-D position and heading. |
UniformPoseCommandGlobalCfg |
Configuration for the uniform 3D-pose command generator. |
UniformVelocityGlobalCommand |
Command generator that generates a velocity command with uniform distribution. |
UniformVelocityGlobalCommandCfg |
Configuration for the uniform velocity command generator. |
UniformBimodalVelocityCommand |
Bimodal velocity command generator with a discrete mode indicator (4+1). |
UniformBimodalVelocityCommandCfg |
Configuration for the bimodal velocity command generator (flight vs ground). |
Functions:
| Name | Description |
|---|---|
randomize_action_term_attr |
Randomize a selected action-term attribute. |
randomize_controller_params |
Randomize controller gains and command limits attached to an action term. |
randomize_mixer_params |
Randomize mixer parameters attached to an action term. |
randomize_rotor_params |
Randomize rotor parameters attached to an action term. |
target_pos_b |
Position of target in body frame. |
root_euler_w |
Euler angles of the root in world frame. |
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 using tanh kernel. |
track_lin_vel_z_exp |
Reward tracking of linear velocity commands (z axis) using exponential kernel. |
track_lin_vel_exp |
Reward tracking of linear velocity commands using exponential kernel. |
track_yaw_vel_exp |
Reward tracking of angular velocity commands (yaw) using exponential kernel. |
bimodal_action_tanh |
Penalize bimodal actions using tanh kernel. |
bimodal_height_tanh |
Penalize bimodal height using tanh kernel. |
contact_impulse |
Penalize excessive contact impulse (rate of change of contact forces). |
bimodal_contacts |
Penalize contacts when switching from flight to ground mode. |
died |
Termination condition based on the robot's height. |
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.
dataclass
FlightMappingLimits(vel_limits: tuple[float, float, float] = (5.0, 5.0, 5.0), att_limits: tuple[float, float, float] = (1.0, 1.0, math.pi), br_limits: tuple[float, float, float] = (2.0, 2.0, 2.0))
Per-channel limits used when mapping normalized actions to targets.
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 |
FlightController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0], gains: dict | None = None, limits: dict | None = None, num_envs: int = 1, device: str | device = 'cpu')
Bases: ControllerBase
PID flight controller (batched).
Initialize the batched flight PID controller.
Methods:
| Name | Description |
|---|---|
randomize |
Randomize configured PID gains and command limits for selected environments. |
reset |
Reset PID loops for selected environments. |
update |
Update controller. |
Attributes:
| Name | Type | Description |
|---|---|---|
params |
VehicleParams
|
Vehicle parameters for the controller. |
control_mask |
ndarray | Tensor
|
unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the controller.
instance-attribute
control_mask: ndarray | Tensor = control_mask
unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.
randomize(env_ids=None, gains=None, limits=None)
Randomize configured PID gains and command limits for selected environments.
reset(env_ids)
Reset PID loops for selected environments.
update(target: Tensor, state: Tensor) -> torch.Tensor
Update controller.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
Tensor
|
(N, 12) desired [x, y, z, vx, vy, vz, roll, pitch, yaw, wx, wy, wz] |
required |
|
Tensor
|
(N, 12) current state same ordering. |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: Tensor of shape (N, 4): [thrust, roll_moment, pitch_moment, yaw_moment]. |
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 |
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. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the dynamics model.
update(commands: Tensor, state: Tensor) -> torch.Tensor
Compute track forces for batched environments.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
Tensor
|
Shape |
required |
|
Tensor
|
Shape |
required |
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: Tensor of shape |
reset(env_ids: slice | Sequence[int] | Tensor) -> None
Resets the track model to initial conditions.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
slice | Sequence[int] | Tensor
|
The environment ids to reset. |
required |
ControlAction(cfg: ControlActionCfg, env: ManagerBasedRLEnv)
Bases: ActionTerm
Body torque control action term.
This action term applies a wrench to the drone body frame based on action commands
Attributes:
| Name | Type | Description |
|---|---|---|
cfg |
ControlActionCfg
|
The configuration of the action term. |
instance-attribute
cfg: ControlActionCfg = cfg
The configuration of the action term.
Bases: ActionTermCfg
See :class:ControlAction for more details.
Attributes:
| Name | Type | Description |
|---|---|---|
class_type |
type[ActionTerm]
|
Class of the action term. |
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
params |
VehicleParams
|
Vehicle parameters. |
gains |
dict | None
|
Optional gains configuration for the flight controller. See FlightController for details. |
limits |
dict | None
|
Optional command-limit configuration passed directly to the flight controller. |
control_mode |
str
|
Control mode, options: cmd_motor_thrusts, cmd_motor_speeds, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel, cmd_pos. |
class-attribute
instance-attribute
class_type: type[ActionTerm] = ControlAction
Class of the action term.
class-attribute
instance-attribute
asset_name: str = 'robot'
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
params: VehicleParams = VehicleParams()
Vehicle parameters.
class-attribute
instance-attribute
gains: dict | None = None
Optional gains configuration for the flight controller. See FlightController for details.
class-attribute
instance-attribute
limits: dict | None = None
Optional command-limit configuration passed directly to the flight controller.
class-attribute
instance-attribute
control_mode: str = 'cmd_motor_speeds'
Control mode, options: cmd_motor_thrusts, cmd_motor_speeds, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel, cmd_pos.
rotorpy ref: - https://github.com/spencerfolk/rotorpy/blob/main/rotorpy/learning/quadrotor_environments.py#L319C1-L350C12 - https://github.com/spencerfolk/rotorpy/blob/main/rotorpy/vehicles/multirotor.py#L997
TODO: also align control modes with px4, see: https://docs.px4.io/v1.14/en/flight_modes/offboard (version is unclear ATM)
TrackControlAction(cfg: TrackControlActionCfg, env: ManagerBasedRLEnv)
Bases: ActionTerm
Track force control action term.
This action term converts normalized track commands into ground reaction forces applied on each track body.
Attributes:
| Name | Type | Description |
|---|---|---|
cfg |
TrackControlActionCfg
|
The configuration of the action term. |
instance-attribute
cfg: TrackControlActionCfg = cfg
The configuration of the action term.
Bases: ActionTermCfg
See :class:ControlAction for more details.
Attributes:
| Name | Type | Description |
|---|---|---|
class_type |
type[ActionTerm]
|
Class of the action term. |
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
params |
VehicleParams
|
Vehicle parameters. |
class-attribute
instance-attribute
class_type: type[ActionTerm] = TrackControlAction
Class of the action term.
class-attribute
instance-attribute
asset_name: str = 'robot'
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
params: VehicleParams = VehicleParams()
Vehicle parameters.
UniformPoseCommandGlobal(cfg: UniformPoseCommandGlobalCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Command generator that generates pose commands containing a 3-D position and heading.
The command generator samples uniform 3D positions around the environment origin. The
heading command is either set to point towards the target or is sampled uniformly.
This can be configured through the :attr:UniformPoseCommandGlobalCfg.simple_heading
parameter in the configuration.
Initialize the command generator class.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
UniformPoseCommandGlobalCfg
|
The configuration parameters for the command generator. |
required |
|
ManagerBasedEnv
|
The environment object. |
required |
Attributes:
| Name | Type | Description |
|---|---|---|
cfg |
UniformPoseCommandGlobalCfg
|
Configuration for the command generator. |
command |
Tensor
|
The desired 3D-pose in base frame. Shape is (num_envs, 4). |
instance-attribute
cfg: UniformPoseCommandGlobalCfg
Configuration for the command generator.
property
command: Tensor
The desired 3D-pose in base frame. Shape is (num_envs, 4).
Bases: CommandTermCfg
Configuration for the uniform 3D-pose command generator.
Classes:
| Name | Description |
|---|---|
Ranges |
Uniform distribution ranges for the position commands. |
Attributes:
| Name | Type | Description |
|---|---|---|
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
simple_heading |
bool
|
Whether to use simple heading or not. |
ranges |
Ranges
|
Distribution ranges for the position commands. |
goal_pose_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
simple_heading: bool = MISSING
Whether to use simple heading or not.
If True, the heading is in the direction of the target position.
class-attribute
instance-attribute
ranges: Ranges = MISSING
Distribution ranges for the position commands.
class-attribute
instance-attribute
goal_pose_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/pose_goal')
The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
Uniform distribution ranges for the position commands.
Attributes:
| Name | Type | Description |
|---|---|---|
pos_x |
tuple[float, float]
|
Range for the x position (in m). |
pos_y |
tuple[float, float]
|
Range for the y position (in m). |
pos_z |
tuple[float, float]
|
Range for the z position (in m). |
heading |
tuple[float, float]
|
Heading range for the position commands (in rad). |
class-attribute
instance-attribute
pos_x: tuple[float, float] = MISSING
Range for the x position (in m).
class-attribute
instance-attribute
pos_y: tuple[float, float] = MISSING
Range for the y position (in m).
class-attribute
instance-attribute
pos_z: tuple[float, float] = MISSING
Range for the z position (in m).
class-attribute
instance-attribute
heading: tuple[float, float] = MISSING
Heading range for the position commands (in rad).
Used only if :attr:simple_heading is False.
UniformVelocityGlobalCommand(cfg: UniformVelocityGlobalCommandCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Command generator that generates a velocity command with uniform distribution.
The command comprises linear velocity in x, y, z directions and an angular velocity around the z-axis. It is given in the robot's base frame.
If the :attr:cfg.heading_command flag is set to True, the angular velocity is computed from the heading
error similar to doing a proportional control on the heading error. The target heading is sampled uniformly
from the provided range. Otherwise, the angular velocity is sampled uniformly from the provided range.
Mathematically, the angular velocity is computed as follows from the heading command:
.. math::
\omega_z = \frac{1}{2} \text{wrap_to_pi}(\theta_{\text{target}} - \theta_{\text{current}})
Initialize the command generator.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
UniformVelocityGlobalCommandCfg
|
The configuration of the command generator. |
required |
|
ManagerBasedEnv
|
The environment. |
required |
Raises:
| Type | Description |
|---|---|
ValueError
|
If the heading command is active but the heading range is not provided. |
Methods:
| Name | Description |
|---|---|
__str__ |
Return a string representation of the command generator. |
Attributes:
| Name | Type | Description |
|---|---|---|
cfg |
UniformVelocityGlobalCommandCfg
|
The configuration of the command generator. |
command |
Tensor
|
The desired base velocity command in the base frame. Shape is (num_envs, 4). |
instance-attribute
cfg: UniformVelocityGlobalCommandCfg
The configuration of the command generator.
property
command: Tensor
The desired base velocity command in the base frame. Shape is (num_envs, 4).
__str__() -> str
Return a string representation of the command generator.
Bases: CommandTermCfg
Configuration for the uniform velocity command generator.
Classes:
| Name | Description |
|---|---|
Ranges |
Uniform distribution ranges for the velocity commands. |
Attributes:
| Name | Type | Description |
|---|---|---|
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
heading_command |
bool
|
Whether to use heading command or angular velocity command. Defaults to False. |
heading_control_stiffness |
float
|
Scale factor to convert the heading error to angular velocity command. Defaults to 1.0. |
rel_standing_envs |
float
|
The sampled probability of environments that should be standing still. Defaults to 0.0. |
rel_heading_envs |
float
|
The sampled probability of environments where the robots follow the heading-based angular velocity command |
ranges |
Ranges
|
Distribution ranges for the velocity commands. |
goal_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
current_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
heading_command: bool = False
Whether to use heading command or angular velocity command. Defaults to False.
If True, the angular velocity command is computed from the heading error, where the target heading is sampled uniformly from provided range. Otherwise, the angular velocity command is sampled uniformly from provided range.
class-attribute
instance-attribute
heading_control_stiffness: float = 1.0
Scale factor to convert the heading error to angular velocity command. Defaults to 1.0.
class-attribute
instance-attribute
rel_standing_envs: float = 0.0
The sampled probability of environments that should be standing still. Defaults to 0.0.
class-attribute
instance-attribute
rel_heading_envs: float = 1.0
The sampled probability of environments where the robots follow the heading-based angular velocity command (the others follow the sampled angular velocity command). Defaults to 1.0.
This parameter is only used if :attr:heading_command is True.
class-attribute
instance-attribute
ranges: Ranges = MISSING
Distribution ranges for the velocity commands.
class-attribute
instance-attribute
goal_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_goal')
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
class-attribute
instance-attribute
current_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_current')
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.
Uniform distribution ranges for the velocity commands.
Attributes:
| Name | Type | Description |
|---|---|---|
lin_vel_x |
tuple[float, float]
|
Range for the linear-x velocity command (in m/s). |
lin_vel_y |
tuple[float, float]
|
Range for the linear-y velocity command (in m/s). |
lin_vel_z |
tuple[float, float]
|
Range for the linear-z velocity command (in m/s). |
ang_vel_z |
tuple[float, float]
|
Range for the angular-z velocity command (in rad/s). |
heading |
tuple[float, float] | None
|
Range for the heading command (in rad). Defaults to None. |
class-attribute
instance-attribute
lin_vel_x: tuple[float, float] = MISSING
Range for the linear-x velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_y: tuple[float, float] = MISSING
Range for the linear-y velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_z: tuple[float, float] = MISSING
Range for the linear-z velocity command (in m/s).
class-attribute
instance-attribute
ang_vel_z: tuple[float, float] = MISSING
Range for the angular-z velocity command (in rad/s).
class-attribute
instance-attribute
heading: tuple[float, float] | None = None
Range for the heading command (in rad). Defaults to None.
This parameter is only used if :attr:~UniformVelocityGlobalCommandCfg.heading_command is True.
UniformBimodalVelocityCommand(cfg: UniformBimodalVelocityCommandCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Bimodal velocity command generator with a discrete mode indicator (4+1).
This command samples base-frame velocities with two modes:
- Flight mode: uses ranges_flight
- Ground mode: uses ranges_ground
The output command augments the 4-D velocity with a 1-D discrete indicator: - 0.0 for flight mode - 1.0 for ground/terrestrial mode
Heading behavior matches UniformVelocityGlobalCommand with optional heading-target
proportional control. Ranges are applied per selected mode.
Attributes:
| Name | Type | Description |
|---|---|---|
command |
Tensor
|
Return 4-D velocity plus 1-D mode indicator. Shape: (num_envs, 5). |
property
command: Tensor
Return 4-D velocity plus 1-D mode indicator. Shape: (num_envs, 5).
Bases: CommandTermCfg
Configuration for the bimodal velocity command generator (flight vs ground).
Classes:
| Name | Description |
|---|---|
Ranges |
Uniform distribution ranges for velocity commands per mode. |
Attributes:
| Name | Type | Description |
|---|---|---|
asset_name |
str
|
Name of the asset receiving commands. |
heading_command |
bool
|
Whether to convert heading error to angular velocity (per-mode ranges apply). |
heading_control_stiffness |
float
|
Scale factor for heading error to yaw rate conversion. |
rel_standing_envs |
float
|
Probability that an environment should be standing still (zero command). |
rel_heading_envs |
float
|
Probability that an environment uses heading-based angular velocity when enabled. |
rel_flight_envs |
float
|
Probability of sampling flight mode (vs ground). |
ranges_flight |
Ranges
|
Ranges for flight mode sampling. |
ranges_ground |
Ranges
|
Ranges for ground/terrestrial mode sampling. |
goal_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
current_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset receiving commands.
class-attribute
instance-attribute
heading_command: bool = False
Whether to convert heading error to angular velocity (per-mode ranges apply).
class-attribute
instance-attribute
heading_control_stiffness: float = 1.0
Scale factor for heading error to yaw rate conversion.
class-attribute
instance-attribute
rel_standing_envs: float = 0.0
Probability that an environment should be standing still (zero command).
class-attribute
instance-attribute
rel_heading_envs: float = 1.0
Probability that an environment uses heading-based angular velocity when enabled.
class-attribute
instance-attribute
rel_flight_envs: float = 0.5
Probability of sampling flight mode (vs ground).
class-attribute
instance-attribute
ranges_flight: Ranges = MISSING
Ranges for flight mode sampling.
class-attribute
instance-attribute
ranges_ground: Ranges = MISSING
Ranges for ground/terrestrial mode sampling.
class-attribute
instance-attribute
goal_vel_visualizer_cfg: VisualizationMarkersCfg = VisualizationMarkersCfg(prim_path='/Visuals/Command/velocity_goal', markers={'flight': UsdFileCfg(usd_path=f'{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd', scale=(1.0, 0.1, 0.1), visual_material=PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0))), 'ground': UsdFileCfg(usd_path=f'{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd', scale=(1.0, 0.1, 0.1), visual_material=PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)))})
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
class-attribute
instance-attribute
current_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_current')
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.
Uniform distribution ranges for velocity commands per mode.
Attributes:
| Name | Type | Description |
|---|---|---|
lin_vel_x |
tuple[float, float]
|
Range for the linear-x velocity command (in m/s). |
lin_vel_y |
tuple[float, float]
|
Range for the linear-y velocity command (in m/s). |
lin_vel_z |
tuple[float, float]
|
Range for the linear-z velocity command (in m/s). |
ang_vel_z |
tuple[float, float]
|
Range for the angular-z velocity command (in rad/s). |
heading |
tuple[float, float] | None
|
Range for the heading command (in rad). Defaults to None. |
class-attribute
instance-attribute
lin_vel_x: tuple[float, float] = MISSING
Range for the linear-x velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_y: tuple[float, float] = MISSING
Range for the linear-y velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_z: tuple[float, float] = MISSING
Range for the linear-z velocity command (in m/s).
class-attribute
instance-attribute
ang_vel_z: tuple[float, float] = MISSING
Range for the angular-z velocity command (in rad/s).
class-attribute
instance-attribute
heading: tuple[float, float] | None = None
Range for the heading command (in rad). Defaults to None.
This parameter is only used if :attr:~UniformBimodalVelocityCommandCfg.heading_command is True.
randomize_action_term_attr(env, env_ids: Tensor | None, action_term_name: str = 'control_action', attr_name: str = '_flight_controller', **kwargs)
Randomize a selected action-term attribute.
randomize_controller_params(env, env_ids: Tensor | None, action_term_name: str = 'control_action', controller_attr: str = '_flight_controller', gains: dict | None = None, limits: dict | None = None)
Randomize controller gains and command limits attached to an action term.
randomize_mixer_params(env, env_ids: Tensor | None, action_term_name: str = 'control_action', mixer_attr: str = '_mixer', param_range: dict[str, tuple[float, float]] | None = None)
Randomize mixer parameters attached to an action term.
randomize_rotor_params(env, env_ids: Tensor | None, action_term_name: str = 'control_action', rotor_attr: str = '_rotor_dynamics', param_range: dict[str, tuple[float, float]] | None = None)
Randomize rotor parameters attached to an action term.
target_pos_b(env: ManagerBasedRLEnv, command_name: str | None = None, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Position of target in body frame.
root_euler_w(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Euler angles of the root in world frame.
lin_vel_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Penalize base linear velocity using L2 squared kernel.
ang_vel_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Penalize base angular velocity using L2 squared kernel.
pos_error_l2(env: ManagerBasedRLEnv, command_name: str) -> torch.Tensor
Penalize asset pos from its target pos using L2 squared kernel.
pos_error_tanh(env: ManagerBasedRLEnv, std: float, command_name: str) -> torch.Tensor
Penalize asset pos from its target pos using tanh kernel.
yaw_error_l2(env: ManagerBasedRLEnv, command_name: str) -> torch.Tensor
Penalize heading error from target heading using L2 squared kernel.
yaw_error_tanh(env: ManagerBasedRLEnv, std: float, command_name: str) -> torch.Tensor
Penalize heading error from target heading using tanh kernel.
track_lin_vel_z_exp(env: ManagerBasedRLEnv, std: float, command_name: str, is_bimodal: bool = False, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward tracking of linear velocity commands (z axis) using exponential kernel.
track_lin_vel_exp(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward tracking of linear velocity commands using exponential kernel.
track_yaw_vel_exp(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward tracking of angular velocity commands (yaw) using exponential kernel.
bimodal_action_tanh(env: ManagerBasedRLEnv, std: float, command_name: str, flight_action_name: str = 'control_action', ground_action_name: str = 'track_control_action', ground_weight: float = 1.0, flight_weight: float = 1.0) -> torch.Tensor
Penalize bimodal actions using tanh kernel.
bimodal_height_tanh(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot'), ground_weight: float = 1.0, flight_weight: float = 1.0) -> torch.Tensor
Penalize bimodal height using tanh kernel.
contact_impulse(env: ManagerBasedRLEnv, threshold: float, sensor_cfg: SceneEntityCfg, mode: str = 'threshold') -> torch.Tensor
Penalize excessive contact impulse (rate of change of contact forces).
This function calculates the impulse as the change in contact forces between consecutive time steps and penalizes values that exceed a threshold.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
ManagerBasedRLEnv
|
The learning environment. |
required |
|
float
|
Maximum acceptable impulse magnitude. Forces below this are not penalized. |
required |
|
SceneEntityCfg
|
Configuration for the contact sensor, specifying which bodies to monitor. |
required |
|
str
|
Penalty calculation mode: - "threshold": Penalize only the amount exceeding threshold (continuous) - "binary": Return 1.0 if any impulse exceeds threshold, else 0.0 (discrete) - "total": Return total impulse magnitude regardless of threshold (for monitoring) |
'threshold'
|
Returns:
| Type | Description |
|---|---|
Tensor
|
torch.Tensor: Penalty value for each environment: - "threshold" mode: Sum of (impulse - threshold) for all violations - "binary" mode: 1.0 if violation exists, 0.0 otherwise - "total" mode: Total impulse magnitude |
Raises:
| Type | Description |
|---|---|
ValueError
|
If the sensor history length is less than 2 or the mode is invalid. |
Examples:
>>> # Penalize hard landings (impulse > 50 N·s)
>>> impulse_penalty = contact_impulse(
... env, threshold=50.0,
... sensor_cfg=SceneEntityCfg("contact_sensor", body_ids=[arml_id, armr_id]),
... mode="threshold"
... )
>>> rewards["impulse_penalty"] = impulse_penalty * -1.0
bimodal_contacts(env: ManagerBasedRLEnv, command_name: str, threshold: float, sensor_cfg: SceneEntityCfg, mode: str = 'threshold', ground_weight: float = 1.0, flight_weight: float = 1.0) -> torch.Tensor
Penalize contacts when switching from flight to ground mode.
died(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot'), min: float = 0.2, max: float = 2.0) -> torch.Tensor
Termination condition based on the robot's height.