mapping

Array API action mappers for batched vehicle simulation.

类：

名称	描述
FlightMapping	Fields emitted while lowering normalized actions to actuator commands.
DifferentialDriveMapping	Fields emitted while lowering ground actions to drive-shaft targets.
FlightMappingConfig	Mapping-range configuration for normalized action scaling.
DifferentialDriveMappingConfig	Policy-facing scaling for differential-drive controller modes.
FlightActionMapper	Map batched normalized actions into controller targets, wrench, or RPM.
DifferentialDriveActionMapper	Map normalized ground actions into differential controller targets.

函数：

名称	描述
target_to_command	Convert dict target batches into compact command vectors.

属性：

名称	类型	描述
ACTION_KEY_ORDER		Stable policy-action field order derived from the shared controller schema.

ACTION_KEY_ORDER module-attribute

ACTION_KEY_ORDER = tuple(ControllerState.__annotations__)

Stable policy-action field order derived from the shared controller schema.

Only fields present in the active control mask consume action slices.

FlightMapping

Bases: TypedDict

Fields emitted while lowering normalized actions to actuator commands.

属性：

名称	类型	描述
target	ControllerTarget	Mapped target consumed by sim2real PX4 setpoints or simulation controllers.
collective_acc	ArrayLike	Total thrust acceleration consumed by the sim2real thrust model.
torque	ArrayLike	Normalized body torque consumed by PX4-native or legacy MAVROS wrench paths.
motor_thrusts	ArrayLike	Normalized per-motor thrust consumed by PX4-native direct actuators.
wrench	ArrayLike	Physical [thrust, roll, pitch, yaw] wrench used by simulation diagnostics.
rpm_command	ArrayLike	Rotor RPM command consumed by train and sim2sim rotor dynamics.

target instance-attribute

target: ControllerTarget

Mapped target consumed by sim2real PX4 setpoints or simulation controllers.

collective_acc instance-attribute

collective_acc: ArrayLike

Total thrust acceleration consumed by the sim2real thrust model.

torque instance-attribute

torque: ArrayLike

Normalized body torque consumed by PX4-native or legacy MAVROS wrench paths.

motor_thrusts instance-attribute

motor_thrusts: ArrayLike

Normalized per-motor thrust consumed by PX4-native direct actuators.

wrench instance-attribute

wrench: ArrayLike

Physical [thrust, roll, pitch, yaw] wrench used by simulation diagnostics.

rpm_command instance-attribute

rpm_command: ArrayLike

Rotor RPM command consumed by train and sim2sim rotor dynamics.

DifferentialDriveMapping

Bases: TypedDict

Fields emitted while lowering ground actions to drive-shaft targets.

FlightMappingConfig dataclass

FlightMappingConfig(velocity_range: tuple[float, float, float] | None = None, acceleration_range: tuple[float, float, float] | None = None, attitude_range: tuple[float, float, float] | None = None, body_rate_range: tuple[float, float, float] | None = (2.0, 2.0, 2.0), rel_rotation: bool = False, rotation_step_len: float | None = None)

Mapping-range configuration for normalized action scaling.

方法：

名称	描述
from_params	Build mapping ranges from vehicle parameters.
resolve	Resolve config overrides into concrete mapping ranges.

from_params classmethod

from_params(params: VehicleParams) -> FlightMappingConfig

Build mapping ranges from vehicle parameters.

resolve

resolve(params: VehicleParams) -> FlightMappingConfig

Resolve config overrides into concrete mapping ranges.

DifferentialDriveMappingConfig dataclass

DifferentialDriveMappingConfig(forward_speed_range: float | None = None, yaw_rate_range: float | None = None, heading_range: float = pi, side_speed_range: float | None = None)

Policy-facing scaling for differential-drive controller modes.

方法：

名称	描述
from_params	Build mapping ranges from track or wheel platform parameters.
resolve	Resolve explicit overrides against platform-derived defaults.

from_params classmethod

from_params(params: VehicleParams) -> DifferentialDriveMappingConfig

Build mapping ranges from track or wheel platform parameters.

resolve

resolve(params: VehicleParams) -> DifferentialDriveMappingConfig

Resolve explicit overrides against platform-derived defaults.

FlightActionMapper

FlightActionMapper(control_mode: str, params: VehicleParams = VehicleParams(), mapping: FlightMappingConfig | None = None, control_mask: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)

Map batched normalized actions into controller targets, wrench, or RPM.

Initialize the batched action mapper and backend namespace.

方法：

名称	描述
randomize	Randomize.
action_to_collective_acc	Action to collective acc.
collective_acc_to_thrust	Collective acc to thrust.
action_to_collective_thrust	Action to collective thrust.
decode_action	Decode normalized batched action into a runtime-neutral control request.
map_action	Resolve normalized batched action into simulation rotor RPM commands.

属性：

名称	类型	描述
requires_controller	bool	Requires controller.

requires_controller property

requires_controller: bool

Requires controller.

randomize

randomize(env_ids=None, randomization: dict | None = None)

Randomize.

action_to_collective_acc

action_to_collective_acc(action: ArrayLike, mixer) -> ArrayLike

Action to collective acc.

collective_acc_to_thrust

collective_acc_to_thrust(collective_acc: ArrayLike) -> ArrayLike

Collective acc to thrust.

action_to_collective_thrust

action_to_collective_thrust(action: ArrayLike, mixer) -> ArrayLike

Action to collective thrust.

decode_action

decode_action(action: ArrayLike, mixer, *, state: ControllerState | None = None) -> FlightMapping

Decode normalized batched action into a runtime-neutral control request.

map_action

map_action(action: ArrayLike, mixer, *, state: ControllerState | None = None, flight_controller: ControllerBase | None = None) -> FlightMapping

Resolve normalized batched action into simulation rotor RPM commands.

DifferentialDriveActionMapper

DifferentialDriveActionMapper(control_mode: str, params: VehicleParams, mapping: DifferentialDriveMappingConfig | None = None, control_mask: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)

Map normalized ground actions into differential controller targets.

Initialize the ground mapper and stable action-field indices.

方法：

名称	描述
decode_action	Decode a policy action into side speed or a controller target.
map_action	Resolve an action into left/right output-shaft speed targets.

属性：

名称	类型	描述
requires_controller	bool	Whether this mode passes through the differential controller.

requires_controller property

requires_controller: bool

Whether this mode passes through the differential controller.

decode_action

decode_action(action: ArrayLike, *, state: ControllerState | None = None) -> DifferentialDriveMapping

Decode a policy action into side speed or a controller target.

map_action

map_action(action: ArrayLike, *, state: ControllerState | None = None, controller: ControllerBase | None = None) -> DifferentialDriveMapping

Resolve an action into left/right output-shaft speed targets.

target_to_command

target_to_command(target: ControllerTarget, command_mode: str, state: ControllerState | None = None, output_frame: str = 'world_relative') -> ArrayLike

Convert dict target batches into compact command vectors.