mdp

模块：

名称	描述
`actions`
`commands`
`rewards`

类：

名称	描述
`FlightActionMapper`	Map batched normalized actions into controller targets, wrench, or RPM.
`FlightMappingConfig`	Mapping-range configuration for normalized action scaling.
`Mixer`	Map batched thrust and moment demands to rotor speed commands.
`VehicleParams`	Generic multi-rotor vehicle physics.
`RotorDynamics`	Batched motor dynamics model for rotor thrust and torque.
`FlightControlActionManager`	Base class for Genesis flight action managers.
`PositionDebugVisualizerConfig`	Defines the configuration for the debug visualizer.
`PositionCommandManager`	Generates a position + heading command from uniform distribution.

函数：

名称	描述
`wrap_to_pi`	Wraps input angles (in radians) to the range :math:`[-\pi, \pi]`.
`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.

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.

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.

Mixer

Mixer(params: VehicleParams = VehicleParams(), num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None, allocation_mode: Literal['pinv', 'saturation'] = 'pinv')

Map batched thrust and moment demands to rotor speed commands.

The default "pinv" allocator applies direct pseudo-inverse allocation. "saturation" enables a staged trim strategy: roll/pitch authority is trimmed first if needed, and yaw authority is allocated from the remaining rotor-speed margin.

Initialize the mixer matrix and backend namespace.

参数：

名称	类型	描述	默认
`params`	`VehicleParams`	Vehicle parameters used to build the allocation matrix.	`VehicleParams()`
`num_envs`	`int`	Number of parallel environments represented by the batch.	`1`
`device`		Optional backend device, mainly used by Torch.	`None`
`backend`	`BackendName \| None`	Explicit Array API backend. If omitted, NumPy is used when `device` is `None` and Torch otherwise for compatibility.	`None`
`xp`	`ModuleType \| None`	Pre-resolved Array API namespace. Overrides `backend`.	`None`
`allocation_mode`	`Literal['pinv', 'saturation']`	`"pinv"` for direct pseudo-inverse allocation or `"saturation"` for staged saturation-aware allocation.	`'pinv'`

方法：

名称	描述
`randomize`	Randomize mixer parameters for selected environments.
`calculate_rotor_commands`	Allocate `[thrust, roll, pitch, yaw]` controls to rotor RPM.

randomize

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

Randomize mixer parameters for selected environments.

calculate_rotor_commands

calculate_rotor_commands(control: ArrayLike) -> ArrayLike

Allocate [thrust, roll, pitch, yaw] controls to rotor RPM.

参数：

名称	类型	描述	默认
`control`	`ArrayLike`	Batched control array with shape `(num_envs, 4)`.	必需

返回：

类型	描述
`ArrayLike`	Batched rotor speed magnitudes with shape `(num_envs, 4)`.

VehicleParams `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: [[0.015, 0.0, 0.0], [0.0, 0.0348, 0.0], [0.0, 0.0, 0.042503]])(), x: float = 0.0952, y: float = 0.114423, h: float = -0.0125, alpha: float = math.radians(8.0), diameter: float = 0.476, Cdx: float = 0.5, 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), theta1: float = math.nan, lock: float = 0.6051, cT: float = math.nan, cM: float = math.nan, spin_dir: tuple[float, float, float, float] = (1.0, 1.0, -1.0, -1.0), tau_f: float = 0.01, tau_m: float = 0.05, max_rpm: float = 10000.0, init_rpm: float = math.nan, rotor_rpm_rate_limit: float = 50000.0, tau_up: float = math.nan, tau_down: float = math.nan, mpc_xy_vel_max: float = 12.0, mpc_z_vel_max_up: float = 3.0, mpc_z_vel_max_dn: float = 1.5, mpc_acc_hor_max: float = 5.0, mpc_acc_up_max: float = 4.0, mpc_acc_down_max: float = 3.0, 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))

Generic multi-rotor vehicle physics.

The base class carries LAV2-compatible defaults for the shared multi-rotor parameters so that VehicleParams() continues to produce a working LAV2-flavoured flight configuration (without track / airframe specifics).

Concrete subclasses add robot-specific locomotion and geometry:

TrackVehicleParams — LAV2: tracked ground locomotion + ducted airframe
TiltWheelVehicleParams — ATMO: tilting arms + two side motors whose belt transmissions synchronize four wheel shells

方法：

名称	描述
`__post_init__`	Calculate derived parameters and resolve default sentinels.

属性：

名称	类型	描述
`rho`	`float`	Air density (kg/m³).
`g`	`float`	Gravitational acceleration (m/s²).
`sim_dt`	`float`	Simulation time step (s).
`step_dt`	`float`	Control time step (s).
`randomization`	`dict[str, dict[str, tuple[float, float]]]`	Per-component parameter-randomisation scale ranges.
`mass`	`float`	Total vehicle mass (kg — LAV2 default; override for other robots).
`inertia`	`list`	Inertia matrix (kg*m^2).
`x`	`float`	Arm length in x — rotor moment-arm for roll (m).
`y`	`float`	Arm length in y — rotor moment-arm for pitch (m).
`h`	`float`	CG height below rotor plane (m, negative = below).
`alpha`	`float`	Duct / rotor cant angle about y-axis (rad — 0 for flat rotors like ATMO).
`diameter`	`float`	Overall vehicle diameter (m).
`Cdx`	`float`	Body drag coefficient.
`r_p`	`float`	Propeller radius (m).
`Ct`	`float`	Thrust coefficient (blade-element).
`Cq`	`float`	Torque coefficient (blade-element).
`theta0`	`float`	Blade root pitch angle (rad).
`thetaTip`	`float`	Blade tip pitch angle (rad).
`theta1`	`float`	Blade twist (rad), defaults to theta0 - thetaTip.
`lock`	`float`	Lock number.
`cT`	`float`	Thrust coefficient T = cT·rpm² (N / rpm²); defaults from Ct.
`cM`	`float`	Reaction-torque coefficient M = cM·rpm² (N·m / rpm²); defaults from Cq.
`spin_dir`	`tuple[float, float, float, float]`	Rotor spin direction signs; + means clockwise, - means counter-clockwise.
`tau_f`	`float`	Motor filter time constant (s).
`tau_m`	`float`	Legacy motor time constant (s).
`max_rpm`	`float`	Maximum rotor speed (rpm — LAV2 default).
`init_rpm`	`float`	Initial rotor speed — defaults to 0.2·max_rpm.
`rotor_rpm_rate_limit`	`float`	Rotor-speed rate-of-change limit (rpm/s).
`tau_up`	`float`	Motor spin-up time constant (s), defaults to tau_m.
`tau_down`	`float`	Motor spin-down time constant (s), defaults to tau_m.
`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_acc_hor_max`	`float`	Maximum horizontal acceleration setpoint magnitude in m/s^2 (2 - 15).
`mpc_acc_up_max`	`float`	Maximum upward acceleration setpoint in m/s^2 (2 - 15).
`mpc_acc_down_max`	`float`	Maximum downward acceleration setpoint magnitude in m/s^2 (2 - 15).
`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).

rho `class-attribute` `instance-attribute`

rho: float = 1.184

Air density (kg/m³).

g `class-attribute` `instance-attribute`

g: float = 9.81

Gravitational acceleration (m/s²).

sim_dt `class-attribute` `instance-attribute`

sim_dt: float = 0.01

Simulation time step (s).

step_dt `class-attribute` `instance-attribute`

step_dt: float = 0.01

Control time step (s).

randomization `class-attribute` `instance-attribute`

randomization: dict[str, dict[str, tuple[float, float]]] = field(default_factory=dict)

Per-component parameter-randomisation scale ranges.

mass `class-attribute` `instance-attribute`

mass: float = 2.1

Total vehicle mass (kg — LAV2 default; override for other robots).

inertia `class-attribute` `instance-attribute`

inertia: list = field(default_factory=lambda: [[0.015, 0.0, 0.0], [0.0, 0.0348, 0.0], [0.0, 0.0, 0.042503]])

Inertia matrix (kg*m^2).

x `class-attribute` `instance-attribute`

x: float = 0.0952

Arm length in x — rotor moment-arm for roll (m).

y `class-attribute` `instance-attribute`

y: float = 0.114423

Arm length in y — rotor moment-arm for pitch (m).

h `class-attribute` `instance-attribute`

h: float = -0.0125

CG height below rotor plane (m, negative = below).

alpha `class-attribute` `instance-attribute`

alpha: float = math.radians(8.0)

Duct / rotor cant angle about y-axis (rad — 0 for flat rotors like ATMO).

diameter `class-attribute` `instance-attribute`

diameter: float = 0.476

Overall vehicle diameter (m).

Cdx `class-attribute` `instance-attribute`

Cdx: float = 0.5

Body drag coefficient.

r_p `class-attribute` `instance-attribute`

r_p: float = 0.0775

Propeller radius (m).

Ct `class-attribute` `instance-attribute`

Ct: float = 0.666

Thrust coefficient (blade-element).

Cq `class-attribute` `instance-attribute`

Cq: float = 0.0716

Torque coefficient (blade-element).

theta0 `class-attribute` `instance-attribute`

theta0: float = math.radians(14.6)

Blade root pitch angle (rad).

thetaTip `class-attribute` `instance-attribute`

thetaTip: float = math.radians(6.8)

Blade tip pitch angle (rad).

theta1 `class-attribute` `instance-attribute`

theta1: float = math.nan

Blade twist (rad), defaults to theta0 - thetaTip.

lock `class-attribute` `instance-attribute`

lock: float = 0.6051

Lock number.

cT `class-attribute` `instance-attribute`

cT: float = math.nan

Thrust coefficient T = cT·rpm² (N / rpm²); defaults from Ct.

cM `class-attribute` `instance-attribute`

cM: float = math.nan

Reaction-torque coefficient M = cM·rpm² (N·m / rpm²); defaults from Cq.

spin_dir `class-attribute` `instance-attribute`

spin_dir: tuple[float, float, float, float] = (1.0, 1.0, -1.0, -1.0)

Rotor spin direction signs; + means clockwise, - means counter-clockwise.

LAV2 defaults to rotors 0/1 clockwise and 2/3 counter-clockwise, so the signs are (+,+,-,-).

tau_f `class-attribute` `instance-attribute`

tau_f: float = 0.01

Motor filter time constant (s).

tau_m `class-attribute` `instance-attribute`

tau_m: float = 0.05

Legacy motor time constant (s).

max_rpm `class-attribute` `instance-attribute`

max_rpm: float = 10000.0

Maximum rotor speed (rpm — LAV2 default).

init_rpm `class-attribute` `instance-attribute`

init_rpm: float = math.nan

Initial rotor speed — defaults to 0.2·max_rpm.

rotor_rpm_rate_limit `class-attribute` `instance-attribute`

rotor_rpm_rate_limit: float = 50000.0

Rotor-speed rate-of-change limit (rpm/s).

tau_up `class-attribute` `instance-attribute`

tau_up: float = math.nan

Motor spin-up time constant (s), defaults to tau_m.

tau_down `class-attribute` `instance-attribute`

tau_down: float = math.nan

Motor spin-down time constant (s), defaults to tau_m.

mpc_xy_vel_max `class-attribute` `instance-attribute`

mpc_xy_vel_max: float = 12.0

Maximum horizontal velocity setpoint magnitude in m/s (0 - 20).

mpc_z_vel_max_up `class-attribute` `instance-attribute`

mpc_z_vel_max_up: float = 3.0

Maximum upward velocity setpoint in m/s (0.5 - 8).

mpc_z_vel_max_dn `class-attribute` `instance-attribute`

mpc_z_vel_max_dn: float = 1.5

Maximum downward velocity setpoint magnitude in m/s (0.5 - 4).

mpc_acc_hor_max `class-attribute` `instance-attribute`

mpc_acc_hor_max: float = 5.0

Maximum horizontal acceleration setpoint magnitude in m/s^2 (2 - 15).

mpc_acc_up_max `class-attribute` `instance-attribute`

mpc_acc_up_max: float = 4.0

Maximum upward acceleration setpoint in m/s^2 (2 - 15).

mpc_acc_down_max `class-attribute` `instance-attribute`

mpc_acc_down_max: float = 3.0

Maximum downward acceleration setpoint magnitude in m/s^2 (2 - 15).

mpc_man_tilt_max `class-attribute` `instance-attribute`

mpc_man_tilt_max: float = math.radians(35.0)

Maximum manual tilt angle in radians (deg: 0 - 90).

mc_rollrate_max `class-attribute` `instance-attribute`

mc_rollrate_max: float = math.radians(220.0)

Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800).

mc_pitchrate_max `class-attribute` `instance-attribute`

mc_pitchrate_max: float = math.radians(220.0)

Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800).

mc_yawrate_max `class-attribute` `instance-attribute`

mc_yawrate_max: float = math.radians(200.0)

Maximum yaw-rate setpoint in rad/s (deg/s: 0 - 1800).

__post_init__

__post_init__()

Calculate derived parameters and resolve default sentinels.

RotorDynamics

RotorDynamics(params: VehicleParams = VehicleParams(), num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: DynamicsBase

Batched motor dynamics model for rotor thrust and torque.

This is the backend-agnostic Array API implementation. It keeps the same low-pass motor response, RPM rate limiting, quadratic thrust/torque coefficients, and motor-direction torque signs while operating on (num_envs, 4) batches.

See :mod:lav2.dynamics.numpy.rotor and :mod:lav2.dynamics.torch.rotor for the legacy backend-specific implementations.

Initialize rotor dynamics and backend arrays.

参数：

名称	类型	描述	默认
`params`	`VehicleParams`	Vehicle parameters used by the motor model.	`VehicleParams()`
`num_envs`	`int`	Number of parallel environments represented by the batch.	`1`
`device`		Optional backend device, mainly used by Torch.	`None`
`backend`	`BackendName \| None`	Explicit Array API backend name.	`None`
`xp`	`ModuleType \| None`	Pre-resolved Array API namespace. Overrides `backend`.	`None`

方法：

名称	描述
`randomize`	Randomize motor parameters for selected environments.
`update`	Update motor state and return thrust/torque outputs.
`reset`	Reset selected environments to initial rotor speeds.

属性：

名称	类型	描述
`params`	`VehicleParams`	Vehicle parameters for the dynamics model.

params `instance-attribute`

params: VehicleParams = params

Vehicle parameters for the dynamics model.

randomize

randomize(env_ids=None, randomization: dict[str, tuple[float, float]] | None = None)

Randomize motor parameters for selected environments.

update

update(commands: ArrayLike) -> ArrayLike

Update motor state and return thrust/torque outputs.

参数：

名称	类型	描述	默认
`commands`	`ArrayLike`	Desired rotor speeds with shape `(num_envs, 4)`.	必需

返回：

类型	描述
`ArrayLike`	Batched thrusts followed by torques with shape `(num_envs, 8)`.

reset

reset(env_ids=None)

Reset selected environments to initial rotor speeds.

FlightControlActionManager

FlightControlActionManager(env: GenesisEnv, delay_step: int = 0, params: VehicleParams = VehicleParams(), gains: dict | None = None, limits: dict | None = None, mapping: FlightMappingConfig = FlightMappingConfig(), entity_attr: str = 'robot', rotor_link_names: tuple[str, ...] = ('rotor0', 'rotor1', 'rotor2', 'rotor3'), control_mode: str = 'cmd_motor_speeds', controller: str = 'FlightController', randomize_gains: bool | dict = False)

Bases: BaseActionManager

Base class for Genesis flight action managers.

Initialize the Genesis flight action manager.

参数：

名称	类型	描述	默认
`env`	`GenesisEnv`	The environment that owns the controlled robot entity.	必需
`delay_step`	`int`	Number of control steps to delay incoming actions.	`0`
`params`	`VehicleParams`	Vehicle physical parameters.	`VehicleParams()`
`gains`	`dict \| None`	Optional flight-controller gain overrides.	`None`
`limits`	`dict \| None`	Optional flight-controller command-limit overrides.	`None`
`mapping`	`FlightMappingConfig`	Action-mapping overrides resolved against `params`.	`FlightMappingConfig()`
`entity_attr`	`str`	Environment attribute name for the robot entity.	`'robot'`
`rotor_link_names`	`tuple[str, ...]`	Ordered rotor link names matching controller/mixer order.	`('rotor0', 'rotor1', 'rotor2', 'rotor3')`
`control_mode`	`str`	Flight control mode for interpreting the incoming action.	`'cmd_motor_speeds'`
`controller`	`str`	Controller class name. Options: 'FlightController' (PID), 'GeoControl'.	`'FlightController'`
`randomize_gains`	`bool \| dict`	If `True`, gains are randomized on `reset()` via `gains_to_randomization_ranges()`. Pass a `dict` of min/max ranges to use custom bounds instead.	`False`

方法：

名称	描述
`step`	Process the incoming actions (analogous to Isaac Lab `process_actions`).
`send_actions_to_simulation`	Apply the processed actions to the simulation (Isaac Lab `apply_actions`).
`reset`	Reset environments.
`get_actions`	Get the current actions for the environments.

属性：

名称	类型	描述
`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.

num_actions `property`

num_actions: int

The total number of actions.

action_space `property`

action_space: tuple[float, float]

If using the default action handler, the action space is [-1, 1].

actions `property`

actions: Tensor

The actions for for the current step.

raw_actions `property`

raw_actions: Tensor

The actions received from the policy, before being converted.

step

step(actions: Tensor) -> torch.Tensor

Process the incoming actions (analogous to Isaac Lab process_actions).

Only the raw and clamped policy actions are stored here; the flight controller, mixer, rotor dynamics and body-force application all run in :meth:send_actions_to_simulation (the apply phase). Keeping the controller in the apply phase lets it read fresh robot state on each apply tick, mirroring Isaac Lab's process_actions/apply_actions split.

send_actions_to_simulation

send_actions_to_simulation(processed_actions: Tensor) -> torch.Tensor

Apply the processed actions to the simulation (Isaac Lab apply_actions).

genesis_forge>=0.5 splits action handling into step (process) and send_actions_to_simulation (apply), which runs at a different cadence than processing. This reads fresh robot state, runs the flight controller/mixer to obtain the rotor RPM command, steps the rotor dynamics, and writes the resulting body forces/torques to the solver.

reset

reset(envs_idx: list[int] | None)

Reset environments.

get_actions

get_actions() -> torch.Tensor

Get the current actions for the environments.

PositionDebugVisualizerConfig

Bases: TypedDict

Defines the configuration for the debug visualizer.

属性：

名称	类型	描述
`envs_idx`	`list[int]`	The indices of the environments to visualize. If None, all environments will be visualized.
`z_offset`	`float`	The vertical offset of the debug arrows above the robot / target.
`arrow_radius`	`float`	The radius of the arrow shaft.
`arrow_scale`	`float`	Scale factor for the position-error arrow length.
`heading_arrow_len`	`float`	Length of the heading direction arrow.
`commanded_color`	`tuple[float, float, float, float]`	The color of the commanded position arrow.
`heading_color`	`tuple[float, float, float, float]`	The color of the commanded heading arrow.

envs_idx `instance-attribute`

envs_idx: list[int]

The indices of the environments to visualize. If None, all environments will be visualized.

z_offset `instance-attribute`

z_offset: float

The vertical offset of the debug arrows above the robot / target.

arrow_radius `instance-attribute`

arrow_radius: float

The radius of the arrow shaft.

arrow_scale `instance-attribute`

arrow_scale: float

Scale factor for the position-error arrow length.

heading_arrow_len `instance-attribute`

heading_arrow_len: float

Length of the heading direction arrow.

commanded_color `instance-attribute`

commanded_color: tuple[float, float, float, float]

The color of the commanded position arrow.

heading_color `instance-attribute`

heading_color: tuple[float, float, float, float]

The color of the commanded heading arrow.

PositionCommandManager

PositionCommandManager(env: GenesisEnv, range: PositionCommandRange, resample_time_sec: float = 5.0, debug_visualizer: bool = False, debug_visualizer_cfg: PositionDebugVisualizerConfig = DEFAULT_VISUALIZER_CONFIG)

Bases: CommandManager

Generates a position + heading command from uniform distribution. The command comprises a 3-D position target and a heading target.

IMPORTANT: The position commands are interpreted as world-relative coordinates: - X-axis: x coordinate of the target position - Y-axis: y coordinate of the target position - Z-axis: z coordinate of the target position - Heading: target yaw angle in radians

The .command property returns a body-frame tensor of shape (num_envs, 4): - [:, 0:3] position error rotated into yaw-only body frame - [:, 3] heading error (target heading - current heading), wrapped to [-pi, pi]

Debug visualization:

If `debug_visualizer` is set to True, a target sphere is rendered above
the commanded position.

Visual meaning:

- GREEN: Commanded position for the robot in the world frame

参数：

名称	类型	描述	默认
`env`	`GenesisEnv`	The environment to control	必需
`range`	`PositionCommandRange`	The ranges of position & heading	必需
`resample_time_sec`	`float`	The time interval between changing the command	`5.0`
`debug_visualizer`	`bool`	Enable the debug arrow visualization	`False`
`debug_visualizer_cfg`	`PositionDebugVisualizerConfig`	The configuration for the debug visualizer	`DEFAULT_VISUALIZER_CONFIG`

Example::

class MyEnv(GenesisEnv):
    def config(self):
        self.position_command = PositionCommandManager(
            self,
            range={
                "pos_x": (-2.0, 2.0),
                "pos_y": (-2.0, 2.0),
                "pos_z": (0.5, 1.5),
                "heading": (-3.14, 3.14),
            },
        )

方法：

名称	描述
`build`	Build the position command manager
`step`	Render the command arrows
`use_gamepad`	Use a connected gamepad to control the command.

属性：

名称	类型	描述
`command`	`Tensor`	The desired command in yaw-only body frame. Shape is (num_envs, 4).

command `property`

command: Tensor

The desired command in yaw-only body frame. Shape is (num_envs, 4).

Columns 0-3: [pos_x, pos_y, pos_z, heading_error] all in body frame.

build

build()

Build the position command manager

step

step()

Render the command arrows

use_gamepad

use_gamepad(gamepad: Gamepad, pos_x_axis: int = 0, pos_y_axis: int = 1, pos_z_axis: int = 2, heading_axis: int = 3)

Use a connected gamepad to control the command.

参数：

名称	类型	描述	默认
`gamepad`	`Gamepad`	The gamepad to use.	必需
`pos_x_axis`	`int`	Map this gamepad axis index to the position in the x-direction.	`0`
`pos_y_axis`	`int`	Map this gamepad axis index to the position in the y-direction.	`1`
`pos_z_axis`	`int`	Map this gamepad axis index to the position in the z-direction.	`2`
`heading_axis`	`int`	Map this gamepad axis index to the heading.	`3`

wrap_to_pi

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.

参数：

名称	类型	描述	默认
`angles`	`Tensor`	Input angles of any shape.	必需

返回：

类型	描述
`Tensor`	torch.Tensor: Angles in the range :math:`[-\pi, \pi]`.

lin_vel_l2

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

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

pos_error_l2(env: GenesisEnv, target_pose: Tensor = None, pose_command: CommandManager = None) -> torch.Tensor

Penalize asset pos from its target pos using L2 squared kernel.

pos_error_tanh

pos_error_tanh(env: GenesisEnv, target_pose: Tensor = None, std: float = 0.8, pose_command: CommandManager = None) -> torch.Tensor

Penalize asset pos from its target pos using tanh kernel.

yaw_error_l2

yaw_error_l2(env: GenesisEnv, target_pose: Tensor = None, pose_command: CommandManager = None) -> torch.Tensor

Penalize heading error from target heading using L2 squared kernel.

Expects pose_command.command[:, 3] to be the body-frame heading error (already wrapped to [-pi, pi]).

yaw_error_tanh

yaw_error_tanh(env: GenesisEnv, target_pose: Tensor = None, std: float = 0.8, pose_command: CommandManager = None) -> torch.Tensor

Penalize heading error from target heading using tanh kernel.

Expects pose_command.command[:, 3] to be the body-frame heading error (already wrapped to [-pi, pi]).

mdp

FlightActionMapper

requires_controller property

randomize

action_to_collective_acc

collective_acc_to_thrust

action_to_collective_thrust

decode_action

map_action

FlightMappingConfig dataclass

from_params classmethod

resolve

Mixer

params

num_envs

device

backend

xp

allocation_mode

randomize

calculate_rotor_commands

control

VehicleParams dataclass

rho class-attribute instance-attribute

g class-attribute instance-attribute

sim_dt class-attribute instance-attribute

step_dt class-attribute instance-attribute

randomization class-attribute instance-attribute

mass class-attribute instance-attribute

inertia class-attribute instance-attribute

x class-attribute instance-attribute

y class-attribute instance-attribute

h class-attribute instance-attribute

alpha class-attribute instance-attribute

diameter class-attribute instance-attribute

Cdx class-attribute instance-attribute

r_p class-attribute instance-attribute

Ct class-attribute instance-attribute

Cq class-attribute instance-attribute

theta0 class-attribute instance-attribute

thetaTip class-attribute instance-attribute

theta1 class-attribute instance-attribute

lock class-attribute instance-attribute

cT class-attribute instance-attribute

cM class-attribute instance-attribute

spin_dir class-attribute instance-attribute

tau_f class-attribute instance-attribute

tau_m class-attribute instance-attribute

max_rpm class-attribute instance-attribute

init_rpm class-attribute instance-attribute

rotor_rpm_rate_limit class-attribute instance-attribute

tau_up class-attribute instance-attribute

tau_down class-attribute instance-attribute

mpc_xy_vel_max class-attribute instance-attribute

mpc_z_vel_max_up class-attribute instance-attribute

mpc_z_vel_max_dn class-attribute instance-attribute

mpc_acc_hor_max class-attribute instance-attribute

mpc_acc_up_max class-attribute instance-attribute

mpc_acc_down_max class-attribute instance-attribute

mpc_man_tilt_max class-attribute instance-attribute

mc_rollrate_max class-attribute instance-attribute

mc_pitchrate_max class-attribute instance-attribute

mc_yawrate_max class-attribute instance-attribute

__post_init__

RotorDynamics

params

num_envs

device

backend

xp

params instance-attribute

randomize

update

commands

reset

FlightControlActionManager

env

delay_step

params

gains

requires_controller `property`

FlightMappingConfig `dataclass`

from_params `classmethod`

`params`

`num_envs`

`device`

`backend`

`xp`

`allocation_mode`

`control`

VehicleParams `dataclass`

rho `class-attribute` `instance-attribute`

g `class-attribute` `instance-attribute`

sim_dt `class-attribute` `instance-attribute`

step_dt `class-attribute` `instance-attribute`

randomization `class-attribute` `instance-attribute`

mass `class-attribute` `instance-attribute`

inertia `class-attribute` `instance-attribute`

x `class-attribute` `instance-attribute`

y `class-attribute` `instance-attribute`

h `class-attribute` `instance-attribute`

alpha `class-attribute` `instance-attribute`

diameter `class-attribute` `instance-attribute`

Cdx `class-attribute` `instance-attribute`

r_p `class-attribute` `instance-attribute`

Ct `class-attribute` `instance-attribute`

Cq `class-attribute` `instance-attribute`

theta0 `class-attribute` `instance-attribute`

thetaTip `class-attribute` `instance-attribute`

theta1 `class-attribute` `instance-attribute`

lock `class-attribute` `instance-attribute`

cT `class-attribute` `instance-attribute`

cM `class-attribute` `instance-attribute`

spin_dir `class-attribute` `instance-attribute`

tau_f `class-attribute` `instance-attribute`

tau_m `class-attribute` `instance-attribute`

max_rpm `class-attribute` `instance-attribute`

init_rpm `class-attribute` `instance-attribute`

rotor_rpm_rate_limit `class-attribute` `instance-attribute`

tau_up `class-attribute` `instance-attribute`

tau_down `class-attribute` `instance-attribute`

mpc_xy_vel_max `class-attribute` `instance-attribute`

mpc_z_vel_max_up `class-attribute` `instance-attribute`

mpc_z_vel_max_dn `class-attribute` `instance-attribute`

mpc_acc_hor_max `class-attribute` `instance-attribute`

mpc_acc_up_max `class-attribute` `instance-attribute`

mpc_acc_down_max `class-attribute` `instance-attribute`

mpc_man_tilt_max `class-attribute` `instance-attribute`

mc_rollrate_max `class-attribute` `instance-attribute`

mc_pitchrate_max `class-attribute` `instance-attribute`

mc_yawrate_max `class-attribute` `instance-attribute`

`params`

`num_envs`

`device`

`backend`

`xp`

params `instance-attribute`

`commands`

`env`

`delay_step`

`params`

`gains`

`limits`

`mapping`

`entity_attr`

`rotor_link_names`

`control_mode`

`controller`

`randomize_gains`

num_actions `property`

action_space `property`

actions `property`

raw_actions `property`

envs_idx `instance-attribute`

z_offset `instance-attribute`

arrow_radius `instance-attribute`

arrow_scale `instance-attribute`

heading_arrow_len `instance-attribute`

commanded_color `instance-attribute`

heading_color `instance-attribute`