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. |
Mixer |
Map batched thrust and moment demands to rotor speed commands. |
AerodynamicEffects |
Compute drag, ground effect, and planar near-wall effect in batches. |
AerodynamicEffectsCfg |
Environment-specific aerodynamic-effect configuration. |
VehicleParams |
Generic multi-rotor vehicle physics. |
RotorDynamics |
Batched motor dynamics model for rotor thrust and torque. |
FlightControlActionManager |
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. |
函数：
| 名称 | 描述 |
|---|---|
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, 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. |
property
requires_controller: bool
Requires controller.
randomize(env_ids=None, randomization: dict | None = None)
Randomize.
action_to_collective_acc(action: ArrayLike, mixer) -> ArrayLike
Action to collective acc.
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
The total collective acceleration array. |
collective_acc_to_thrust(collective_acc: ArrayLike) -> ArrayLike
Collective acc to thrust.
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
The total thrust array. |
action_to_collective_thrust(action: ArrayLike, mixer) -> ArrayLike
Action to collective thrust.
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
The total thrust array. |
decode_action(action: ArrayLike, mixer, *, state: ControllerState | None = None) -> FlightMapping
Decode normalized batched action into a runtime-neutral control request.
返回：
| 类型 | 描述 |
|---|---|
FlightMapping
|
FlightMapping dictionary containing control requests. |
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If state is missing when required for control mode. |
map_action(action: ArrayLike, mixer, *, state: ControllerState | None = None, flight_controller: ControllerBase | None = None) -> FlightMapping
Resolve normalized batched action into simulation rotor RPM commands.
返回：
| 类型 | 描述 |
|---|---|
FlightMapping
|
FlightMapping dictionary containing RPM commands and wrench details. |
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If flight_controller is missing for mapped modes. |
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 |
|---|---|---|---|
|
VehicleParams
|
Vehicle parameters used to build the allocation matrix. |
VehicleParams()
|
|
int
|
Number of parallel environments represented by the batch. |
1
|
|
Optional backend device, mainly used by Torch. |
None
|
|
|
BackendName | None
|
Explicit Array API backend. If omitted, NumPy is used when
|
None
|
|
ModuleType | None
|
Pre-resolved Array API namespace. Overrides |
None
|
|
Literal['pinv', 'saturation']
|
|
'pinv'
|
方法：
| 名称 | 描述 |
|---|---|
randomize |
Randomize mixer parameters for selected environments. |
calculate_rotor_commands |
Allocate |
randomize(env_ids=None, randomization: dict | None = None)
Randomize mixer parameters for selected environments.
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 |
|---|---|---|---|
|
ArrayLike
|
Batched control array with shape |
必需 |
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
Batched rotor speed magnitudes with shape |
AerodynamicEffects(params: VehicleParams = VehicleParams(), cfg: AerodynamicEffectsCfg | None = None, num_envs: int = 1, num_rotors: int = 4, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)
Compute drag, ground effect, and planar near-wall effect in batches.
Surface geometry is represented in each environment's local world frame. Rotor-force increments, body forces, and force telemetry are represented in the vehicle body frame. The model owns no simulator objects and can therefore be shared by NumPy, Torch, JAX, and CuPy callers.
Initialize coefficients, plane geometry, and telemetry buffers.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
VehicleParams
|
Vehicle physical and aerodynamic coefficients. |
VehicleParams()
|
|
AerodynamicEffectsCfg | None
|
Environment-specific switches, wind, and plane geometry. |
None
|
|
int
|
Number of parallel simulation environments. |
1
|
|
int
|
Number of rotors per environment. |
4
|
|
Optional backend device, mainly used by Torch. |
None
|
|
|
BackendName | None
|
Explicit Array API backend name. |
None
|
|
ModuleType | None
|
Pre-resolved Array API namespace. Overrides |
None
|
方法：
| 名称 | 描述 |
|---|---|
randomize |
Sample per-environment aerodynamic state for selected environments. |
set_external_force |
Set one shared or per-environment world-frame external force. |
set_wall_plane |
Set one shared or per-environment wall plane. |
update |
Compute rotor-force increments and root-body force for one simulation step. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
enabled |
bool
|
Whether any aerodynamic effect is enabled. |
property
enabled: bool
Whether any aerodynamic effect is enabled.
randomize(env_ids: ArrayLike | list[int] | slice | None = None, parameter_ranges: dict[str, tuple[ArrayLike, ArrayLike]] | None = None, effect_probabilities: dict[str, float] | None = None, effect_scale_ranges: dict[str, tuple[ArrayLike, ArrayLike]] | None = None) -> None
Sample per-environment aerodynamic state for selected environments.
Parameter ranges are absolute values rather than multipliers. Effect
probabilities create exact per-episode on/off masks, while scale ranges
multiply the corresponding computed force increment. If every optional
argument is omitted, configuration is read from
params.randomization["aerodynamics"].
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
ArrayLike | list[int] | slice | None
|
Environment indices to resample, or all environments. |
None
|
|
dict[str, tuple[ArrayLike, ArrayLike]] | None
|
Absolute ranges for aerodynamic coefficients. |
None
|
|
dict[str, float] | None
|
Bernoulli probability for each effect. |
None
|
|
dict[str, tuple[ArrayLike, ArrayLike]] | None
|
Multiplicative force-scale range per effect. |
None
|
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If a key, probability, or physical range is invalid. |
set_external_force(external_force_w: ArrayLike) -> None
Set one shared or per-environment world-frame external force.
set_wall_plane(point_w: ArrayLike, normal_w: ArrayLike) -> None
Set one shared or per-environment wall plane.
Moving-surface scenarios can call this before :meth:update to
update the analytic plane pose.
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If any wall normal is zero, near-zero, or non-finite. |
update(rotor_thrusts: ArrayLike, rotor_positions_w: ArrayLike, rotor_axes_b: ArrayLike, body_velocity_b: ArrayLike, body_rotation_wb: ArrayLike) -> tuple[ArrayLike, ArrayLike]
Compute rotor-force increments and root-body force for one simulation step.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
ArrayLike
|
Positive rotor thrust magnitudes, shape |
必需 |
|
ArrayLike
|
Rotor centers in environment-local world frame,
shape |
必需 |
|
ArrayLike
|
Rotor positive-thrust axes in vehicle body frame, shape
|
必需 |
|
ArrayLike
|
Root-body velocity in the vehicle body frame,
shape |
必需 |
|
ArrayLike
|
Body-to-world rotation matrices, shape
|
必需 |
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
Tuple of per-rotor vehicle-body-frame force increments |
ArrayLike
|
and root-body-frame drag plus prescribed force |
dataclass
AerodynamicEffectsCfg(*, enable_drag: bool = False, enable_external_force: bool = False, enable_ground_effect: bool = False, enable_wall_effect: bool = False, external_force_w: tuple[float, float, float] = (0.0, 0.0, 0.0), ground_height: float = 0.0, max_ground_effect_gain: float = 2.0, wall_plane_point_w: tuple[float, float, float] = (0.0, 0.0, 0.0), wall_plane_normal_w: tuple[float, float, float] = (1.0, 0.0, 0.0), max_surface_distance: float = 5.0)
Environment-specific aerodynamic-effect configuration.
Plane coordinates use each simulator environment's local world frame. Effects default to disabled so existing tasks retain their current physics.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
enable_drag |
bool
|
Apply body-axis linear drag. |
enable_external_force |
bool
|
Apply the configured world-frame external force. |
enable_ground_effect |
bool
|
Augment per-rotor thrust near a horizontal ground plane. |
enable_wall_effect |
bool
|
Apply per-rotor forces near the configured wall plane. |
external_force_w |
tuple[float, float, float]
|
Constant environment-local world-frame external force (N). |
ground_height |
float
|
Height of the analytic horizontal ground plane (m). |
max_ground_effect_gain |
float
|
Maximum ground-effect thrust multiplier used near the model singularity. |
wall_plane_point_w |
tuple[float, float, float]
|
One point on the analytic wall plane (m). |
wall_plane_normal_w |
tuple[float, float, float]
|
Wall-plane unit-normal direction; either side of the plane is valid. |
max_surface_distance |
float
|
Distance beyond which surface effects are exactly disabled (m). |
class-attribute
instance-attribute
enable_drag: bool = False
Apply body-axis linear drag.
class-attribute
instance-attribute
enable_external_force: bool = False
Apply the configured world-frame external force.
class-attribute
instance-attribute
enable_ground_effect: bool = False
Augment per-rotor thrust near a horizontal ground plane.
class-attribute
instance-attribute
enable_wall_effect: bool = False
Apply per-rotor forces near the configured wall plane.
class-attribute
instance-attribute
external_force_w: tuple[float, float, float] = (0.0, 0.0, 0.0)
Constant environment-local world-frame external force (N).
class-attribute
instance-attribute
ground_height: float = 0.0
Height of the analytic horizontal ground plane (m).
class-attribute
instance-attribute
max_ground_effect_gain: float = 2.0
Maximum ground-effect thrust multiplier used near the model singularity.
class-attribute
instance-attribute
wall_plane_point_w: tuple[float, float, float] = (0.0, 0.0, 0.0)
One point on the analytic wall plane (m).
class-attribute
instance-attribute
wall_plane_normal_w: tuple[float, float, float] = (1.0, 0.0, 0.0)
Wall-plane unit-normal direction; either side of the plane is valid.
class-attribute
instance-attribute
max_surface_distance: float = 5.0
Distance beyond which surface effects are exactly disabled (m).
dataclass
VehicleParams(*, rho: float = 1.184, g: float = 9.81, sim_dt: float = 0.01, step_dt: float = 0.01, randomization: VehicleRandomization = VehicleRandomization(), 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, drag_coefficients: tuple[float, float, float] = (0.1, 0.1, 0.1), ground_effect_k: float = 0.171, wall_effect_a1: float = 0.21, wall_effect_b1: float = 0.34, wall_effect_a2: float = 0.06, wall_effect_b2: float = 0.54, 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 the ground chassis (2.1 kg).
Concrete subclasses add robot-specific locomotion and geometry:
TrackVehicleParams— LAV2: tracked ground locomotion + ducted airframeTiltWheelVehicleParams— 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 |
VehicleRandomization
|
Per-component runtime-randomization configuration. |
mass |
float
|
Total vehicle mass (kg); concrete robot subclasses may override it. |
inertia |
list
|
Vehicle inertia matrix at its center of mass (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). |
drag_coefficients |
tuple[float, float, float]
|
Linear body-axis drag coefficients (N·s/m). |
ground_effect_k |
float
|
Empirical ground-effect distance coefficient for the target multirotor. |
wall_effect_a1 |
float
|
Near-wall lateral-force amplitude fitted by Ding et al. (2023). |
wall_effect_b1 |
float
|
Near-wall lateral-force exponential base fitted by Ding et al. (2023). |
wall_effect_a2 |
float
|
Near-wall vertical-thrust amplitude fitted by Ding et al. (2023). |
wall_effect_b2 |
float
|
Near-wall vertical-thrust exponential base fitted by Ding et al. (2023). |
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). |
class-attribute
instance-attribute
rho: float = 1.184
Air density (kg/m³).
class-attribute
instance-attribute
g: float = 9.81
Gravitational acceleration (m/s²).
class-attribute
instance-attribute
sim_dt: float = 0.01
Simulation time step (s).
class-attribute
instance-attribute
step_dt: float = 0.01
Control time step (s).
class-attribute
instance-attribute
randomization: VehicleRandomization = field(default_factory=VehicleRandomization)
Per-component runtime-randomization configuration.
class-attribute
instance-attribute
mass: float = 2.1
Total vehicle mass (kg); concrete robot subclasses may override it.
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]])
Vehicle inertia matrix at its center of mass (kg*m^2).
class-attribute
instance-attribute
x: float = 0.0952
Arm length in x — rotor moment-arm for roll (m).
class-attribute
instance-attribute
y: float = 0.114423
Arm length in y — rotor moment-arm for pitch (m).
class-attribute
instance-attribute
h: float = -0.0125
CG height below rotor plane (m, negative = below).
class-attribute
instance-attribute
alpha: float = math.radians(8.0)
Duct / rotor cant angle about y-axis (rad — 0 for flat rotors like ATMO).
class-attribute
instance-attribute
diameter: float = 0.476
Overall vehicle diameter (m).
class-attribute
instance-attribute
drag_coefficients: tuple[float, float, float] = (0.1, 0.1, 0.1)
Linear body-axis drag coefficients (N·s/m).
class-attribute
instance-attribute
ground_effect_k: float = 0.171
Empirical ground-effect distance coefficient for the target multirotor.
class-attribute
instance-attribute
wall_effect_a1: float = 0.21
Near-wall lateral-force amplitude fitted by Ding et al. (2023).
class-attribute
instance-attribute
wall_effect_b1: float = 0.34
Near-wall lateral-force exponential base fitted by Ding et al. (2023).
class-attribute
instance-attribute
wall_effect_a2: float = 0.06
Near-wall vertical-thrust amplitude fitted by Ding et al. (2023).
class-attribute
instance-attribute
wall_effect_b2: float = 0.54
Near-wall vertical-thrust exponential base fitted by Ding et al. (2023).
class-attribute
instance-attribute
r_p: float = 0.0775
Propeller radius (m).
class-attribute
instance-attribute
Ct: float = 0.666
Thrust coefficient (blade-element).
class-attribute
instance-attribute
Cq: float = 0.0716
Torque coefficient (blade-element).
class-attribute
instance-attribute
theta0: float = math.radians(14.6)
Blade root pitch angle (rad).
class-attribute
instance-attribute
thetaTip: float = math.radians(6.8)
Blade tip pitch angle (rad).
class-attribute
instance-attribute
theta1: float = math.nan
Blade twist (rad), defaults to theta0 - thetaTip.
class-attribute
instance-attribute
lock: float = 0.6051
Lock number.
class-attribute
instance-attribute
cT: float = math.nan
Thrust coefficient T = cT·rpm² (N / rpm²); defaults from Ct.
class-attribute
instance-attribute
cM: float = math.nan
Reaction-torque coefficient M = cM·rpm² (N·m / rpm²); defaults from Cq.
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 (+,+,-,-).
class-attribute
instance-attribute
tau_f: float = 0.01
Motor filter time constant (s).
class-attribute
instance-attribute
tau_m: float = 0.05
Legacy motor time constant (s).
class-attribute
instance-attribute
max_rpm: float = 10000.0
Maximum rotor speed (rpm — LAV2 default).
class-attribute
instance-attribute
init_rpm: float = math.nan
Initial rotor speed — defaults to 0.2·max_rpm.
class-attribute
instance-attribute
rotor_rpm_rate_limit: float = 50000.0
Rotor-speed rate-of-change limit (rpm/s).
class-attribute
instance-attribute
tau_up: float = math.nan
Motor spin-up time constant (s), defaults to tau_m.
class-attribute
instance-attribute
tau_down: float = math.nan
Motor spin-down time constant (s), defaults to tau_m.
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_acc_hor_max: float = 5.0
Maximum horizontal acceleration setpoint magnitude in m/s^2 (2 - 15).
class-attribute
instance-attribute
mpc_acc_up_max: float = 4.0
Maximum upward acceleration setpoint in m/s^2 (2 - 15).
class-attribute
instance-attribute
mpc_acc_down_max: float = 3.0
Maximum downward acceleration setpoint magnitude in m/s^2 (2 - 15).
class-attribute
instance-attribute
mpc_man_tilt_max: float = math.radians(35.0)
Maximum manual tilt angle in radians (deg: 0 - 90).
class-attribute
instance-attribute
mc_rollrate_max: float = math.radians(220.0)
Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800).
class-attribute
instance-attribute
mc_pitchrate_max: float = math.radians(220.0)
Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800).
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__()
Calculate derived parameters and resolve default sentinels.
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If spin_dir does not contain four signs. |
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 backend-agnostic Array API implementation 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.
Initialize rotor dynamics and backend arrays.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
VehicleParams
|
Vehicle parameters used by the motor model. |
VehicleParams()
|
|
int
|
Number of parallel environments represented by the batch. |
1
|
|
Optional backend device, mainly used by Torch. |
None
|
|
|
BackendName | None
|
Explicit Array API backend name. |
None
|
|
ModuleType | None
|
Pre-resolved Array API namespace. Overrides |
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. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the dynamics model.
randomize(env_ids=None, randomization: dict[str, tuple[float, float]] | None = None)
Randomize motor parameters for selected environments.
update(commands: ArrayLike) -> ArrayLike
Update motor state and return thrust/torque outputs.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
ArrayLike
|
Desired rotor speeds with shape |
必需 |
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
Batched thrusts followed by torques with shape |
reset(env_ids=None)
Reset selected environments to initial rotor speeds.
FlightControlActionManager(env: GenesisEnv, delay_step: int = 0, params: VehicleParams = VehicleParams(), entity_attr: str = 'robot', rotor_link_names: tuple[str, ...] = ('rotor0', 'rotor1', 'rotor2', 'rotor3'), aerodynamics: AerodynamicEffectsCfg = AerodynamicEffectsCfg())
Bases: BaseActionManager
Base class for action managers that control actuators.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
GenesisEnv
|
The environment to manage the DOF actuators for. |
必需 |
|
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'
|
方法：
| 名称 | 描述 |
|---|---|
step |
Process the incoming actions (analogous to Isaac Lab |
send_actions_to_simulation |
Apply the processed actions to the simulation (Isaac Lab |
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. |
aerodynamics |
AerodynamicEffects
|
Shared aerodynamic model and force telemetry. |
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.
property
aerodynamics: AerodynamicEffects
Shared aerodynamic model and force telemetry.
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 mixer,
rotor dynamics and body-force application run in
:meth:send_actions_to_simulation (the apply phase).
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 maps the processed actions to a rotor RPM command
via the mixer, steps the rotor dynamics, and writes the resulting body
forces/torques to the solver.
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)
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
GenesisEnv
|
The environment to control. |
必需 |
|
HeadingVelocityCommandRange
|
The ranges of linear & angular velocities (4-D: vx, vy, vz, wz). |
必需 |
|
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
|
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
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.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
Tensor
|
Input angles of any shape. |
必需 |
返回：
| 类型 | 描述 |
|---|---|
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.