函数：
| 名称 | 描述 |
|---|---|
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. |
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.