events

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_mapping_params	Randomize action-mapper runtime parameters attached to an action term.

randomize_action_term_attr

randomize_action_term_attr(env: ManagerBasedEnv, env_ids: Tensor | None, action_term_name: str = 'flight_control_action', attr_name: str = '_flight_controller', **kwargs) -> None

Randomize a selected action-term attribute.

randomize_controller_params

randomize_controller_params(env: ManagerBasedEnv, env_ids: Tensor | None, action_term_name: str = 'flight_control_action', controller_attr: str = '_flight_controller', limits: dict | None = None, params: dict[str, tuple[float, float]] | None = None, randomize_gains: bool | dict = False) -> None

Randomize controller gains and command limits attached to an action term.

参数：

名称	类型	描述	默认
limits	dict | None	Min/max limit ranges forwarded to controller.randomize().	None
params	dict[str, tuple[float, float]] | None	Physical parameter ranges (mass, g) for controller.randomize().	None
randomize_gains	bool | dict	False (default) – no gain randomization. True – auto-generate ranges via controller.gains_to_randomization_ranges(). dict – use the given min/max ranges directly.	False

randomize_mixer_params

randomize_mixer_params(env: ManagerBasedEnv, env_ids: Tensor | None, action_term_name: str = 'flight_control_action', mixer_attr: str = '_mixer', param_range: dict[str, tuple[float, float]] | None = None) -> None

Randomize mixer parameters attached to an action term.

randomize_rotor_params

randomize_rotor_params(env: ManagerBasedEnv, env_ids: Tensor | None, action_term_name: str = 'flight_control_action', rotor_attr: str = '_rotor_dynamics', param_range: dict[str, tuple[float, float]] | None = None) -> None

Randomize rotor parameters attached to an action term.

randomize_mapping_params

randomize_mapping_params(env: ManagerBasedEnv, env_ids: Tensor | None, action_term_name: str = 'flight_control_action', mapper_attr: str = '_mapper', param_range: dict[str, tuple[float, float]] | None = None) -> None

Randomize action-mapper runtime parameters attached to an action term.