mdp

模块：

名称	描述
curriculums
observations

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.
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.
FlightControlAction	Body torque control action term.
FlightControlActionCfg	See :class:FlightControlAction for more details.
HelixTrajectory	Batched helix trajectory.
LemniscateTrajectory	Batched Bernoulli lemniscate trajectory.
LissajousTrajectory	Batched three-dimensional Lissajous trajectory.
RectangleTrajectory	Batched constant-speed rectangle trajectory in the horizontal plane.
RandomTrajectoryCommand	Trajectory command generator with randomized type and parameters per environment.
RandomTrajectoryCommandCfg	Configuration for randomized trajectory commands.
modify_reward_weight_linearly	Curriculum term that linearly updates a reward weight during training.

函数：

名称	描述
died	Termination condition based on the robot's height.
root_rotmat_w_flat	Rotation matrix of the root in world frame, flattened to a 9D vector.

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.

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.

返回：

类型	描述
ArrayLike	The total collective acceleration array.

collective_acc_to_thrust

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_to_collective_thrust(action: ArrayLike, mixer) -> ArrayLike

Action to collective thrust.

返回：

类型	描述
ArrayLike	The total thrust array.

decode_action

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

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.

FlightMappingConfig dataclass

FlightMappingConfig(velocity_range: tuple[float, float, float] | None = (3.0, 3.0, 1.5), acceleration_range: tuple[float, float, float] | None = (3.0, 3.0, 2.0), 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.

返回：

类型	描述
FlightMappingConfig	Instantiated FlightMappingConfig object.

resolve

resolve(params: VehicleParams) -> FlightMappingConfig

Resolve config overrides into concrete mapping ranges.

返回：

类型	描述
FlightMappingConfig	Resolved FlightMappingConfig object.

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).

AerodynamicEffects

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
params	VehicleParams	Vehicle physical and aerodynamic coefficients.	VehicleParams()
cfg	AerodynamicEffectsCfg | None	Environment-specific switches, wind, and plane geometry.	None
num_envs	int	Number of parallel simulation environments.	1
num_rotors	int	Number of rotors per environment.	4
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	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.

enabled property

enabled: bool

Whether any aerodynamic effect is enabled.

randomize

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
env_ids	ArrayLike | list[int] | slice | None	Environment indices to resample, or all environments.	None
parameter_ranges	dict[str, tuple[ArrayLike, ArrayLike]] | None	Absolute ranges for aerodynamic coefficients.	None
effect_probabilities	dict[str, float] | None	Bernoulli probability for each effect.	None
effect_scale_ranges	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

set_external_force(external_force_w: ArrayLike) -> None

Set one shared or per-environment world-frame external force.

set_wall_plane

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

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
rotor_thrusts	ArrayLike	Positive rotor thrust magnitudes, shape (N, R).	必需
rotor_positions_w	ArrayLike	Rotor centers in environment-local world frame, shape (N, R, 3).	必需
rotor_axes_b	ArrayLike	Rotor positive-thrust axes in vehicle body frame, shape (N, R, 3).	必需
body_velocity_b	ArrayLike	Root-body velocity in the vehicle body frame, shape (N, 3).	必需
body_rotation_wb	ArrayLike	Body-to-world rotation matrices, shape (N, 3, 3).	必需

返回：

类型	描述
ArrayLike	Tuple of per-rotor vehicle-body-frame force increments (N, R, 3)
ArrayLike	and root-body-frame drag plus prescribed force (N, 3).

AerodynamicEffectsCfg 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).

enable_drag class-attribute instance-attribute

enable_drag: bool = False

Apply body-axis linear drag.

enable_external_force class-attribute instance-attribute

enable_external_force: bool = False

Apply the configured world-frame external force.

enable_ground_effect class-attribute instance-attribute

enable_ground_effect: bool = False

Augment per-rotor thrust near a horizontal ground plane.

enable_wall_effect class-attribute instance-attribute

enable_wall_effect: bool = False

Apply per-rotor forces near the configured wall plane.

external_force_w 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).

ground_height class-attribute instance-attribute

ground_height: float = 0.0

Height of the analytic horizontal ground plane (m).

max_ground_effect_gain class-attribute instance-attribute

max_ground_effect_gain: float = 2.0

Maximum ground-effect thrust multiplier used near the model singularity.

wall_plane_point_w 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).

wall_plane_normal_w 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.

max_surface_distance class-attribute instance-attribute

max_surface_distance: float = 5.0

Distance beyond which surface effects are exactly disabled (m).

VehicleParams 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 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	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).

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: VehicleRandomization = field(default_factory=VehicleRandomization)

Per-component runtime-randomization configuration.

mass class-attribute instance-attribute

mass: float = 2.1

Total vehicle mass (kg); concrete robot subclasses may override it.

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]])

Vehicle inertia matrix at its center of mass (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).

drag_coefficients class-attribute instance-attribute

drag_coefficients: tuple[float, float, float] = (0.1, 0.1, 0.1)

Linear body-axis drag coefficients (N·s/m).

ground_effect_k class-attribute instance-attribute

ground_effect_k: float = 0.171

Empirical ground-effect distance coefficient for the target multirotor.

wall_effect_a1 class-attribute instance-attribute

wall_effect_a1: float = 0.21

Near-wall lateral-force amplitude fitted by Ding et al. (2023).

wall_effect_b1 class-attribute instance-attribute

wall_effect_b1: float = 0.34

Near-wall lateral-force exponential base fitted by Ding et al. (2023).

wall_effect_a2 class-attribute instance-attribute

wall_effect_a2: float = 0.06

Near-wall vertical-thrust amplitude fitted by Ding et al. (2023).

wall_effect_b2 class-attribute instance-attribute

wall_effect_b2: float = 0.54

Near-wall vertical-thrust exponential base fitted by Ding et al. (2023).

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.

引发：

类型	描述
ValueError	If spin_dir does not contain four signs.

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 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
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.

FlightControlAction

FlightControlAction(cfg: FlightControlActionCfg, env: ManagerBasedRLEnv)

Bases: ActionTerm

Body torque control action term.

This action term applies a wrench to the drone body frame based on action commands

属性：

名称	类型	描述
cfg	FlightControlActionCfg	The configuration of the action term.
aerodynamics	AerodynamicEffects	Shared aerodynamic model and force telemetry.
IO_descriptor	GenericActionIODescriptor	The IO descriptor of the LAV2 flight control action term.

cfg instance-attribute

cfg: FlightControlActionCfg = cfg

The configuration of the action term.

aerodynamics property

aerodynamics: AerodynamicEffects

Shared aerodynamic model and force telemetry.

IO_descriptor property

IO_descriptor: GenericActionIODescriptor

The IO descriptor of the LAV2 flight control action term.

FlightControlActionCfg

Bases: ActionTermCfg

See :class:FlightControlAction for more details.

属性：

名称	类型	描述
class_type	type[ActionTerm]	Class of the action term.
asset_name	str	Name of the asset in the environment for which the commands are generated.
rotor_body_names	tuple[str, ...]	Ordered rotor body names matching controller/mixer rotor order.
root_body_name	str | None	Body receiving drag and prescribed force; defaults to the articulation root.
params	VehicleParams	Vehicle parameters.
gains	dict | None	Optional gains configuration for the flight controller.
limits	dict | None	Optional command-limit configuration passed directly to the flight controller.
controller	str	Controller class name. Options: 'FlightController' (PID), 'GeoControl'.
control_mode	str	Control mode, options: cmd_motor_thrusts, cmd_motor_speeds, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_ctatt_euler, cmd_ctatt_quat, cmd_ctatt_rotmat, cmd_ctatt_rotvec, cmd_acc, cmd_vel, cmd_vel_ffacc, cmd_pos.
mapping	FlightMappingConfig	Action-mapping range overrides resolved against params.
aerodynamics	AerodynamicEffectsCfg	Optional drag, external-force, ground-effect, and wall configuration.

class_type class-attribute instance-attribute

class_type: type[ActionTerm] = FlightControlAction

Class of the action term.

asset_name class-attribute instance-attribute

asset_name: str = 'robot'

Name of the asset in the environment for which the commands are generated.

rotor_body_names class-attribute instance-attribute

rotor_body_names: tuple[str, ...] = ('rotor0', 'rotor1', 'rotor2', 'rotor3')

Ordered rotor body names matching controller/mixer rotor order.

root_body_name class-attribute instance-attribute

root_body_name: str | None = None

Body receiving drag and prescribed force; defaults to the articulation root.

params class-attribute instance-attribute

params: VehicleParams = VehicleParams()

Vehicle parameters.

gains class-attribute instance-attribute

gains: dict | None = None

Optional gains configuration for the flight controller.

limits class-attribute instance-attribute

limits: dict | None = None

Optional command-limit configuration passed directly to the flight controller.

controller class-attribute instance-attribute

controller: str = 'FlightController'

Controller class name. Options: 'FlightController' (PID), 'GeoControl'.

control_mode class-attribute instance-attribute

control_mode: str = 'cmd_motor_speeds'

Control mode, options: cmd_motor_thrusts, cmd_motor_speeds, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_ctatt_euler, cmd_ctatt_quat, cmd_ctatt_rotmat, cmd_ctatt_rotvec, cmd_acc, cmd_vel, cmd_vel_ffacc, cmd_pos.

rotorpy ref: - https://github.com/spencerfolk/rotorpy/blob/main/rotorpy/learning/quadrotor_environments.py#L319C1-L350C12 - https://github.com/spencerfolk/rotorpy/blob/main/rotorpy/vehicles/multirotor.py#L997

TODO: also align control modes with px4, see: https://docs.px4.io/v1.14/en/flight_modes/offboard (version is unclear ATM)

mapping class-attribute instance-attribute

mapping: FlightMappingConfig = FlightMappingConfig()

Action-mapping range overrides resolved against params.

The default mapping is an intentional policy-facing behavior rather than a direct reflection of the parameter-derived controller ranges.

aerodynamics class-attribute instance-attribute

aerodynamics: AerodynamicEffectsCfg = AerodynamicEffectsCfg()

Optional drag, external-force, ground-effect, and wall configuration.

HelixTrajectory dataclass

HelixTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), radius: ArrayLike | float = 1.0, omega: ArrayLike | float = 0.5, z_amplitude: ArrayLike | float = 0.0, z_frequency: ArrayLike | float = 1.0, z_phase: ArrayLike | float = 0.0)

Bases: SpatialTrajectory

Batched helix trajectory.

方法：

名称	描述
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize HelixTrajectory.
sample	Sample the helix at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

返回：

类型	描述
tuple[ArrayLike, ArrayLike]	Tuple of yaw and yaw_rate arrays.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

返回：

类型	描述
ControllerTarget	The assembled controller target dictionary.

__post_init__

__post_init__()

Initialize HelixTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the helix at time t.

返回：

类型	描述
ControllerTarget	The sampled controller target.

LemniscateTrajectory dataclass

LemniscateTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), scale: ArrayLike | float = 1.0, omega: ArrayLike | float = 0.5, z_amplitude: ArrayLike | float = 0.0, z_frequency: ArrayLike | float = 1.0, z_phase: ArrayLike | float = 0.0)

Bases: SpatialTrajectory

Batched Bernoulli lemniscate trajectory.

方法：

名称	描述
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize LemniscateTrajectory.
sample	Sample the lemniscate at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

返回：

类型	描述
tuple[ArrayLike, ArrayLike]	Tuple of yaw and yaw_rate arrays.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

返回：

类型	描述
ControllerTarget	The assembled controller target dictionary.

__post_init__

__post_init__()

Initialize LemniscateTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the lemniscate at time t.

返回：

类型	描述
ControllerTarget	The sampled controller target.

LissajousTrajectory dataclass

LissajousTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), amplitude: ArrayLike | tuple[float, float, float] = (1.0, 1.0, 0.2), frequency: ArrayLike | tuple[float, float, float] = (1.0, 2.0, 0.5), phase: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 0.0), omega: ArrayLike | float = 0.5)

Bases: SpatialTrajectory

Batched three-dimensional Lissajous trajectory.

方法：

名称	描述
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize LissajousTrajectory.
sample	Sample the Lissajous trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

返回：

类型	描述
tuple[ArrayLike, ArrayLike]	Tuple of yaw and yaw_rate arrays.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

返回：

类型	描述
ControllerTarget	The assembled controller target dictionary.

__post_init__

__post_init__()

Initialize LissajousTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the Lissajous trajectory at time t.

返回：

类型	描述
ControllerTarget	The sampled controller target.

RectangleTrajectory dataclass

RectangleTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), size: ArrayLike | tuple[float, float] = (2.0, 1.0), speed: ArrayLike | float = 0.5)

Bases: SpatialTrajectory

Batched constant-speed rectangle trajectory in the horizontal plane.

方法：

名称	描述
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize RectangleTrajectory.
sample	Sample the rectangle trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

返回：

类型	描述
tuple[ArrayLike, ArrayLike]	Tuple of yaw and yaw_rate arrays.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

返回：

类型	描述
ControllerTarget	The assembled controller target dictionary.

__post_init__

__post_init__()

Initialize RectangleTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the rectangle trajectory at time t.

返回：

类型	描述
ControllerTarget	The sampled controller target.

RandomTrajectoryCommand

RandomTrajectoryCommand(cfg: RandomTrajectoryCommandCfg, env: ManagerBasedEnv)

Bases: CommandTerm

Trajectory command generator with randomized type and parameters per environment.

RandomTrajectoryCommandCfg

Bases: CommandTermCfg

Configuration for randomized trajectory commands.

modify_reward_weight_linearly

modify_reward_weight_linearly(cfg: CurriculumTermCfg, env: ManagerBasedRLEnv)

Bases: ManagerTermBase

Curriculum term that linearly updates a reward weight during training.

died

died(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot'), min: float = 0.2, max: float = 2.0) -> torch.Tensor

Termination condition based on the robot's height.

root_rotmat_w_flat

root_rotmat_w_flat(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor

Rotation matrix of the root in world frame, flattened to a 9D vector.