模块：
| 名称 | 描述 |
|---|---|
actions |
|
events |
Ground-mode modal-transition events. |
observations |
|
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. |
FlightControlAction |
Body torque control action term. |
FlightControlActionCfg |
See :class: |
DifferentialDriveController |
PX4-style position/heading cascade with differential speed allocation. |
DifferentialDriveActionMapper |
Map normalized ground actions into differential controller targets. |
DifferentialDriveMappingConfig |
Policy-facing scaling for differential-drive controller modes. |
GroundDriveActuatorAdapter |
Batched yaw allocation, side limiting, and actuator command latency. |
GroundDriveActuatorConfig |
Nominal actuator response applied after differential allocation. |
DifferentialDriveControlAction |
Map selectable ground-control actions to drive-joint velocity targets. |
DifferentialDriveControlActionCfg |
Configuration for selectable differential-drive control. |
函数：
| 名称 | 描述 |
|---|---|
randomize_action_term_attr |
Randomize a selected action-term attribute. |
randomize_ground_actuator_params |
Randomize the ground actuator adapter attached to an action term. |
hold_joint_position_target |
Re-assert a fixed joint position target on reset. |
scale_body_inertia |
Apply scalar or per-axis Isaac inertia scales from the default tensor. |
base_roll_pitch |
Return roll and pitch without exposing task-irrelevant absolute yaw. |
ground_velocity_commands |
Return the controllable nonholonomic command channels: forward speed and yaw rate. |
track_lin_vel_x_exp |
Reward forward-speed tracking without treating lateral speed as a command. |
lateral_velocity_l2 |
Penalize nonholonomic lateral slip separately from command tracking. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
ACTION_KEY_ORDER |
Stable policy-action field order derived from the shared controller schema. |
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(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. |
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. |
classmethod
from_params(params: VehicleParams) -> FlightMappingConfig
Build mapping ranges from vehicle parameters.
返回：
| 类型 | 描述 |
|---|---|
FlightMappingConfig
|
Instantiated FlightMappingConfig object. |
resolve(params: VehicleParams) -> FlightMappingConfig
Resolve config overrides into concrete mapping ranges.
返回：
| 类型 | 描述 |
|---|---|
FlightMappingConfig
|
Resolved FlightMappingConfig object. |
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 |
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 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 |
dict[str, dict[str, tuple[float, float]]]
|
Per-component parameter-randomisation scale ranges. |
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). |
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). |
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: dict[str, dict[str, tuple[float, float]]] = field(default_factory=dict)
Per-component parameter-randomisation scale ranges.
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
Cdx: float = 0.5
Body drag coefficient.
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 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 |
|---|---|---|---|
|
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.
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. |
IO_descriptor |
GenericActionIODescriptor
|
The IO descriptor of the LAV2 flight control action term. |
instance-attribute
cfg: FlightControlActionCfg = cfg
The configuration of the action term.
property
IO_descriptor: GenericActionIODescriptor
The IO descriptor of the LAV2 flight control action term.
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. |
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 |
class-attribute
instance-attribute
class_type: type[ActionTerm] = FlightControlAction
Class of the action term.
class-attribute
instance-attribute
asset_name: str = 'robot'
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
rotor_body_names: tuple[str, ...] = ('rotor0', 'rotor1', 'rotor2', 'rotor3')
Ordered rotor body names matching controller/mixer rotor order.
class-attribute
instance-attribute
params: VehicleParams = VehicleParams()
Vehicle parameters.
class-attribute
instance-attribute
gains: dict | None = None
Optional gains configuration for the flight controller.
class-attribute
instance-attribute
limits: dict | None = None
Optional command-limit configuration passed directly to the flight controller.
class-attribute
instance-attribute
controller: str = 'FlightController'
Controller class name. Options: 'FlightController' (PID), 'GeoControl'.
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)
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.
DifferentialDriveController(params: VehicleParams, control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)
Bases: ControllerBase
PX4-style position/heading cascade with differential speed allocation.
The output is [left, right] drive-shaft angular velocity in rad/s. The
controller is independent of wheel count: a platform adapter commands one
physical drive joint per side, while backend mechanical constraints
synchronize any follower road wheels or wheel shells.
Initialize the batched differential-drive controller.
方法：
| 名称 | 描述 |
|---|---|
randomize |
Randomize gains and limits for selected environments. |
reset |
Reset all PID state for selected environments. |
update |
Compute left/right drive-shaft angular-velocity targets in rad/s. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
params |
VehicleParams
|
Vehicle parameters for the controller. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the controller.
randomize(env_ids=None, gains: dict[str, Any] | None = None, limits: dict[str, Any] | None = None)
Randomize gains and limits for selected environments.
reset(env_ids=None)
Reset all PID state for selected environments.
update(target: ControllerTarget, state: ControllerState) -> ArrayLike
Compute left/right drive-shaft angular-velocity targets in rad/s.
返回：
| 类型 | 描述 |
|---|---|
ArrayLike
|
The computed drive-shaft angular velocity array. |
DifferentialDriveActionMapper(control_mode: str, params: VehicleParams, mapping: DifferentialDriveMappingConfig | None = None, control_mask: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)
Map normalized ground actions into differential controller targets.
Initialize the ground mapper and stable action-field indices.
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If mapping ranges or control mode is invalid. |
方法：
| 名称 | 描述 |
|---|---|
decode_action |
Decode a policy action into side speed or a controller target. |
map_action |
Resolve an action into left/right output-shaft speed targets. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
requires_controller |
bool
|
Whether this mode passes through the differential controller. |
property
requires_controller: bool
Whether this mode passes through the differential controller.
decode_action(action: ArrayLike, *, state: ControllerState | None = None) -> DifferentialDriveMapping
Decode a policy action into side speed or a controller target.
返回：
| 类型 | 描述 |
|---|---|
DifferentialDriveMapping
|
DifferentialDriveMapping dictionary containing decoded action. |
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If state is missing when required. |
map_action(action: ArrayLike, *, state: ControllerState | None = None, controller: ControllerBase | None = None) -> DifferentialDriveMapping
Resolve an action into left/right output-shaft speed targets.
返回：
| 类型 | 描述 |
|---|---|
DifferentialDriveMapping
|
DifferentialDriveMapping dictionary containing side speed targets. |
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If controller is missing when required. |
dataclass
DifferentialDriveMappingConfig(forward_speed_range: float | None = None, yaw_rate_range: float | None = None, heading_range: float = pi, side_speed_range: float | None = None)
Policy-facing scaling for differential-drive controller modes.
方法：
| 名称 | 描述 |
|---|---|
from_params |
Build mapping ranges from track or wheel platform parameters. |
resolve |
Resolve explicit overrides against platform-derived defaults. |
classmethod
from_params(params: VehicleParams) -> DifferentialDriveMappingConfig
Build mapping ranges from track or wheel platform parameters.
返回：
| 类型 | 描述 |
|---|---|
DifferentialDriveMappingConfig
|
Instantiated DifferentialDriveMappingConfig object. |
引发：
| 类型 | 描述 |
|---|---|
TypeError
|
If params lacks track or wheel attributes. |
resolve(params: VehicleParams) -> DifferentialDriveMappingConfig
Resolve explicit overrides against platform-derived defaults.
返回：
| 类型 | 描述 |
|---|---|
DifferentialDriveMappingConfig
|
Resolved DifferentialDriveMappingConfig object. |
GroundDriveActuatorAdapter(*, physics_dt: float, side_speed_limit: float, config: GroundDriveActuatorConfig, num_envs: int = 1, device=None, backend: BackendName | None = None, xp: ModuleType | None = None)
Batched yaw allocation, side limiting, and actuator command latency.
Build an Array API adapter for one fixed-rate physics loop.
方法：
| 名称 | 描述 |
|---|---|
randomize |
Randomize selected actuator parameters as nominal-relative scales. |
reset |
Clear actuator command state for selected environments. |
update |
Return the physical-side target for the current physics step. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
side_gain |
ArrayLike
|
Current left/right gain samples. |
property
side_gain: ArrayLike
Current left/right gain samples.
randomize(env_ids=None, randomization: dict[str, tuple[float, float] | float] | None = None) -> None
Randomize selected actuator parameters as nominal-relative scales.
reset(env_ids=None) -> None
Clear actuator command state for selected environments.
update(targets: ArrayLike, *, apply_yaw_compensation: bool = True) -> ArrayLike
Return the physical-side target for the current physics step.
dataclass
GroundDriveActuatorConfig(yaw_allocation_scale: float = 1.0, left_gain: float = 1.0, right_gain: float = 1.0, left_delay_s: float = 0.0, right_delay_s: float = 0.0)
Nominal actuator response applied after differential allocation.
DifferentialDriveControlAction(cfg: DifferentialDriveControlActionCfg, env: ManagerBasedRLEnv)
Bases: ActionTerm
Map selectable ground-control actions to drive-joint velocity targets.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
ideal_side_speed_targets |
Tensor
|
Controller output before Isaac-specific allocation and latency. |
applied_side_speed_targets |
Tensor
|
Side targets after allocation/gain and before actuator latency. |
sampled_actuator_parameters |
dict[str, Tensor]
|
Expose per-environment samples for episode diagnostics. |
IO_descriptor |
GenericActionIODescriptor
|
Describe policy channels for the selected ground-control mode. |
property
ideal_side_speed_targets: Tensor
Controller output before Isaac-specific allocation and latency.
property
applied_side_speed_targets: Tensor
Side targets after allocation/gain and before actuator latency.
property
sampled_actuator_parameters: dict[str, Tensor]
Expose per-environment samples for episode diagnostics.
property
IO_descriptor: GenericActionIODescriptor
Describe policy channels for the selected ground-control mode.
Bases: ActionTermCfg
Configuration for selectable differential-drive control.
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_ground_actuator_params(env: ManagerBasedRLEnv, env_ids, action_term_name: str = 'ground_control_action', actuator_attr: str = '_actuator_adapter', param_range: dict[str, tuple[float, float] | float] | None = None) -> None
Randomize the ground actuator adapter attached to an action term.
hold_joint_position_target(env: ManagerBasedRLEnv, env_ids, target_pos: float, joint_names: list[str], asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> None
Re-assert a fixed joint position target on reset.
ArticulationCfg.InitialStateCfg.joint_pos sets the initial joint state,
not the actuator target. For joints driven by a stiff position actuator that
are not policy-controlled — e.g. ATMO's base_to_arm[l,r] locked at 90 deg
for the ground-mode modal transition — the drive target defaults to 0 and the
actuator yanks the joint out of its init pose (arms snap back to the 0-deg
flight pose, dropping the chassis onto the ground). This event writes the
position target back to target_pos each reset so the actuator holds the
configured pose for the episode; the target persists across steps because the
action manager never commands these joints.
scale_body_inertia(env: ManagerBasedRLEnv, env_ids, scale: float | tuple[float, float] | tuple[tuple[float, float], tuple[float, float], tuple[float, float]], asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> None
Apply scalar or per-axis Isaac inertia scales from the default tensor.
base_roll_pitch(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Return roll and pitch without exposing task-irrelevant absolute yaw.
ground_velocity_commands(env: ManagerBasedRLEnv, command_name: str) -> torch.Tensor
Return the controllable nonholonomic command channels: forward speed and yaw rate.
track_lin_vel_x_exp(env: ManagerBasedRLEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Reward forward-speed tracking without treating lateral speed as a command.
lateral_velocity_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg('robot')) -> torch.Tensor
Penalize nonholonomic lateral slip separately from command tracking.