类：
| 名称 | 描述 |
|---|---|
ControlAction |
Body torque control action term. |
ControlActionCfg |
See :class: |
ControlAction(cfg: ControlActionCfg, 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 |
ControlActionCfg
|
The configuration of the action term. |
instance-attribute
cfg: ControlActionCfg = cfg
The configuration of the action term.
dataclass
ControlActionCfg(*, class_type: type[ActionTerm] = ControlAction, entity_name: str = 'robot', params: VehicleParams = VehicleParams(), gains: dict | None = None, limits: dict | None = None, control_mode: str = 'cmd_motor_speeds', mapping: FlightMappingConfig = FlightMappingConfig())
Bases: ActionTermCfg
See :class:ControlAction for more details.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
class_type |
type[ActionTerm]
|
Class of the action term. |
entity_name |
str
|
Name of the asset in the environment for which the commands are generated. |
params |
VehicleParams
|
Vehicle parameters. |
gains |
dict | None
|
Optional gains configuration for the flight controller. See FlightController for details. |
limits |
dict | None
|
Optional command-limit configuration passed directly to the flight controller. |
control_mode |
str
|
Control mode, options: cmd_motor_thrusts, cmd_motor_speeds, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel, cmd_pos. |
mapping |
FlightMappingConfig
|
Action-mapping range overrides resolved against |
class-attribute
instance-attribute
class_type: type[ActionTerm] = ControlAction
Class of the action term.
class-attribute
instance-attribute
entity_name: str = 'robot'
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
params: VehicleParams = field(default_factory=VehicleParams)
Vehicle parameters.
class-attribute
instance-attribute
gains: dict | None = None
Optional gains configuration for the flight controller. See FlightController for details.
class-attribute
instance-attribute
limits: dict | None = None
Optional command-limit configuration passed directly to the flight controller.
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_vel, 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
class-attribute
instance-attribute
mapping: FlightMappingConfig = field(default_factory=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.