Source code for isaaclab_contrib.assets.multirotor.multirotor_cfg
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from collections.abc import Sequence
from dataclasses import MISSING
from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.utils import configclass
from isaaclab_contrib.actuators import ThrusterCfg
from .multirotor import Multirotor
[docs]@configclass
class MultirotorCfg(ArticulationCfg):
"""Configuration parameters for a multirotor articulation.
This extends the base articulation configuration to support multirotor-specific
settings.
"""
class_type: type = Multirotor
[docs] @configclass
class InitialStateCfg(ArticulationCfg.InitialStateCfg):
"""Initial state of the multirotor articulation."""
# multirotor-specific initial state
rps: dict[str, float] = {".*": 100.0}
"""Revolutions per second in [1/s] of the thrusters. Defaults to 100.0 for all thrusters."""
# multirotor-specific configuration
init_state: InitialStateCfg = InitialStateCfg()
"""Initial state of the multirotor object."""
actuators: dict[str, ThrusterCfg] = MISSING
"""Thruster actuators for the multirotor with corresponding thruster names."""
# multirotor force application settings
thruster_force_direction: tuple[float, float, float] = (0.0, 0.0, 1.0)
"""Default force direction in body-local frame for thrusters. Defaults to Z-axis (upward)."""
allocation_matrix: Sequence[Sequence[float]] | None = None
"""allocation matrix for control allocation"""
rotor_directions: Sequence[int] | None = None
"""Sequence of rotor directions, -1 for clockwise, 1 for counter-clockwise."""
def __post_init__(self):
"""Post initialization validation."""
# Skip validation if actuators is MISSING
if self.actuators is MISSING:
return
# Count the total number of thrusters from all actuator configs
num_thrusters = 0
for thruster_cfg in self.actuators.values():
if hasattr(thruster_cfg, "thruster_names_expr") and thruster_cfg.thruster_names_expr is not None:
num_thrusters += len(thruster_cfg.thruster_names_expr)
# Validate rotor_directions matches number of thrusters
if self.rotor_directions is not None:
num_rotor_directions = len(self.rotor_directions)
if num_thrusters != num_rotor_directions:
raise ValueError(
f"Mismatch between number of thrusters ({num_thrusters}) and "
f"rotor_directions ({num_rotor_directions}). "
"They must have the same number of elements."
)
# Validate rps explicit entries match number of thrusters
# Only validate if rps has explicit entries (not just a wildcard pattern)
if hasattr(self.init_state, "rps") and self.init_state.rps is not None:
rps_keys = list(self.init_state.rps.keys())
# Check if rps uses a wildcard pattern (single key that's a regex)
is_wildcard = len(rps_keys) == 1 and (rps_keys[0] == ".*" or rps_keys[0] == ".*:.*")
if not is_wildcard and len(rps_keys) != num_thrusters:
raise ValueError(
f"Mismatch between number of thrusters ({num_thrusters}) and "
f"rps entries ({len(rps_keys)}). "
"They must have the same number of elements when using explicit rps keys."
)
# Validate allocation_matrix second dimension matches number of thrusters
if self.allocation_matrix is not None:
if len(self.allocation_matrix) == 0:
raise ValueError("Allocation matrix cannot be empty.")
# Check that all rows have the same length
num_cols = len(self.allocation_matrix[0])
for i, row in enumerate(self.allocation_matrix):
if len(row) != num_cols:
raise ValueError(
f"Allocation matrix row {i} has length {len(row)}, "
f"but expected {num_cols} (all rows must have the same length)."
)
# Validate that the second dimension (columns) matches number of thrusters
if num_cols != num_thrusters:
raise ValueError(
f"Mismatch between number of thrusters ({num_thrusters}) and "
f"allocation matrix columns ({num_cols}). "
"The second dimension of the allocation matrix must match the number of thrusters."
)
