Add multirotor/thruster actuator, multirotor asset and manager-based LMF2 drone task

CONTRIBUTORS.md

@@ -67,6 +67,7 @@ Guidelines for modifications:
 * Felix Yu
 * Gary Lvov
 * Giulio Romualdi
+* Grzegorz Malczyk
 * Haoran Zhou
 * Harsh Patel
 * HoJin Jeon
@@ -100,6 +101,7 @@ Guidelines for modifications:
 * Michael Noseworthy
 * Michael Lin
 * Miguel Alonso Jr
+* Mihir Kulkarni
 * Mingyu Lee
 * Muhong Guo
 * Neel Anand Jawale
@@ -135,6 +137,7 @@ Guidelines for modifications:
 * Virgilio Gómez Lambo
 * Vladimir Fokow
 * Wei Yang
+* Welf Rehberg
 * Xavier Nal
 * Xinjie Yao
 * Xinpeng Liu

docs/make.bat

@@ -1,65 +1,65 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file to build Sphinx documentation
-
-set SOURCEDIR=.
-set BUILDDIR=_build
-
-REM Check if a specific target was passed
-if "%1" == "multi-docs" (
-	REM Check if SPHINXBUILD is set, if not default to sphinx-multiversion
-	if "%SPHINXBUILD%" == "" (
-		set SPHINXBUILD=sphinx-multiversion
-	)
-	where %SPHINXBUILD% >NUL 2>NUL
-	if errorlevel 1 (
-		echo.
-		echo.The 'sphinx-multiversion' command was not found. Make sure you have Sphinx
-		echo.installed, then set the SPHINXBUILD environment variable to point
-		echo.to the full path of the 'sphinx-multiversion' executable. Alternatively you
-		echo.may add the Sphinx directory to PATH.
-		echo.
-		echo.If you don't have Sphinx installed, grab it from
-		echo.http://sphinx-doc.org/
-		exit /b 1
-	)
-	%SPHINXBUILD% %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
-
-	REM Copy the redirect index.html to the build directory
-	copy _redirect\index.html %BUILDDIR%\index.html
-	goto end
-)
-
-if "%1" == "current-docs" (
-	REM Check if SPHINXBUILD is set, if not default to sphinx-build
-	if "%SPHINXBUILD%" == "" (
-		set SPHINXBUILD=sphinx-build
-	)
-	where %SPHINXBUILD% >NUL 2>NUL
-	if errorlevel 1 (
-		echo.
-		echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-		echo.installed, then set the SPHINXBUILD environment variable to point
-		echo.to the full path of the 'sphinx-build' executable. Alternatively you
-		echo.may add the Sphinx directory to PATH.
-		echo.
-		echo.If you don't have Sphinx installed, grab it from
-		echo.http://sphinx-doc.org/
-		exit /b 1
-	)
-	if exist "%BUILDDIR%\current" rmdir /s /q "%BUILDDIR%\current"
-	%SPHINXBUILD% -W "%SOURCEDIR%" "%BUILDDIR%\current" %SPHINXOPTS%
-	goto end
-)
-
-REM If no valid target is passed, show usage instructions
-echo.
-echo.Usage:
-echo.  make.bat multi-docs    - To build the multi-version documentation.
-echo.  make.bat current-docs  - To build the current documentation.
-echo.
-
-:end
-popd
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file to build Sphinx documentation
+
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+REM Check if a specific target was passed
+if "%1" == "multi-docs" (
+	REM Check if SPHINXBUILD is set, if not default to sphinx-multiversion
+	if "%SPHINXBUILD%" == "" (
+		set SPHINXBUILD=sphinx-multiversion
+	)
+	where %SPHINXBUILD% >NUL 2>NUL
+	if errorlevel 1 (
+		echo.
+		echo.The 'sphinx-multiversion' command was not found. Make sure you have Sphinx
+		echo.installed, then set the SPHINXBUILD environment variable to point
+		echo.to the full path of the 'sphinx-multiversion' executable. Alternatively you
+		echo.may add the Sphinx directory to PATH.
+		echo.
+		echo.If you don't have Sphinx installed, grab it from
+		echo.http://sphinx-doc.org/
+		exit /b 1
+	)
+	%SPHINXBUILD% %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+	REM Copy the redirect index.html to the build directory
+	copy _redirect\index.html %BUILDDIR%\index.html
+	goto end
+)
+
+if "%1" == "current-docs" (
+	REM Check if SPHINXBUILD is set, if not default to sphinx-build
+	if "%SPHINXBUILD%" == "" (
+		set SPHINXBUILD=sphinx-build
+	)
+	where %SPHINXBUILD% >NUL 2>NUL
+	if errorlevel 1 (
+		echo.
+		echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+		echo.installed, then set the SPHINXBUILD environment variable to point
+		echo.to the full path of the 'sphinx-build' executable. Alternatively you
+		echo.may add the Sphinx directory to PATH.
+		echo.
+		echo.If you don't have Sphinx installed, grab it from
+		echo.http://sphinx-doc.org/
+		exit /b 1
+	)
+	if exist "%BUILDDIR%\current" rmdir /s /q "%BUILDDIR%\current"
+	%SPHINXBUILD% -W "%SOURCEDIR%" "%BUILDDIR%\current" %SPHINXOPTS%
+	goto end
+)
+
+REM If no valid target is passed, show usage instructions
+echo.
+echo.Usage:
+echo.  make.bat multi-docs    - To build the multi-version documentation.
+echo.  make.bat current-docs  - To build the current documentation.
+echo.
+
+:end
+popd

source/isaaclab/isaaclab/actuators/__init__.py

@@ -32,6 +32,8 @@
     IdealPDActuatorCfg,
     ImplicitActuatorCfg,
     RemotizedPDActuatorCfg,
+    ThrusterCfg,
 )
 from .actuator_net import ActuatorNetLSTM, ActuatorNetMLP
 from .actuator_pd import DCMotor, DelayedPDActuator, IdealPDActuator, ImplicitActuator, RemotizedPDActuator
+from .thruster import Thruster

source/isaaclab/isaaclab/actuators/actuator_cfg.py

@@ -11,6 +11,7 @@
 
 from . import actuator_net, actuator_pd
 from .actuator_base import ActuatorBase
+from .thruster import Thruster
 
 
 @configclass
@@ -283,3 +284,54 @@ class RemotizedPDActuatorCfg(DelayedPDActuatorCfg):
     This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out),
     and the output torque (N*m). The table is used to interpolate the output torque based on the joint angle.
     """
+
+
+@configclass
+class ThrusterCfg:
+
+    class_type: type[Thruster] = Thruster
+    """Concrete Python class that consumes this config."""
+
+    # stiffness = 0.1 # only necessary to make this conform with Isaac
+    # damping = 0.1 # only necessary to make this conform with Isaac
+
+    dt: float = 0.01
+    """Simulation/integration timestep used by the thruster update [s]."""
+
+    num_motors: int = 4
+    """Number of motors/propulsors on the vehicle."""
+
+    thrust_range: tuple[float, float] = (0.1, 10.0)
+    """Per-motor thrust clamp range [N]: values are clipped to this interval."""
+
+    max_thrust_rate: float = 100000.0
+    """Per-motor thrust slew-rate limit applied inside the first-order model [N/s]."""
+
+    thrust_const_range: tuple[float, float] = (9.26312e-06, 1.826312e-05)
+    """Range for thrust coefficient :math:`k_f` when ``use_rps=True`` [N/(rps²)]."""
+
+    tau_inc_range: tuple[float, float] = (0.05, 0.08)
+    """Range of time constants when commanded output is **increasing** (rise dynamics) [s]."""
+
+    tau_dec_range: tuple[float, float] = (0.005, 0.005)
+    """Range of time constants when commanded output is **decreasing** (fall dynamics) [s]."""
+
+    torque_to_thrust_ratio: float = 0.07
+    """Yaw-moment coefficient converting thrust to motor torque about +Z [N·m per N].
+    Used as ``tau_z = torque_to_thrust_ratio * thrust_z * direction``.
+    """
+
+    use_discrete_approximation: bool = True
+    """If ``True``, use discrete mixing factor ``1/(dt + tau)``; if ``False``, use continuous ``1/tau``."""
+
+    use_rps: bool = True
+    """If ``True``, integrate in rotor-speed domain (ω) and compute thrust via ``F = k_f * ω**2``.
+    If ``False``, integrate thrust directly.
+    """
+
+    integration_scheme: Literal["rk4", "euler"] = "rk4"
+    """Numerical integrator for the first-order model. Choose ``"euler"`` or ``"rk4"``."""
+
+    thruster_names_expr: list[str] = ["back_left_prop", "back_right_prop", "front_left_prop", "front_right_prop"]
+
+    """Articulation's joint names that are part of the group."""