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Local Simulation

The fastest sanity check for LAV2 remains the local MuJoCo runner.

Quick Start

Install the project first via Installation, then launch the local runner:

uv run lav2

You can also invoke the module directly:

uv run -m lav2.controller

Runtime Notes

  • The interactive runner expects the MuJoCo scene under lav2/assets/mjcf/scene.xml.
  • Mode 0 runs the rotor flight stack and mode 1 runs the tracked vehicle stack.
  • If the simulation saturates or diverges, verify the local asset files first and then inspect controller gains in VehicleParams-based flows.

Next Expansion

This page is intentionally concise. Detailed setup screenshots, keyboard bindings, and troubleshooting recipes can be added later under the same guide.