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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 python -m lav2.controller

Runtime Notes

  • The interactive runner expects the MuJoCo scene under lav2/assets/mjcf/scene.xml.
  • Mode 0 (default) runs the rotor flight stack and mode 1 runs the tracked vehicle stack. Set the initial mode via --mode (e.g., uv run lav2 --mode 1). You can switch modes at runtime via a key press.
  • If the simulation saturates or diverges, check in order: (1) that lav2/assets/mjcf/scene.xml and referenced mesh files are present; (2) that the MuJoCo rendering backend is functional; (3) controller gains in VehicleParams (especially position/velocity P-gains and integration limits); (4) rotor parameters such as max_rpm, thrust coefficient, and motor time constants.