Configuration for sim2real runtimes.
Classes:
| Name | Description |
|---|---|
BasePlayRuntimeConfig |
Non-ROS configuration shared by sim2real base_play runtimes. |
Functions:
| Name | Description |
|---|---|
build_internal_trajectory |
Return the default internal reference trajectory. |
dataclass
BasePlayRuntimeConfig(model_path: str = '', trajectory: BaseTrajectory = build_internal_trajectory(), params: VehicleParams = VehicleParams(), controller_backend: str = 'policy', controller: str = 'FlightController', control_mode: str = 'cmd_ctbr', command_mode: str = 'tgt_pos', output_frame: str = 'yaw_body', device: str = 'cpu', trajectory_time_offset: float = 0.0, mapping: FlightMappingConfig = FlightMappingConfig(), thrust_model: ThrustModelConfig = ThrustModelConfig())
Non-ROS configuration shared by sim2real base_play runtimes.
Methods:
| Name | Description |
|---|---|
__post_init__ |
Validate runtime configuration and resolve mapping defaults. |
Attributes:
| Name | Type | Description |
|---|---|---|
controller_backend |
str
|
|
controller |
str
|
Controller class whose mask defines the action contract. |
output_frame |
str
|
Compact trajectory-command frame used by the policy observation. |
class-attribute
instance-attribute
controller_backend: str = 'policy'
"policy" for RL, "classic" for a hand-tuned controller.
class-attribute
instance-attribute
controller: str = 'FlightController'
Controller class whose mask defines the action contract.
The classic backend instantiates it; the policy backend uses its mask to
reproduce the training-time action layout. Resolved via
:data:lav2.controllers.mapping.CONTROLLER_REGISTRY.
class-attribute
instance-attribute
output_frame: str = 'yaw_body'
Compact trajectory-command frame used by the policy observation.
__post_init__()
Validate runtime configuration and resolve mapping defaults.
build_internal_trajectory() -> BaseTrajectory
Return the default internal reference trajectory.