Fixed observation contracts for sim2real trajectory and landing policies.
Functions:
| Name | Description |
|---|---|
trajectory_preview_command |
Sample a training-compatible trajectory preview in yaw-body frame. |
build_trajectory_observation |
Build the fixed aerial/ground trajectory-policy observation. |
landing_target_command |
Return the fixed four-channel landing target in yaw-body frame. |
build_landing_observation |
Build the fixed landing-policy observation in training term order. |
trajectory_preview_command(trajectory: BaseTrajectory, state: ControllerState, trajectory_time: float, *, command_mode: str = 'tgt_pos', future_steps: int = TRAJECTORY_FUTURE_STEPS, preview_dt: float = TRAJECTORY_PREVIEW_DT) -> tuple[np.ndarray, ControllerTarget]
Sample a training-compatible trajectory preview in yaw-body frame.
build_trajectory_observation(state: ControllerState, preview_command: ndarray, last_action: ndarray) -> np.ndarray
Build the fixed aerial/ground trajectory-policy observation.
landing_target_command(state: ControllerState, target: ControllerTarget) -> np.ndarray
Return the fixed four-channel landing target in yaw-body frame.
build_landing_observation(state: ControllerState, target_command: ndarray, last_action: ndarray) -> np.ndarray
Build the fixed landing-policy observation in training term order.