SimpleFlight-specific sim2real runtime helpers.
Classes:
| Name | Description |
|---|---|
SimpleFlightRuntimeConfig |
Non-ROS configuration for SimpleFlight policy deployment. |
SimpleFlightRuntime |
Runtime for policy-only SimpleFlight deployments. |
Functions:
| Name | Description |
|---|---|
build_internal_trajectory |
Return the default internal reference trajectory. |
dataclass
SimpleFlightRuntimeConfig(model_path: str = '', trajectory: BaseTrajectory = build_internal_trajectory(), params: VehicleParams = VehicleParams(), device: str = 'cpu', trajectory_time_offset: float = 0.0, future_steps: int = 10, future_step_size: int = 5, mapping: FlightMappingConfig = FlightMappingConfig(), thrust_model: ThrustModelConfig = ThrustModelConfig())
Non-ROS configuration for SimpleFlight policy deployment.
Methods:
| Name | Description |
|---|---|
__post_init__ |
Validate SimpleFlight runtime configuration. |
__post_init__()
Validate SimpleFlight runtime configuration.
SimpleFlightRuntime(cfg: SimpleFlightRuntimeConfig)
Runtime for policy-only SimpleFlight deployments.
Initialize runtime state and policy backend.
Methods:
| Name | Description |
|---|---|
update_target |
Advance the internal trajectory target unless an external target is active. |
set_external_target |
Override the internal trajectory with an externally supplied target. |
set_external_collective_acc |
Set an external total collective-acceleration sample for thrust estimation. |
update_fsm |
Update runtime FSM from transport-specific vehicle status. |
build_observation |
Build the SimpleFlight policy observation. |
step |
Run one runtime step and return the transport-agnostic command. |
update_target(now_sec: float) -> None
Advance the internal trajectory target unless an external target is active.
set_external_target(data: ndarray) -> bool
Override the internal trajectory with an externally supplied target.
set_external_collective_acc(measured_collective_acc: float | None) -> None
Set an external total collective-acceleration sample for thrust estimation.
update_fsm(has_state: bool, is_active: bool) -> str
Update runtime FSM from transport-specific vehicle status.
build_observation(position_world: ndarray, quaternion_xyzw: ndarray, linear_velocity_body: ndarray, now_sec: float, *, rotation: Rotation | None = None, world_linvel: ndarray | None = None) -> np.ndarray
Build the SimpleFlight policy observation.
step(position_world: ndarray | None, quaternion_xyzw: ndarray | None, linear_velocity_body: ndarray | None, now_sec: float) -> BasePlayStepResult | None
Run one runtime step and return the transport-agnostic command.
build_internal_trajectory() -> BaseTrajectory
Return the default internal reference trajectory.