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config

Configuration types for MuJoCo sim2sim play sessions.

Classes:

Name Description
SimpleFlightObservationConfig

Trajectory-window configuration for SimpleFlight observations.
MuJoCoPlayConfig

Configuration for a MuJoCo policy play session.

SimpleFlightObservationConfig dataclass 

SimpleFlightObservationConfig(future_steps: int = 10, future_step_size: int = 5)

Trajectory-window configuration for SimpleFlight observations.

MuJoCoPlayConfig dataclass 

MuJoCoPlayConfig(checkpoint_path: str, params: VehicleParams = VehicleParams(), decimation: int = 2, action_mode: str = 'cmd_motor_speeds', controller: str = 'FlightController', command_mode: str = 'tgt_pos', output_frame: str = 'yaw_body', initial_target: ControllerTarget = (lambda: {'pos': np.array([1.0, 1.0, 2.5]), 'vel': np.array([0.0, 0.0, 0.0]), 'att_euler': np.array([0.0, 0.0, 1.0]), 'ang_vel': np.array([0.0, 0.0, 0.0])})(), scene_path: str = str(LAV2_ASSETS.scene_path), enable_gamepad: bool = False, trajectory: BaseTrajectory | None = None, pos_inc: tuple[float, float, float] = (1.0, 1.0, 0.5), mapping: FlightMappingConfig = FlightMappingConfig(), simpleflight_observation: SimpleFlightObservationConfig = SimpleFlightObservationConfig())

Configuration for a MuJoCo policy play session.

Methods:

Name Description
__post_init__

Validate configuration values after initialization.

Attributes:

Name Type Description
controller str

Classic controller class name, resolved via
output_frame str

Compact trajectory-command frame used by the policy observation.
scene_path str

MuJoCo scene XML path to load for the play session.

controller class-attribute instance-attribute 

controller: str = 'FlightController'

Classic controller class name, resolved via :data:lav2.controllers.mapping.CONTROLLER_REGISTRY.

output_frame class-attribute instance-attribute 

output_frame: str = 'yaw_body'

Compact trajectory-command frame used by the policy observation.

scene_path class-attribute instance-attribute 

scene_path: str = str(LAV2_ASSETS.scene_path)

MuJoCo scene XML path to load for the play session.

__post_init__ 

__post_init__()

Validate configuration values after initialization.