runtime

Shared runtime orchestration for sim2real base_play deployments.

类：

名称	描述
`BasePlayRuntime`	Shared runtime orchestrator for base_play deployments.

BasePlayRuntime

BasePlayRuntime(cfg: BasePlayRuntimeConfig)

Shared runtime orchestrator for base_play deployments.

Initialize runtime state, backend, and control helpers.

方法：

名称	描述
`update_target`	Advance the internal trajectory target unless an external target is active.
`set_external_target`	Update the current target from an external publisher.
`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 policy observation from state, command, and last action.
`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

Update the current target from an external publisher.

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(state: ndarray) -> np.ndarray

Build the policy observation from state, command, and last action.

step(state: ndarray | None, now_sec: float) -> BasePlayStepResult | None

Run one runtime step and return the transport-agnostic command.