aerocar

Independent three-policy AeroCar runtime for MuJoCo sim2sim.

类：

名称	描述
AeroCarSimState	Policy phase owned entirely by the MuJoCo sim2sim runtime.
AeroCarMuJoCoConfig	Configuration for independent AeroCar MuJoCo policy playback.
AeroCarMuJoCoRunner	Run aerial trajectory, landing, and ground policies in MuJoCo.

AeroCarSimState

Bases: str, Enum

Policy phase owned entirely by the MuJoCo sim2sim runtime.

AeroCarMuJoCoConfig dataclass

AeroCarMuJoCoConfig(aerial_model_path: str = '', landing_model_path: str = '', ground_model_path: str = '', device: str = 'cpu', scene_path: str = str(LAV2_ASSETS.scene_path), initial_state: AeroCarSimState = AeroCarSimState.AERIAL_TRAJ, initial_altitude: float = 1.0, aerial_trajectory: str = 'helix', ground_trajectory: str = 'rectangle', trajectory_time_offset: float = 0.0, ground_z: float = 0.0, landing_target_height: float = 0.05, touchdown_max_vertical_speed: float = 0.25, touchdown_stable_s: float = 0.4, decimation: int = 2, ground_actuator: GroundDriveActuatorConfig = (lambda: GroundDriveActuatorConfig(yaw_allocation_scale=2.1, left_delay_s=0.01, right_delay_s=0.03))(), log_output_folder: str = 'results', save_log: bool = True, plot_log: bool = True, params: TrackVehicleParams = (lambda: copy.deepcopy(LAV2_ASSETS.vehicle_params))(), flight_mapping: FlightMappingConfig = FlightMappingConfig(), ground_mapping: DifferentialDriveMappingConfig = DifferentialDriveMappingConfig())

Configuration for independent AeroCar MuJoCo policy playback.

方法：

名称	描述
__post_init__	Validate settings used directly by the MuJoCo loop.

__post_init__

__post_init__() -> None

Validate settings used directly by the MuJoCo loop.

AeroCarMuJoCoRunner

AeroCarMuJoCoRunner(cfg: AeroCarMuJoCoConfig, *, policy_runners: dict[str, Any] | None = None)

Run aerial trajectory, landing, and ground policies in MuJoCo.

Load policies and initialize MuJoCo-specific controllers.

方法：

名称	描述
request_landing	Request the normal aerial-to-landing transition.
force_state	Force a policy phase for isolated interactive playback.
reset	Reset controllers and reactivate the configured initial phase.
step	Advance the policy FSM and produce a MuJoCo actuator command.
control_callback	Run policy inference at decimated rate and apply latched controls.
key_callback	Handle interactive phase selection in the MuJoCo viewer.
load_callback	Load the LAV2 scene and register the MuJoCo control callback.
run	Launch the interactive MuJoCo AeroCar playback session.

request_landing

request_landing() -> bool

Request the normal aerial-to-landing transition.

force_state

force_state(new_state: AeroCarSimState, now_sec: float) -> bool

Force a policy phase for isolated interactive playback.

reset

reset() -> None

Reset controllers and reactivate the configured initial phase.

step

step(m: MjModel, d: MjData) -> dict

Advance the policy FSM and produce a MuJoCo actuator command.

control_callback

control_callback(m: MjModel, d: MjData) -> None

Run policy inference at decimated rate and apply latched controls.

key_callback

key_callback(keycode: int) -> None

Handle interactive phase selection in the MuJoCo viewer.

load_callback

load_callback() -> tuple[mujoco.MjModel, mujoco.MjData]

Load the LAV2 scene and register the MuJoCo control callback.

run

run() -> None

Launch the interactive MuJoCo AeroCar playback session.