Configuration types for MuJoCo sim2sim play sessions.
类：
| 名称 | 描述 |
|---|---|
SimpleFlightObservationConfig |
Trajectory-window configuration for SimpleFlight observations. |
MuJoCoPlayConfig |
Configuration for a MuJoCo policy play session. |
dataclass
SimpleFlightObservationConfig(future_steps: int = 10, future_step_size: int = 5)
Trajectory-window configuration for SimpleFlight observations.
dataclass
MuJoCoPlayConfig(checkpoint_path: str, params: VehicleParams = VehicleParams(), decimation: int = 2, action_mode: str = 'cmd_motor_speeds', command_mode: str = 'tgt_pos', initial_target: ndarray = (lambda: np.array([1.0, 1.0, 2.5, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]))(), mjcf_path: str = str(files('lav2.assets').joinpath('mjcf/scene.xml')), 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.
方法：
| 名称 | 描述 |
|---|---|
__post_init__ |
Validate configuration values after initialization. |
__post_init__()
Validate configuration values after initialization.