Observation builders for MuJoCo sim2sim deployments.
函数：
| 名称 | 描述 |
|---|---|
build_default_flight_observation |
Build the legacy base-task observation used by current MuJoCo play scripts. |
build_simpleflight_observation |
Build the Isaac Lab SimpleFlight observation. |
make_simpleflight_observation_extractor |
Return an observation extractor matching the SimpleFlight task interface. |
build_default_flight_observation(d: MjData, target: ndarray, last_action: ndarray, command_mode: str, target_mask_map: dict[str, list[int]]) -> np.ndarray
Build the legacy base-task observation used by current MuJoCo play scripts.
build_simpleflight_observation(d: MjData, trajectory: BaseTrajectory | None, target: ndarray, cfg: MuJoCoPlayConfig) -> np.ndarray
Build the Isaac Lab SimpleFlight observation.
make_simpleflight_observation_extractor(cfg: MuJoCoPlayConfig, trajectory: BaseTrajectory | None)
Return an observation extractor matching the SimpleFlight task interface.