runtime

MuJoCo sim2sim runtime for LAV2 policy deployment.

类：

名称	描述
MuJoCoPlayRunner	Modular runner for MuJoCo policy play sessions with keyboard/gamepad control.

MuJoCoPlayRunner

MuJoCoPlayRunner(cfg: MuJoCoPlayConfig, policy_runner: BasePolicyRunner, obs_extractor: Callable[[MjData, ndarray, ndarray], ndarray] | None = None)

Modular runner for MuJoCo policy play sessions with keyboard/gamepad control.

Initialize runtime state and optional task-specific observation extraction.

方法：

名称	描述
key_callback	Handle keyboard input to update target position.
gamepad_callback	Handle gamepad input following lav2.controller.run semantics.
process_actions	Process policy action and compute RPM commands.
apply_actions	Apply rotor dynamics and update MuJoCo actuators.
control_callback	Control loop callback for MuJoCo viewer.
load_callback	Load MuJoCo model and data.
run	Launch the MuJoCo viewer and start the play session.

key_callback

key_callback(keycode: int)

Handle keyboard input to update target position.

gamepad_callback

gamepad_callback(key: Key) -> None

Handle gamepad input following lav2.controller.run semantics.

process_actions

process_actions(m: MjModel, d: MjData)

Process policy action and compute RPM commands.

apply_actions

apply_actions(m: MjModel, d: MjData)

Apply rotor dynamics and update MuJoCo actuators.

control_callback

control_callback(m: MjModel, d: MjData)

Control loop callback for MuJoCo viewer.

load_callback

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

Load MuJoCo model and data.

run

run()

Launch the MuJoCo viewer and start the play session.