flybody/scripts.conf at main · docxology/flybody · GitHub

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# flybody scripts configuration
# ──────────────────────────────────────────────────────────────────────
# All configurable values for flybody scripts in one place.
# Values shown are DEFAULTS — override via CLI flags or env vars.
# ──────────────────────────────────────────────────────────────────────

# ── Environment ─────────────────────────────────────────────────────
MUJOCO_GL                = glfw           # Rendering backend: glfw | egl | osmesa

# ── Rendering defaults ──────────────────────────────────────────────
RENDER_WIDTH             = 640            # Render width (pixels)
RENDER_HEIGHT            = 480            # Render height (pixels)
RENDER_FPS               = 30             # Video frame rate

# ── render_environments.py ──────────────────────────────────────────
ENVS                     = walk_imitation,walk_on_ball,template_task,flight_imitation,vision_flight_bumps,vision_flight_trench
CAMERAS                  = 0,1            # Camera IDs to render
WARMUP_STEPS             = 50             # Random steps before capture

# ── generate_rollout_videos.py ──────────────────────────────────────
ROLLOUT_STEPS            = 200            # Steps per rollout
ROLLOUT_CAMERAS          = 0              # Camera IDs for video
ROLLOUT_FPS              = 30             # Video FPS

# ── export_model_data.py ────────────────────────────────────────────
EXPORT_MODES             = params,configs,specs,observables

# ── explore_physics.py ──────────────────────────────────────────────
PHYSICS_STEPS            = 150            # Steps for wing/actuator animations

# ── track_sensory_data.py ───────────────────────────────────────────
SENSORY_ENV              = flight_imitation   # Environment: flight_imitation | walk_imitation | walk_on_ball
SENSORY_STEPS            = 150                # Rollout steps for tracking

# ── explore_task_utils.py ───────────────────────────────────────────
TASK_UTILS_VERBOSE       = false          # Enable debug-level logging

# ── inspect_walker.py ───────────────────────────────────────────────
WALKER_CONFIGS           = full,no_wings,no_legs,force_actuators,no_mouth,no_antennae,minimal
WALKER_RENDER            = true           # Render camera images per config

# ── vision_pipeline.py ──────────────────────────────────────────────
VISION_TERRAIN           = both           # Terrain type: bumps | trench | both
VISION_STEPS             = 100            # Rollout steps for vision demo

# ── Output directory structure ──────────────────────────────────────
OUTPUT_DIR               = output         # Root output directory
OUTPUT_IMAGES            = output/images
OUTPUT_VIDEOS            = output/videos
OUTPUT_DATA              = output/data
OUTPUT_PHYSICS           = output/physics
OUTPUT_SENSORY           = output/sensory
OUTPUT_TASK_UTILS        = output/task_utils
OUTPUT_WALKER            = output/walker
OUTPUT_VISION            = output/vision

# ── setup.sh ────────────────────────────────────────────────────────
PYTHON_VERSION           = 3.10           # Python version for venv
SETUP_EXTRAS             =                # Extras: tf | ray | dev | all

# ── download_data.sh ───────────────────────────────────────────────
DATA_KEYS                = walking-imitation-dataset,flight-imitation-dataset,trained-policies,controller-reuse-checkpoints

# ── train.sh ────────────────────────────────────────────────────────
TRAIN_MUJOCO_GL          = egl            # GPU rendering for training