Task and sim ctrl separation #102
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- Add task_to_sim_ctrl() method to Task base class (default identity) - Update RolloutBackend to accept and use task_to_sim_ctrl function - Update MJSimulation to use task_to_sim_ctrl when setting controls - Update Controller to pass task.task_to_sim_ctrl to RolloutBackend - Tasks can now override task_to_sim_ctrl() to map between different control spaces
johnzhang3
requested review from
alberthli,
bhung-bdai,
jbruedigam-bdai,
pculbertson and
slecleach
as code owners
alberthli
approved these changes
Oct 31, 2025
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| ## Added | ||
| * Separation between task-space controls and MuJoCo simulation controls | ||
| * Added `task_to_sim_ctrl()` method to `Task` base class (default identity mapping) | ||
| * Updated `RolloutBackend` to accept and use `task_to_sim_ctrl` function for control mapping | ||
| * Updated `MJSimulation` to use `task_to_sim_ctrl` when setting controls | ||
| * Tasks can now override `task_to_sim_ctrl()` to map between different control spaces |
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slecleach
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Nov 5, 2025
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