Simulation Parameters¶

Parameters of the simulation, including physics parameters (eg. friction, gravity) and visualization parameters (eg. render mode, render FPS), are defined in the Parameters class. This class, however, does not include parameters that are specific to the NeuroMechFly model itself (eg. which body segments are included in collision tracking; where the model is spawned at the beginning of the simulation).

class flygym.mujoco.Parameters¶

Parameters of the MuJoCo simulation.

Attributes:

timestepfloat: Simulation timestep in seconds, by default 0.0001.
joint_stiffnessfloat: Stiffness of actuated joints, by default 0.05.
joint_dampingfloat: Damping coefficient of actuated joints, by default 0.06.
actuator_kpfloat: Position gain of the actuators, by default 18.0.
tarsus_stiffnessfloat: Stiffness of the passive, compliant tarsus joints, by default 2.2.
tarsus_dampingfloat: Damping coefficient of the passive, compliant tarsus joints, by default 0.126.
frictionfloat: Sliding, torsional, and rolling friction coefficients, by default (1, 0.005, 0.0001)
gravityTuple[float, float, float]: Gravity in (x, y, z) axes, by default (0., 0., -9.81e3). Note that the gravity is -9.81 * 1000 due to the scaling of the model.
contact_solref: Tuple[float, float]: MuJoCo contact reference parameters (see MuJoCo documentation for details). By default (9.99e-01, 9.999e-01, 1.0e-03, 5.0e-01, 2.0e+00). Under the default configuration, contacts are very stiff. This is to avoid penetration of the leg tips into the ground when leg adhesion is enabled. The user might want to decrease the stiffness if the stability becomes an issue.
contact_solimp: Tuple[float, float, float, float, float]: MuJoCo contact reference parameters (see MuJoCo docs for details). By default (9.99e-01, 9.999e-01, 1.0e-03, 5.0e-01, 2.0e+00). Under the default configuration, contacts are very stiff. This is to avoid penetration of the leg tips into the ground when leg adhesion is enabled. The user might want to decrease the stiffness if the stability becomes an issue.
enable_olfactionbool: Whether to enable olfaction, by default False.
enable_visionbool: Whether to enable vision, by default False.
render_raw_visionbool: If enable_vision is True, whether to render the raw vision (raw pixel values before binning by ommatidia), by default False.
render_modestr: The rendering mode. Can be “saved” or “headless”, by default “saved”.
render_window_sizeTuple[int, int]: Size of the rendered images in pixels, by default (640, 480).
render_playspeedfloat: Play speed of the rendered video, by default 0.2.
render_fpsint: FPS of the rendered video when played at render_playspeed, by default 30.
render_camerastr: The camera that will be used for rendering, by default “Animat/camera_left”.
render_timestamp_textbool: If True, text indicating the current simulation time will be added to the rendered video.
render_playspeed_textbool: If True, text indicating the play speed will be added to the rendered video.
vision_refresh_rateint: The rate at which the vision sensor is updated, in Hz, by default 500.
enable_adhesionbool: Whether to enable adhesion. By default False.
draw_adhesionbool: Whether to signal that adhesion is on by changing the color of the concerned leg. By default False.
adhesion_forcefloat: The magnitude of the adhesion force. By default 20.
draw_sensor_markersbool: If True, colored spheres will be added to the model to indicate the positions of the cameras (for vision) and odor sensors. By default False.
draw_contactsbool: If True, arrows will be drawn to indicate contact forces between the legs and the ground. By default Fasle.
decompose_contactsbool: If True, the arrows visualizing contact forces will be decomposed into x-y-z components. By default True.
force_arrow_scalingfloat: Scaling factor determining the length of arrows visualizing contact forces. By default 1.0.
tip_lengthfloat: Size of the arrows indicating the contact forces in pixels. By default 10.
contact_thresholdfloat: The threshold for contact detection in mN (forces below this magnitude will be ignored). By default 0.1.
draw_gravtiybool: If True, an arrow will be drawn indicating the direction of gravity. This is useful during climbing simulations. By default False.
gravity_arrow_scalingfloat: Scaling factor determining the size of the arrow indicating gravity. By default 0.0001.
align_camera_with_gravitybool: If True, the camera will be rotated such that gravity points down. This is usful during climbing simulations. By default False.
camera_follows_fly_orientation: bool: If True, the camera will be rotated so that it aligns with the fly’s orientation. By default False.