Getting started

Install

pip install udaan

For development, include the optional extras:

git clone https://github.com/vkotaru/udaan.git
cd udaan
pip install -e ".[all]"

Your first simulation

from udaan.models.quadrotor import QuadrotorMujoco

mdl = QuadrotorMujoco(render=True)
mdl.simulate(tf=10.0, position=[1.0, 1.0, 0.0])

This spawns a single quadrotor in a MuJoCo viewer and commands it to hover at the origin starting from [1, 1, 0]. The default controller is the geometric SE(3) controller described in ../theory/controllers/quadrotor-se3.

Next steps

  • Running simulations — CLI reference and scripted runs.

  • ../theory/dynamics/quadrotor — equations of motion behind the model.