udaan.models.mujoco.multi_quad_rigidbody module

class udaan.models.mujoco.multi_quad_rigidbody.MultiQuadRigidbody

Bases: BaseModel

Multi-quadrotor rigid-body payload MuJoCo model.

4 quadrotors carrying a rigid-body payload connected via cables. Outer loop: position-level thrust vectors (3 per quad). Inner loop: geometric attitude controller converts to wrench.

class State

Bases: object

class CableState

Bases: object

__init__(**kwargs)

reset()

class Odometry

Bases: object

__init__(**kwargs)

reset()

__init__(nQ, **kwargs)

reset()

__init__(**kwargs)

compute_attitude_control(i, thrust_force)

Geometric attitude controller for quadrotor i.

Parameters:

• i – quadrotor index

• thrust_force – (3,) desired thrust vector in world frame

Returns:

(4,) [thrust_scalar, Mx, My, Mz] wrench

quad_position_control()

Basic PD hover controller for each quadrotor.

reset(**kwargs)

simulate(tf, **kwargs)

step(action)

Step with position-level thrust vectors (3*nQ).

Parameters:

action – (3*nQ,) thrust force vector per quadrotor.