udaan.models.quadrotor package¶

Submodules¶

Module contents¶

Quadrotor models — base dynamics, VPython visualization, and MuJoCo physics.

class udaan.models.quadrotor.QuadrotorBase[source]¶

Bases: object

Base quadrotor model — pure dynamics, no rendering.

Supports multiple input types (acceleration, wrench, propeller forces) and force types (wrench, propeller forces). Controllers are pluggable via position_controller and attitude_controller properties.

FORCE_TYPE¶: alias of ForceType

INPUT_TYPE¶: alias of InputType

__init__(**kwargs)[source]¶

property attitude_controller¶

property inertia¶

property mass¶

property position_controller¶

reset(**kwargs)[source]¶

simulate(tf, **kwargs)[source]¶: Run closed-loop simulation to time tf.

step(u, desired_att=None)[source]¶: One outer step: repackage input, then run inner substeps.

class udaan.models.quadrotor.QuadrotorMujoco[source]¶

Bases: QuadrotorBase

Quadrotor backed by MuJoCo physics engine.

Overrides step/reset to use MuJoCo instead of Euler ZOH. Reads mass/inertia from the MJCF XML model.

__init__(**kwargs)[source]¶

add_reference_marker(x)[source]¶

property inertia¶

property mass¶

reset(**kwargs)[source]¶

step(u, desired_att=None)[source]¶: Step MuJoCo simulation.

class udaan.models.quadrotor.QuadrotorState[source]¶

Bases: object

Quadrotor state: position, velocity, orientation, angular velocity.

__init__(position=<factory>, velocity=<factory>, orientation=<factory>, angular_velocity=<factory>)¶

angular_velocity: TSO3¶

orientation: SO3¶

position: ndarray[tuple[Any, ...], dtype[floating]]¶

reset()[source]¶

velocity: ndarray[tuple[Any, ...], dtype[floating]]¶

class udaan.models.quadrotor.QuadrotorVfx[source]¶

Bases: QuadrotorBase

Quadrotor with VPython 3D visualization and real-time sync.

__init__(**kwargs)[source]¶

reset(**kwargs)[source]¶

step(u)[source]¶: One outer step: repackage input, then run inner substeps.