udaan.models.quadrotor_cspayload package¶

Submodules¶

Module contents¶

Quadrotor with cable-suspended payload models — base dynamics, VPython visualization, and MuJoCo physics.

class udaan.models.quadrotor_cspayload.QuadrotorCsPayloadBase[source]¶

Bases: object

Base quadrotor-cable-suspended payload 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 cable_length: float¶

property inertia¶

property inertia_inv¶

property mass¶

property payload_controller¶

property payload_mass: float¶

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_cspayload.QuadrotorCsPayloadMujoco[source]¶

Bases: QuadrotorCsPayloadBase

Quadrotor with cable-suspended payload backed by MuJoCo physics engine.

Overrides step/reset to use MuJoCo instead of Euler ZOH. Supports three cable modeling approaches:

TENDON: spatial tendon constraint (fast, less realistic)

LINKS: rigid cylinder links with ball joints (slower, most stable)

CABLE: MuJoCo 2.3+ composite cable (experimental)

class MODEL_TYPE[source]¶

Bases: Enum

CABLE = 2¶

LINKS = 0¶

TENDON = 1¶

__init__(**kwargs)[source]¶

property cable_length: float¶

property inertia¶

property mass¶

property payload_mass: float¶

reset(**kwargs)[source]¶

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

class udaan.models.quadrotor_cspayload.QuadrotorCsPayloadState[source]¶

Bases: object

Quadrotor with cable-suspended payload state.

__init__(position=<factory>, velocity=<factory>, orientation=<factory>, angular_velocity=<factory>, payload_position=<factory>, payload_velocity=<factory>, cable_attitude=<factory>, cable_angular_velocity=<factory>)¶