udaan.models.quadrotor_cspayload.mujoco module¶

QuadrotorCsPayloadMujoco — MuJoCo physics backend for quadrotor with cable-suspended payload.

class udaan.models.quadrotor_cspayload.mujoco.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.