udaan 1.0.2

Quadrotor dynamics and control for cable-suspended payload systems

A Python MuJoCo-based models and controllers for quadcopter cable-suspended payload systems.

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Developed as part of the thesis: Dynamics and Control for Collaborative Aerial Manipulation (Kotaru, 2022). Original research code: vkotaru/floating_models. This package is the cleaned-up public release, refactored with Claude.

🚁 Quadrotor dynamics  •  🎛 Geometric control on SE(3)/SO(3)  •  ⛓ Cable-suspended payloads  •  🤝 Multi-quad cooperative transport  •  🕹 MuJoCo simulation  •  🖥 CLI interface

Installation

pip install udaan

MuJoCo is included as a core dependency. Install all extras (dev, docs, RL):

pip install udaan[all]

For development:

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

Quick Start

CLI

udaan run quadrotor -t 10                             # quadrotor with geometric control
udaan run quad-payload -t 10 -m tendon                # quadrotor + cable-suspended payload
udaan run multi-quad -n 3 -t 10                       # multi-quadrotor cooperative payload
udaan run multi-quad-rigid -t 10                      # multi-quadrotor rigid-body payload
udaan run fleet --demo l1-comparison -t 10            # L1 vs PD controller comparison
udaan run fleet --demo gain-sweep -t 10               # PD gain tuning comparison
udaan run quadrotor -t 5 -r out.gif                   # record to GIF

Python

import udaan as U
import numpy as np

mdl = U.models.mujoco.Quadrotor(render=True)
mdl.simulate(tf=10, position=np.array([1., 1., 0.]))

Documentation

Full API reference, controller roadmap, and tutorials coming soon at udaan.readthedocs.io.

License

BSD 3-Clause License. See LICENSE for details.