quadrotor | Machine learning for High speed quadrotor flips | Machine Learning library
kandi X-RAY | quadrotor Summary
kandi X-RAY | quadrotor Summary
Machine learning for High speed quadrotor flips
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Top functions reviewed by kandi - BETA
- Runs the CMAes .
- Update the state of the integration .
- Generate an animation .
- Integrator function .
- Setup the plot .
- Returns the sections of the given parameters .
- Move the state of the robot .
- Evaluate the CMA function .
- update plot
- Return the acceleration for a given point .
quadrotor Key Features
quadrotor Examples and Code Snippets
Community Discussions
Trending Discussions on quadrotor
QUESTION
I'm trying to implement direct collocation from scratch in a MathematicalProgram such that each constraint is a Python function, meaning that I can get the gradient of each constraint and cost with respect to their inputs. My goal is to use these gradients for a downstream task.
I'm converting the "Direct Collocation for the Pendulum" part of this notebook: https://github.com/RussTedrake/underactuated/blob/master/trajopt.ipynb to a MathematicalProgram. I've been able to convert the cost and constraints to lambdas instead of Formulas. For instance:
...ANSWER
Answered 2022-Feb-13 at 15:49It should definitely be possible to implement the DirectCollocation constraint in python. This notebook has a bunch of relevant examples of using python functions as constraints; it could help. But it should be a fairly straightforward port of the DirectCollocationConstraint::Eval you've found in C++.
But you can also always get the gradients from the constraints that are being added by DirectCollocation
. That class is just a helper class that makes it easier to set up the MathematicalProgram
for you. You can still get that program back out and evaluate any of the constraints individually if you like. I'm not convinced you get anything by reimplementing it yourself, and will certainly have worse performance in python.
QUESTION
I'm trying to build a controller for a unity gameobject to move it similary to a normel quadrotor drone. So the drone should be able to ascend and descend by mobing the left stick up and down, turn around by moving the left stick sidewards and move horizontally by using the right stick.
I tried implementing it with the unity inputSystem, but unfortunately, it doesn't really work the way it is supposed to. Movements are mostly not smooth and the rotation causes the horizonzal movement to move in wrong directions.
Here is my code:
...ANSWER
Answered 2021-Dec-25 at 14:37There are a few mistakes I'd say
Your rotation and your ascending are frame-rate dependent. Here you didn't use
Time.deltaTime
In both
OnClockwiseRotation
andOnCounterclockwiseRotation
you do
QUESTION
Consider an existing Drake System
(for example MultibodyPlant
). Is there a way to wrap that System
inside a Diagram
in such a way as to convert some of the states of the internal System
to be inputs instead, i.e. set directly from input ports of the outer Diagram
?
The motivation would be essentially to make a change in modeling decisions. For example, a quadrotor is sometimes considered to have its angular rates and collective thrust as inputs, instead of the collective thrust and body moments (or similarly, individual rotor commands).
In a more complex system, perhaps I might assume I have instantaneous control over certain velocities (e.g. internal, fully-actuated joints with fast dynamics), but still want to model the entire multibody system's dynamics accounting for the current choice of velocity in terms of Coriolis terms etc.
What I'm getting at is actually very similar to the modeling choice for the elevator in the Flat-Plate Glider Model - but I'd like to avoid manually implementing a LeafSystem because my system has nontrivial multibody dynamics.
My sense is that this may not be possible since I don't know of any way for a Diagram
to interfere with the internal dynamics of a System
, so "deleting" a state and promoting it to an input seems impossible. But I thought there might be some clever method to do this.
Thanks in advance!
...ANSWER
Answered 2021-Aug-22 at 10:53I agree with your analysis. The simplest answer is "no" -- systems that declare state cannot be post-hoc exploded to have that state come from an input port. But for the specific examples that you mention, there are a few possibilities / related ideas.
The first is the notion of a prescribed motion constraint -- e.g. that one can set the positions/velocities of joints in a MultibodyPlant
directly. We don't implement that yet, unfortunately, but it is a reasonable request that we've discussed occasionally
(here is one example: https://github.com/RobotLocomotion/drake/issues/14694).
As you say, you could implement a PD controller just outside of the system to achieve the desired effect. The only real difference between this and the way that we would implement the prescribed motion constraint internally, is that we can choose the gains well and inform the solver about that constraint directly.
Another possibility is to implement a force element that works "inside" the plant and accepts an input port. This would allow you to apply forces to implement your modeling ideas even in ways that are not possible through the actuation_input_port
(e.g. not achievable by a declared actuator).
The glider example you link is a good one. In that case, I was very worried about having a model that avoided even declaring the velocity of the elevator as state (since our verification methods scale in complexity with the dimension of the state space). For now, that still requires writing a bespoke LeafSystem
implementation.
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You can use quadrotor like any standard Python library. You will need to make sure that you have a development environment consisting of a Python distribution including header files, a compiler, pip, and git installed. Make sure that your pip, setuptools, and wheel are up to date. When using pip it is generally recommended to install packages in a virtual environment to avoid changes to the system.
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