diff --git a/examples/drone/controller/README.md b/examples/drone/controller/README.md
new file mode 100644
index 0000000000..06b9a79a4a
--- /dev/null
+++ b/examples/drone/controller/README.md
@@ -0,0 +1,24 @@
+### Run demos
+- Make sure your PC has one GPU at least
+- Enter your conda env
+- Install dependencies by: `pip install -e`
+
+#### Use RC control FPV in Genesis
+- Flash HEX file in `./utils/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex` to your FCU (for STM32H743)
+- Use Type-c to power the FCU, and connect UART port (on FCU) and USB port (on PC) through USB2TTL module, like:
+- 
+- Connect the FC and use mavlink to send FC_data from FCU to PC
+- Use `ls /dev/tty*` to check the port id and modified param `USB_path` in `./config/flight.yaml`
+- Do this since the default mavlink frequence for rc_channle is too low
+- Use RC to control the sim drone by:
+ ```
+ python examples/drone/controller/eval/rc_FPV_eval.py
+ ```
+#### Position controller test
+- Try to get the target with no planning, thus **has poor performance**
+ ```
+ python examples/drone/controller/eval/pos_ctrl_eval.py
+ ```
+
+### NOTE
+- Add `export SETUPTOOLS_USE_DISTUTILS=stdlib` into ~/.bashrc if distutils.core has been pointed to distutils but not setuptools/_distutils, or an assert will be triggered in some cases
diff --git a/examples/drone/controller/config/pos_ctrl_eval/flight.yaml b/examples/drone/controller/config/pos_ctrl_eval/flight.yaml
new file mode 100644
index 0000000000..004be94d5b
--- /dev/null
+++ b/examples/drone/controller/config/pos_ctrl_eval/flight.yaml
@@ -0,0 +1,82 @@
+
+# =========== pid_param =============
+ang:
+ kp_r: 6500
+ ki_r: 0.005
+ kd_r: 0.0001
+ kf_r: 0.0
+
+ kp_p: 6500
+ ki_p: 0.005
+ kd_p: 0.0001
+ kf_p: 0.0
+
+ kp_y: 7000
+ ki_y: 0.0
+ kd_y: 0.0
+ kf_y: 0.0
+
+rat:
+ kp_r: 6500
+ ki_r: 0.01
+ kd_r: 0.0
+ kf_r: 0.0
+
+ kp_p: 6500
+ ki_p: 0.01
+ kd_p: 0.0
+ kf_p: 0.0
+
+ kp_y: 7000.0
+ ki_y: 0.0
+ kd_y: 0.0
+ kf_y: 0.0
+
+pos:
+ kp_x: 1.5
+ ki_x: 0.01
+ kd_x: 0.05
+ kf_x: 0.0
+
+ kp_y: 1.5
+ ki_y: 0.01
+ kd_y: 0.05
+ kf_y: 0.0
+
+ kp_t: 1.0
+ ki_t: 0.01
+ kd_t: 0.0
+ kf_t: 0.0
+
+pid_exec_freq: 60
+
+# =========== drone_param =============
+# see in assets/drone_urdf/cf2x.urdf
+thrust_compensate: 1.0
+weight: 0.5
+motor_inertia: 2.6e-07
+g: 9.81
+kf: 3.16e-10
+base_rpm: 56500
+inertia_matrix: # no use
+ - [0.0014, 0.0, 0.0, 0.0]
+ - [0.0, 0.0014, 0.0, 0.0]
+ - [0.0, 0.0, 0.00217, 0.0]
+ - [0.0, 0.0, 0.0, 1.0]
+
+# =========== mavlink_param =============
+USB_path: "/dev/ttyUSB0"
+baudrate: 2000000
+
+ARM: "ch5"
+ANGLE: "ch6"
+OFFBOARD: "ch8"
+YAW: "ch3"
+PITCH: "ch2"
+ROLL: "ch1"
+THRUTTLE: "ch4"
+
+# =========== odom_param =============
+gyro_update_freq: 8000
+att_update_freq: 100
+acc_update_freqL: 1000
\ No newline at end of file
diff --git a/examples/drone/controller/config/pos_ctrl_eval/genesis_env.yaml b/examples/drone/controller/config/pos_ctrl_eval/genesis_env.yaml
new file mode 100644
index 0000000000..8ba4bb77d6
--- /dev/null
+++ b/examples/drone/controller/config/pos_ctrl_eval/genesis_env.yaml
@@ -0,0 +1,29 @@
+
+# ========= genesis =========
+num_envs: 1
+drone_num: 1
+dt: 0.01
+max_vis_FPS: 30
+max_dis_num: 5
+cam_quat: [-0.455, -0.542, 0.542, 0.455] # FPV camera, 70.0 degree, show in https://quaternions.online/
+cam_pos: [0.02, 0.0, 0.04]
+cam_res: [16, 12] # width, height
+drone_init_pos: [0.0, 0.0, 1] # Initial position of the drone
+use_FPV_camera: True
+viewer_follow_drone: True
+load_map: False
+use_rc: False
+show_viewer: True
+render_cam: False
+controller: "position"
+vis_waypoints: True
+map: "gates"
+min_dis: 0.8
+map_width: 3
+map_length: 3
+
+
+
+
+
+
diff --git a/examples/drone/controller/config/rc_FPV_eval/flight.yaml b/examples/drone/controller/config/rc_FPV_eval/flight.yaml
new file mode 100644
index 0000000000..cbbf21fa00
--- /dev/null
+++ b/examples/drone/controller/config/rc_FPV_eval/flight.yaml
@@ -0,0 +1,82 @@
+
+# =========== pid_param =============
+ang:
+ kp_r: 6500
+ ki_r: 0.005
+ kd_r: 0.0001
+ kf_r: 0.0
+
+ kp_p: 6500
+ ki_p: 0.005
+ kd_p: 0.0001
+ kf_p: 0.0
+
+ kp_y: 7000
+ ki_y: 0.0
+ kd_y: 0.0
+ kf_y: 0.0
+
+rat:
+ kp_r: 6500
+ ki_r: 0.01
+ kd_r: 0.0
+ kf_r: 0.0
+
+ kp_p: 6500
+ ki_p: 0.01
+ kd_p: 0.0
+ kf_p: 0.0
+
+ kp_y: 7000.0
+ ki_y: 0.0
+ kd_y: 0.0
+ kf_y: 0.0
+
+pos:
+ kp_x: 0.5
+ ki_x: 0.001
+ kd_x: 0.005
+ kf_x: 0.0
+
+ kp_y: 0.5
+ ki_y: 0.001
+ kd_y: 0.005
+ kf_y: 0.0
+
+ kp_t: 1.7
+ ki_t: 0.01
+ kd_t: 0.01
+ kf_t: 0.0
+
+pid_exec_freq: 60
+
+# =========== drone_param =============
+# see in assets/drone_urdf/cf2x.urdf
+thrust_compensate: 0.0
+weight: 0.5
+motor_inertia: 2.6e-07
+g: 9.81
+kf: 3.16e-10
+base_rpm: 62293.9641914 # equal to (m*g/4*kf)^0.5
+inertia_matrix: # no use
+ - [0.0014, 0.0, 0.0, 0.0]
+ - [0.0, 0.0014, 0.0, 0.0]
+ - [0.0, 0.0, 0.00217, 0.0]
+ - [0.0, 0.0, 0.0, 1.0]
+
+# =========== mavlink_param =============
+USB_path: "/dev/ttyUSB0"
+baudrate: 2000000
+
+ARM: "ch5"
+ANGLE: "ch6"
+OFFBOARD: "ch8"
+YAW: "ch3"
+PITCH: "ch2"
+ROLL: "ch1"
+THRUTTLE: "ch4"
+
+# =========== odom_param =============
+gyro_update_freq: 8000
+att_update_freq: 100
+acc_update_freqL: 1000
\ No newline at end of file
diff --git a/examples/drone/controller/config/rc_FPV_eval/genesis_env.yaml b/examples/drone/controller/config/rc_FPV_eval/genesis_env.yaml
new file mode 100644
index 0000000000..7dfb1540f9
--- /dev/null
+++ b/examples/drone/controller/config/rc_FPV_eval/genesis_env.yaml
@@ -0,0 +1,29 @@
+
+# ========= genesis =========
+num_envs: 1
+drone_num: 1
+dt: 0.01
+max_vis_FPS: 60
+use_FPV_camera: True
+max_dis_num: 5
+cam_quat: [-0.455, -0.542, 0.542, 0.455] # FPV camera, 70.0 degree, show in https://quaternions.online/
+cam_res: [640, 480] # width, height
+drone_init_pos: [0.0, 0.0, 0.0] # Initial position of the drone
+viewer_follow_drone: True
+load_map: True
+use_rc: True
+show_viewer: True
+render_cam: True
+controller: "angle"
+vis_waypoints: False
+map: "gates"
+min_dis: 0.8
+map_width: 3
+map_length: 3
+
+
+
+
+
+
+
diff --git a/examples/drone/controller/drone_urdf/body.mtl b/examples/drone/controller/drone_urdf/body.mtl
new file mode 100644
index 0000000000..ad866afdbb
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/body.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 0.6 0.6 0.6
+Ks 0.8 0.8 0.8
+Ns 250
+d 1
diff --git a/examples/drone/controller/drone_urdf/body.obj b/examples/drone/controller/drone_urdf/body.obj
new file mode 100644
index 0000000000..f43cf516f0
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/body.obj
@@ -0,0 +1,19609 @@
+# https://github.com/mikedh/trimesh
+mtllib body.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/examples/drone/controller/drone_urdf/drone.urdf b/examples/drone/controller/drone_urdf/drone.urdf
new file mode 100644
index 0000000000..b65d19fa7f
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/drone.urdf
@@ -0,0 +1,126 @@
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diff --git a/examples/drone/controller/drone_urdf/propeller0.obj b/examples/drone/controller/drone_urdf/propeller0.obj
new file mode 100644
index 0000000000..b699412727
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller0.obj
@@ -0,0 +1,2461 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_front.mtl
+usemtl material_0
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diff --git a/examples/drone/controller/drone_urdf/propeller1.obj b/examples/drone/controller/drone_urdf/propeller1.obj
new file mode 100644
index 0000000000..112339e942
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller1.obj
@@ -0,0 +1,2455 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_back.mtl
+usemtl material_0
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diff --git a/examples/drone/controller/drone_urdf/propeller2.obj b/examples/drone/controller/drone_urdf/propeller2.obj
new file mode 100644
index 0000000000..58e97413b1
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller2.obj
@@ -0,0 +1,2453 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_back.mtl
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diff --git a/examples/drone/controller/drone_urdf/propeller3.obj b/examples/drone/controller/drone_urdf/propeller3.obj
new file mode 100644
index 0000000000..5fe3392930
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller3.obj
@@ -0,0 +1,2459 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_front.mtl
+usemtl material_0
+v -0.00022100 0.00027200 -0.00011000
+v -0.00015100 0.00031600 -0.00018100
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+f 800//800 801//801 794//794
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+f 803//803 796//796 791//791
+f 800//800 804//804 801//801
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+f 827//827 788//788 816//816
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+f 779//779 788//788 787//787
+f 830//830 789//789 788//788
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+f 818//818 792//792 795//795
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+f 816//816 788//788 794//794
+f 794//794 795//795 791//791
+f 819//819 795//795 821//821
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+f 828//828 830//830 788//788
+f 795//795 779//779 820//820
+f 831//831 823//823 779//779
+f 831//831 779//779 787//787
+f 787//787 785//785 832//832
\ No newline at end of file
diff --git a/examples/drone/controller/drone_urdf/propeller_back.mtl b/examples/drone/controller/drone_urdf/propeller_back.mtl
new file mode 100644
index 0000000000..d333e69bc3
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller_back.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 1 0.5 0
+Ks 0.8 0.8 0.8
+Ns 550
+d 0.7
diff --git a/examples/drone/controller/drone_urdf/propeller_front.mtl b/examples/drone/controller/drone_urdf/propeller_front.mtl
new file mode 100644
index 0000000000..d61718c049
--- /dev/null
+++ b/examples/drone/controller/drone_urdf/propeller_front.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 0 1 1
+Ks 0.5 0.5 0.5
+Ns 550
+d 0.7
diff --git a/examples/drone/controller/eval/genesis_env.py b/examples/drone/controller/eval/genesis_env.py
new file mode 100644
index 0000000000..39aa36ae3d
--- /dev/null
+++ b/examples/drone/controller/eval/genesis_env.py
@@ -0,0 +1,175 @@
+
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+
+import torch
+import types
+import genesis as gs
+import numpy as np
+from pid import PIDcontroller
+from odom import Odom
+from mavlink_sim import rc_command
+
+from genesis.utils.geom import trans_quat_to_T, transform_quat_by_quat, transform_by_trans_quat
+
+def gs_rand_float(lower, upper, shape, device):
+ return (upper - lower) * torch.rand(size=shape, device=device) + lower
+
+class Genesis_env :
+ def __init__(
+ self,
+ env_config,
+ flight_config,
+ num_envs=None,
+ ):
+
+ # configs
+ self.env_config = env_config
+ self.flight_config = flight_config
+
+ # bool switches
+ self.render_cam = self.env_config["render_cam"]
+ self.use_rc = self.env_config["use_rc"]
+ self.use_ros = self.env_config.get("use_ros", False)
+
+ # flight
+ self.controller = env_config["controller"]
+ self.device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+ if num_envs is None:
+ self.num_envs = self.env_config.get("num_envs", 1)
+ else:
+ self.num_envs = num_envs
+ self.dt = self.env_config.get("dt", 0.01) # default sim env update in 100hz
+ self.cam_quat = torch.tensor(self.env_config.get("cam_quat", [0.5, 0.5, -0.5, -0.5]), device=self.device, dtype=gs.tc_float).expand(self.num_envs, -1)
+
+ self.rendered_env_num = self.num_envs if self.render_cam else min(4, self.num_envs)
+
+ # create scene
+ self.scene = gs.Scene(
+ sim_options = gs.options.SimOptions(dt = self.dt, substeps = 1),
+ viewer_options = gs.options.ViewerOptions(
+ max_FPS = self.env_config.get("max_vis_FPS", 15),
+ camera_pos = (-3.0, 0.0, 3.0),
+ camera_lookat = (0.0, 0.0, 1.0),
+ camera_fov = 40,
+ ),
+ vis_options = gs.options.VisOptions(
+ show_world_frame = False,
+ rendered_envs_idx = list(range(self.rendered_env_num)),
+ env_separate_rigid = True,
+ shadow = False,
+ ),
+ rigid_options = gs.options.RigidOptions(
+ dt = self.dt,
+ constraint_solver = gs.constraint_solver.Newton,
+ enable_collision = True,
+ enable_joint_limit = True,
+ ),
+ show_viewer = self.env_config["show_viewer"],
+ )
+
+ # add plane (ground)
+ self.plane = self.scene.add_entity(gs.morphs.Plane())
+
+ # add drone
+ drone = gs.morphs.Drone(
+ file="examples/drone/controller/drone_urdf/drone.urdf",
+ pos=self.env_config["drone_init_pos"],
+ euler=(0, 0, 0),
+ default_armature=self.flight_config.get("motor_inertia", 2.6e-07)
+ )
+ self.drone = self.scene.add_entity(drone)
+
+ # set viewer
+ if self.env_config["viewer_follow_drone"] is True:
+ self.scene.viewer.follow_entity(self.drone) # follow drone
+
+ # add odom for drone
+ self.set_drone_imu()
+
+ # add controller for drone
+ self.set_drone_controller()
+
+ # add drone camera
+ self.set_drone_camera()
+
+ # set target for vis
+ self.set_target_phere_for_vis()
+
+ # build world
+ self.scene.build(n_envs = self.num_envs)
+
+ # init
+ self.drone_init_pos = self.drone.get_pos()
+ self.drone_init_quat = self.drone.get_quat()
+ self.drone.set_dofs_damping(torch.tensor([0.0, 0.0, 0.0, 1e-4, 1e-4, 1e-4])) # Set damping to a small value to avoid numerical instability
+
+
+ def step(self, action=None):
+ self.scene.step()
+ self.drone.cam.set_FPV_cam_pos()
+ if self.render_cam:
+ self.drone.cam.depth = self.drone.cam.render(rgb=True, depth=True)[1] # [1] is idx of depth img
+ self.drone.controller.step(action)
+
+
+ def set_drone_imu(self):
+ odom = Odom(
+ num_envs = self.num_envs,
+ device = torch.device("cuda")
+ )
+ odom.set_drone(self.drone)
+ setattr(self.drone, 'odom', odom)
+
+ def set_drone_camera(self):
+ if (self.env_config.get("use_FPV_camera", False)):
+ cam = self.scene.add_camera(
+ res=self.env_config["cam_res"],
+ pos=(-3.5, 0.0, 2.5),
+ lookat=(0, 0, 0.5),
+ fov=58,
+ GUI=True,
+ )
+ def set_FPV_cam_pos(self):
+ self.cam.set_pose(
+ transform = trans_quat_to_T(trans = self.get_pos(),
+ quat = transform_quat_by_quat(self.cam.cam_quat, self.odom.body_quat))[0].cpu().numpy()
+ )
+ setattr(cam, 'cam_quat', self.cam_quat)
+ setattr(cam, 'set_FPV_cam_pos', types.MethodType(set_FPV_cam_pos, self.drone))
+ depth: np.ndarray = None
+ setattr(cam ,'depth', depth)
+ setattr(self.drone, 'cam', cam)
+
+ def set_drone_controller(self):
+ pid = PIDcontroller(
+ num_envs = self.num_envs,
+ rc_command = rc_command,
+ odom = self.drone.odom,
+ config = self.flight_config,
+ device = torch.device("cuda"),
+ use_rc = self.use_rc,
+ controller = self.controller,
+ )
+ pid.set_drone(self.drone)
+ setattr(self.drone, 'controller', pid)
+
+ def set_target_phere_for_vis(self):
+ if self.env_config["vis_waypoints"]:
+ self.target = self.scene.add_entity(
+ morph=gs.morphs.Mesh(
+ file="genesis/assets/meshes/sphere.obj",
+ scale=0.02,
+ fixed=False,
+ collision=False,
+ ),
+ surface=gs.surfaces.Rough(
+ diffuse_texture=gs.textures.ColorTexture(
+ color=(1.0, 0.5, 0.5),
+ ),
+ ),
+ )
+ else:
+ self.target = None
\ No newline at end of file
diff --git a/examples/drone/controller/eval/pos_ctrl_eval.py b/examples/drone/controller/eval/pos_ctrl_eval.py
new file mode 100644
index 0000000000..0f7f559b3c
--- /dev/null
+++ b/examples/drone/controller/eval/pos_ctrl_eval.py
@@ -0,0 +1,57 @@
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+import yaml
+import torch
+from genesis_env import Genesis_env
+import genesis as gs
+
+
+def gs_rand_float(lower, upper, device="cuda"):
+ shape = lower.shape # scalar
+ return (upper - lower) * torch.rand(size=shape, device=device) + lower
+
+
+def main():
+ # logging_level="warning"
+ gs.init(logging_level="warning")
+ num_envs = 1
+ command_buf = torch.zeros((num_envs, 4), device="cuda", dtype=gs.tc_float)
+ def update_commands(cur_pos, envs_idx=None):
+ if envs_idx is None:
+ idx = torch.arange(num_envs, "cuda")
+ else:
+ idx = envs_idx
+ command_buf[idx, 0] = gs_rand_float(cur_pos[idx, 0]-0.5, cur_pos[idx, 0]+0.5)
+ command_buf[idx, 1] = gs_rand_float(cur_pos[idx, 1]-0.5, cur_pos[idx, 1]+0.5)
+ command_buf[idx, 2] = gs_rand_float(torch.clamp(cur_pos[idx, 2]-0.2, min=0.3, max=2.0), cur_pos[idx, 2]+0.2)
+
+
+ def at_target(cur_pos):
+ cur_pos_error = cur_pos - command_buf[:, :3]
+ at_target = ((torch.norm(cur_pos_error, dim=1) < 0.1).nonzero(as_tuple=False).flatten())
+ return at_target
+
+ with open("examples/drone/controller/config/pos_ctrl_eval/genesis_env.yaml", "r") as file:
+ env_config = yaml.load(file, Loader=yaml.FullLoader)
+ with open("examples/drone/controller/config/pos_ctrl_eval/flight.yaml", "r") as file:
+ flight_config = yaml.load(file, Loader=yaml.FullLoader)
+
+
+ genesis_env = Genesis_env(
+ env_config = env_config,
+ flight_config = flight_config,
+ )
+
+ while True:
+ cur_pos = genesis_env.drone.odom.world_pos
+ update_commands(cur_pos, at_target(cur_pos))
+ genesis_env.target.set_pos(command_buf[:, :3], zero_velocity=True, envs_idx=list(range(num_envs)))
+ genesis_env.step(command_buf)
+
+if __name__ == "__main__" :
+ main()
+
+
+
\ No newline at end of file
diff --git a/examples/drone/controller/eval/rc_FPV_eval.py b/examples/drone/controller/eval/rc_FPV_eval.py
new file mode 100644
index 0000000000..7ca8bf2844
--- /dev/null
+++ b/examples/drone/controller/eval/rc_FPV_eval.py
@@ -0,0 +1,39 @@
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+import yaml
+from genesis_env import Genesis_env
+from mavlink_sim import start_mavlink_receive_thread
+import genesis as gs
+
+
+def main():
+
+ # logging_level="warning"
+ gs.init(logging_level="warning")
+
+ with open("examples/drone/controller/config/rc_FPV_eval/genesis_env.yaml", "r") as file:
+ env_config = yaml.load(file, Loader=yaml.FullLoader)
+ with open("examples/drone/controller/config/rc_FPV_eval/flight.yaml", "r") as file:
+ flight_config = yaml.load(file, Loader=yaml.FullLoader)
+
+
+ genesis_env = Genesis_env(
+ env_config = env_config,
+ flight_config = flight_config,
+ )
+
+ device = "/dev/ttyUSB0"
+ if not os.path.exists(device):
+ print(f"[MAVLINK] Device {device} not found, skipping mavlink thread.")
+ else :
+ start_mavlink_receive_thread(device)
+
+ while True:
+ genesis_env.step()
+if __name__ == "__main__" :
+ main()
+
+
+
\ No newline at end of file
diff --git a/examples/drone/controller/mavlink_sim.py b/examples/drone/controller/mavlink_sim.py
new file mode 100644
index 0000000000..397759e25c
--- /dev/null
+++ b/examples/drone/controller/mavlink_sim.py
@@ -0,0 +1,93 @@
+import threading
+import time
+import yaml
+from pymavlink import mavutil
+from enum import IntFlag
+import torch
+
+class MODE(IntFlag):
+ ANGLE = 0
+ ANGLE_RATE = 1
+ MIX = 2
+ DISARM = 3
+ ARM = 4
+ MANUAL = 5
+ OFFBOARD = 6
+
+def load_rc_config(yaml_file):
+ with open(yaml_file, "r") as file:
+ return yaml.safe_load(file)
+
+rc_data_lock = threading.Lock()
+rc_data = {
+ "ch1": None,
+ "ch2": None,
+ "ch3": None,
+ "ch4": None,
+ "ch5": None,
+ "ch6": None,
+ "ch7": None,
+ "ch8": None,
+}
+
+# [roll, pitch, yaw, throttle, angle_mode, arm_mode, offboard_mode]
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+rc_command = torch.zeros((7, ), device=device, dtype=torch.float32)
+
+def clamp(min_val, max_val, value):
+ return max(min_val, min(value, max_val))
+
+def mavlink_receive_thread(device="/dev/ttyUSB0", baudrate=2000000, rc_config=None):
+ connection = mavutil.mavlink_connection(device, baud=baudrate)
+
+ print(f"Connected to {device} at baudrate {baudrate}")
+
+ while True:
+ try:
+ msg = connection.recv_match(blocking=True)
+
+ if msg is None:
+ continue
+
+ if msg.get_type() == "RC_CHANNELS_RAW":
+ with rc_data_lock:
+ rc_data.update({ # interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
+ "ch1": msg.chan1_raw,
+ "ch2": msg.chan2_raw,
+ "ch3": msg.chan3_raw,
+ "ch4": msg.chan4_raw,
+ "ch5": msg.chan5_raw,
+ "ch6": msg.chan6_raw,
+ "ch7": msg.chan7_raw,
+ "ch8": msg.chan8_raw,
+ })
+ # print("RC Data:", rc_data)
+ rc_command[0] = clamp(-1, 1, (rc_data[rc_config.get("ROLL", "ch1")] - 1500) / 500) # scale to range [-1.0, 1.0]
+ rc_command[1] = clamp(-1, 1, (rc_data[rc_config.get("PITCH", "ch2")] - 1500) / 500)
+ rc_command[2] = clamp(-1, 1, (rc_data[rc_config.get("YAW", "ch3")] - 1500) / 500)
+ rc_command[3] = clamp(0, 1, (rc_data[rc_config.get("throttle", "ch4")] - 1000) / 1000)
+ temp_angle = rc_data[rc_config.get("ANGLE", "ch6")]
+ temp_arm = rc_data[rc_config.get("ARM", "ch5")]
+ temp_offboard = rc_data[rc_config.get("OFFBOARD", "ch8")]
+
+ rc_command[4] = 0 if temp_angle < 1400 else 1 if temp_angle <= 1700 else 0
+ rc_command[5] = 1 if temp_arm > 1400 else 0
+ rc_command[6] = 0 if temp_offboard < 1400 else 1
+
+ # print("RC Command:", rc_command)
+
+ except KeyboardInterrupt:
+ print("Exiting...")
+ break
+
+
+def start_mavlink_receive_thread(device):
+ rc_config = load_rc_config("examples/drone/controller/config/rc_FPV_eval/flight.yaml")
+ t = threading.Thread(target=mavlink_receive_thread, args=(device, rc_config["baudrate"], rc_config), daemon=True)
+ t.start()
+
+if __name__ == "__main__":
+
+ start_mavlink_receive_thread()
+ while True:
+ time.sleep(0.1)
diff --git a/examples/drone/controller/odom.py b/examples/drone/controller/odom.py
new file mode 100644
index 0000000000..7143a762ad
--- /dev/null
+++ b/examples/drone/controller/odom.py
@@ -0,0 +1,166 @@
+import time
+import torch
+import genesis as gs
+from genesis.utils.geom import quat_to_xyz, transform_by_quat, inv_quat, transform_quat_by_quat
+
+# NOTE :IMU is not an odomtry, only has anglear_velocity and linear_accerleration
+class Odom:
+ def __init__(self, num_envs, device = torch.device("cuda")):
+ self.device = device
+ self.drone = None
+ self.num_envs = num_envs
+ self.has_nan = torch.zeros((self.num_envs,), device=self.device, dtype=bool)
+
+ # body data
+ self.body_euler = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.body_linear_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.body_linear_acc = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.body_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ identity_quat = torch.tensor([1.0, 0.0, 0.0, 0.0], device=self.device, dtype=gs.tc_float)
+ self.body_quat = identity_quat.unsqueeze(0).repeat(self.num_envs, 1)
+ self.body_quat_inv = identity_quat.unsqueeze(0).repeat(self.num_envs, 1)
+
+ self.last_body_linear_vel = torch.zeros_like(self.body_linear_vel) # used to cal acc
+
+ # global data
+ self.world_euler = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.world_linear_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.world_linear_acc = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.world_pos = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.world_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+
+ self.last_body_euler = torch.zeros_like(self.body_euler)
+ self.last_world_pos = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.last_world_linear_vel = torch.zeros_like(self.body_linear_vel)
+ self.last_time = time.perf_counter()
+
+ def set_drone(self, drone):
+ self.drone = drone
+
+ def cal_cur_quat(self):
+ self.body_quat[:] = self.drone.get_quat()
+ self.has_nan[:] = torch.isnan(self.body_quat).any(dim=1)
+ if (torch.any(self.has_nan)):
+ print("get_quat NaN env_idx:", torch.nonzero(self.has_nan).squeeze())
+ self.body_quat_inv[self.has_nan] = inv_quat(self.body_quat[self.has_nan])
+ self.reset(self.has_nan.nonzero(as_tuple=False).flatten())
+ else:
+ self.body_quat_inv = inv_quat(self.body_quat)
+
+ def gyro_update(self):
+ self.world_ang_vel[:] = self.drone.get_ang() # (roll, pitch, yaw)
+ self.body_ang_vel[:] = self.world_to_body_vector(self.world_ang_vel)
+
+ def vel_update(self):
+ self.last_world_linear_vel[:] = self.world_linear_vel
+ self.last_body_linear_vel[:] = self.body_linear_vel
+ self.world_linear_vel[:] = self.drone.get_vel()
+ self.body_linear_vel[:] = self.world_to_body_vector(self.world_linear_vel)
+
+ def acc_update(self, dT):
+ self.body_linear_acc[:] = (self.body_linear_vel - self.last_body_linear_vel) / dT
+ self.world_linear_acc[:] = (self.world_linear_vel - self.last_world_linear_vel) / dT
+
+ def att_update(self):
+ self.cal_cur_quat()
+ self.last_body_euler[:] = self.body_euler
+ self.body_euler[:] = quat_to_xyz(self.body_quat, rpy=True)
+
+ def pos_update(self):
+ self.last_world_pos[:] = self.world_pos
+ self.world_pos[:] = self.drone.get_pos()
+
+ def odom_update(self):
+ self.att_update()
+ self.gyro_update()
+ self.vel_update()
+ self.acc_update(time.perf_counter() - self.last_time)
+ self.pos_update()
+ self.last_time = time.perf_counter()
+
+ def reset(self, rand_quat, envs_idx):
+ # use reset when the status mutation occurs
+ if envs_idx is None:
+ reset_range = torch.arange(self.num_envs, device=self.device)
+ else:
+ reset_range = envs_idx
+ # Reset body data to zero
+ self.body_euler.index_fill_(0, reset_range, 0.0)
+ self.body_linear_vel.index_fill_(0, reset_range, 0.0)
+ self.body_linear_acc.index_fill_(0, reset_range, 0.0)
+ self.body_ang_vel.index_fill_(0, reset_range, 0.0)
+ identity_quat = torch.tensor([1.0, 0.0, 0.0, 0.0], device=self.device, dtype=gs.tc_float)
+ self.body_quat[reset_range] = rand_quat
+ self.body_quat_inv[reset_range] = inv_quat(rand_quat)
+ self.body_euler[:] = quat_to_xyz(self.body_quat, rpy=True)
+
+ self.last_body_linear_vel.index_fill_(0, reset_range, 0.0)
+
+ # Reset global data to zero
+ self.world_euler.index_fill_(0, reset_range, 0.0)
+ self.world_linear_vel.index_fill_(0, reset_range, 0.0)
+ self.world_linear_acc.index_fill_(0, reset_range, 0.0)
+ self.world_pos.index_fill_(0, reset_range, 0.0)
+ self.world_ang_vel.index_fill_(0, reset_range, 0.0)
+
+ self.last_world_pos.index_fill_(0, reset_range, 0.0)
+ self.last_world_linear_vel.index_fill_(0, reset_range, 0.0)
+
+ # Reset the time
+ self.last_time = time.perf_counter()
+
+ # self.odom_update()
+ self.last_world_pos[reset_range] = self.world_pos[reset_range]
+ self.last_world_linear_vel[reset_range] = self.world_linear_vel[reset_range]
+ self.last_body_linear_vel[reset_range] = self.body_linear_vel[reset_range]
+
+
+ # utils
+ def world_to_body_vector(self, input_tensor):
+ """
+ Convert body frame vector tensor to world frame.
+ :param:
+ input_tensor: vectors like vel, acc ...(N, 3) or quat(N, 3), where N is the number of environments.
+ """
+ if input_tensor.shape[-1] == 3:
+ return transform_by_quat(input_tensor, self.body_quat_inv)
+ elif input_tensor.shape[-1] == 4:
+ return transform_quat_by_quat(input_tensor, self.body_quat_inv)
+ else:
+ raise ValueError("Input tensor must have shape (N, 3) or (N, 4).")
+
+ def body_to_world_vector(self, input_tensor):
+ """
+ Convert world frame vector tensor to body frame.
+ :param:
+ input_tensor: vectors like vel, acc ...(N, 3) or quat(N, 4), where N is the number of environments.
+ """
+ if input_tensor.shape[-1] == 3:
+ return transform_by_quat(input_tensor, self.body_quat)
+ elif input_tensor.shape[-1] == 4:
+ return transform_quat_by_quat(input_tensor, self.body_quat)
+ else:
+ raise ValueError("Input tensor must have shape (N, 3) or (N, 4).")
+
+
+
+def ve2vb(input_vec: torch.Tensor, yaw: torch.Tensor) -> torch.Tensor:
+ assert input_vec.ndim == 2 and input_vec.shape[1] == 3, "input_vec must be (N, 3)"
+ assert yaw.ndim == 1 or (yaw.ndim == 2 and yaw.shape[1] == 1), "yaw must be (N,) or (N,1)"
+
+ yaw = -yaw.view(-1)
+ cos_yaw = torch.cos(yaw)
+ sin_yaw = torch.sin(yaw)
+
+ R = torch.zeros((input_vec.shape[0], 3, 3), dtype=input_vec.dtype, device=input_vec.device)
+ R[:, 0, 0] = cos_yaw
+ R[:, 0, 1] = sin_yaw
+ R[:, 1, 0] = -sin_yaw
+ R[:, 1, 1] = cos_yaw
+ R[:, 2, 2] = 1.0
+
+ input_vec = input_vec.unsqueeze(-1)
+ output = torch.bmm(R, input_vec)
+
+ return output.squeeze(-1)
+
diff --git a/examples/drone/controller/pid.py b/examples/drone/controller/pid.py
new file mode 100644
index 0000000000..3c6a837242
--- /dev/null
+++ b/examples/drone/controller/pid.py
@@ -0,0 +1,287 @@
+
+
+import torch
+import genesis as gs
+
+import math
+from genesis.utils.geom import quat_to_R
+from flight.odom import ve2vb
+
+class PIDcontroller:
+ def __init__(
+ self,
+ num_envs,
+ rc_command,
+ odom,
+ config,
+ controller = "angle",
+ use_rc = False,
+ device = torch.device("cuda")):
+
+ self.rc_command = rc_command
+ self.device = device
+ self.num_envs = num_envs
+ self.odom = odom
+ self.use_rc = use_rc
+ self.thrust_compensate = config.get("thrust_compensate", 0.5)
+ self.controller = controller
+
+ if self.controller == "position":
+ self.controller = self.position_controller
+ elif self.controller == "rate":
+ self.controller = self.rate_controller
+ elif self.controller == "angle":
+ self.controller = self.angle_controller
+ else:
+ raise ValueError(f"Invalid controller type: {self.controller}. Choose from 'angle', 'rate', or 'position'.")
+
+ # Shape: (n, 3)
+ ang_cfg = config.get("ang", {})
+ rat_cfg = config.get("rat", {})
+ pos_cfg = config.get("pos", {})
+ def get3(cfg, k1, k2, k3):
+ return torch.tensor([
+ cfg.get(k1, 0.0),
+ cfg.get(k2, 0.0),
+ cfg.get(k3, 0.0)
+ ], device=self.device).unsqueeze(0).repeat(self.num_envs, 1)
+
+ # Angular controller (angle controller PID)
+ self.kp_a = get3(ang_cfg, "kp_r", "kp_p", "kp_y")
+ self.ki_a = get3(ang_cfg, "ki_r", "ki_p", "ki_y")
+ self.kd_a = get3(ang_cfg, "kd_r", "kd_p", "kd_y")
+ self.kf_a = get3(ang_cfg, "kf_r", "kf_p", "kf_y")
+ self.P_term_a = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.I_term_a = torch.zeros_like(self.P_term_a)
+ self.D_term_a = torch.zeros_like(self.P_term_a)
+ self.F_term_a = torch.zeros_like(self.P_term_a)
+
+ # Angular Rate controller (angular rate PID)
+ self.kp_r = get3(rat_cfg, "kp_r", "kp_p", "kp_y")
+ self.ki_r = get3(rat_cfg, "ki_r", "ki_p", "ki_y")
+ self.kd_r = get3(rat_cfg, "kd_r", "kd_p", "kd_y")
+ self.kf_r = get3(rat_cfg, "kf_r", "kf_p", "kf_y")
+ self.P_term_r = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.I_term_r = torch.zeros_like(self.P_term_r)
+ self.D_term_r = torch.zeros_like(self.P_term_r)
+ self.F_term_r = torch.zeros_like(self.P_term_r)
+
+ # Position controller (xyz and throttle)
+ self.kp_p = get3(pos_cfg, "kp_x", "kp_y", "kp_t")
+ self.ki_p = get3(pos_cfg, "ki_x", "ki_y", "ki_t")
+ self.kd_p = get3(pos_cfg, "kd_x", "kd_y", "kd_t")
+ self.kf_p = get3(pos_cfg, "kf_x", "kf_y", "kf_t")
+ self.P_term_p = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.I_term_p = torch.zeros_like(self.P_term_p)
+ self.D_term_p = torch.zeros_like(self.P_term_p)
+ self.F_term_p = torch.zeros_like(self.P_term_p)
+
+ self.pid_freq = config.get("pid_exec_freq", 60) # no use
+ self.base_rpm = config.get("base_rpm", 14468.429183500699)
+ self.dT = 1 / self.pid_freq # no use
+ self.tpa_factor = 1
+ self.tpa_rate = 0
+ self.throttle_command = torch.zeros((self.num_envs, ), device=self.device, dtype=gs.tc_float)
+
+ self.last_body_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+
+ self.angle_rate_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.angle_error = torch.zeros_like(self.angle_rate_error)
+
+ self.body_set_point = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.pid_output = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.cur_setpoint_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.last_setpoint_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+ self.drone = None
+
+ self.cnt = 0
+
+ def set_drone(self, drone):
+ self.drone = drone
+
+
+ def mixer(self, action=None) -> torch.Tensor:
+
+ throttle_rc = torch.clamp((self.rc_command[3] + self.throttle_command) * 3, 0.0, 3.0) * self.base_rpm
+ if action is None:
+ throttle = throttle_rc
+ else:
+ throttle_action = torch.clamp(action[:, -1] * 3 + self.thrust_compensate, min=0.0, max=3.0) * self.base_rpm
+ throttle = throttle_rc + throttle_action
+
+ # self.pid_output[:] = torch.clip(self.pid_output[:], -3.0, 3.0)
+ motor_outputs = torch.stack([
+ throttle - self.pid_output[:, 0] - self.pid_output[:, 1] - self.pid_output[:, 2], # M1
+ throttle - self.pid_output[:, 0] + self.pid_output[:, 1] + self.pid_output[:, 2], # M2
+ throttle + self.pid_output[:, 0] + self.pid_output[:, 1] - self.pid_output[:, 2], # M3
+ throttle + self.pid_output[:, 0] - self.pid_output[:, 1] + self.pid_output[:, 2], # M4
+ ], dim = 1)
+
+ return torch.clamp(motor_outputs, min=1, max=self.base_rpm * 3.5) # size: tensor(num_envs, 4)
+
+ def pid_update_TpaFactor(self):
+ if (self.rc_command[3] > 0.35): # 0.35 is the tpa_breakpoint, the same as Betaflight,
+ if (self.rc_command[3] < 1.0):
+ self.tpa_rate *= (self.rc_command[3] - 0.35) / (1.0 - 0.35);
+ else:
+ self.tpa_rate = 0.0
+ self.tpa_factor = 1.0 - self.tpa_rate
+
+ def step(self, action=None):
+ # controller test
+ # self.cnt += 1
+ # if self.cnt % 40 == 0:
+ # quat = random_quaternion(self.num_envs)
+ # self.drone.set_quat(quat)
+ # self.cnt = 0
+ self.odom.odom_update()
+ if self.use_rc is True:
+ self.pid_update_TpaFactor()
+ if(self.rc_command[5] == 0): # not arm
+ self.drone.set_propellels_rpm(torch.zeros((self.num_envs, 4), device=self.device, dtype=gs.tc_float))
+ return
+ if self.rc_command[4] == 0: # angle mode
+ self.angle_controller(action)
+ elif self.rc_command[4] == 1: # angle rate mode
+ self.rate_controller(action)
+ else: # undifined
+ print("undifined mode, do nothing!!")
+ return
+ else:
+ self.controller(action)
+
+ self.drone.set_propellels_rpm(self.mixer(action))
+
+ def rate_controller(self, action=None):
+ """
+ Anglular rate controller, sequence is (roll, pitch, yaw), use previous-D-term PID controller
+ :param:
+ action: torch.Size([num_envs, 4]), like [[roll, pitch, yaw, thrust]] if num_envs = 1
+ """
+ if action is None:
+ self.body_set_point[:] = self.rc_command[:3] * 15 # max 15 rad/s
+ else:
+ self.body_set_point[:] = action[:, :3] * 1
+
+ self.last_setpoint_error[:] = self.cur_setpoint_error
+ self.cur_setpoint_error[:] = self.body_set_point - self.odom.body_ang_vel
+ self.P_term_r[:] = (self.cur_setpoint_error * self.kp_r) * self.tpa_factor
+ self.I_term_r[:] = torch.clamp(self.I_term_r + self.cur_setpoint_error * self.ki_r, -0.5, 0.5)
+ self.D_term_r[:] = (self.last_body_ang_vel - self.odom.body_ang_vel) * self.kd_r * self.tpa_factor
+
+ self.pid_output[:] = (self.P_term_r + self.I_term_r + self.D_term_r)
+ self.last_body_ang_vel[:] = self.odom.body_ang_vel
+
+ def angle_controller(self, action=None):
+ """
+ Angle controller, sequence is (roll, pitch, yaw), use previous-D-term PID controller
+ :param:
+ action: torch.Size([num_envs, 4]), like [[roll, pitch, yaw, thrust]] if num_envs = 1
+ """
+ yaw_mask = torch.tensor([1,1,0], device=self.device)
+ if action is None: # in RC mode
+ self.body_set_point[:] = -self.odom.body_euler * yaw_mask + self.rc_command[:3]
+ else: # in RL mode
+ self.body_set_point[:] = -self.odom.body_euler * yaw_mask + action[:, :3] # action is in rad, like [[roll, pitch, yaw, thrust]] if num_envs = 1
+
+ self.last_setpoint_error[:] = self.cur_setpoint_error
+ self.cur_setpoint_error[:] = (self.body_set_point * 15 - self.odom.body_ang_vel)
+ self.P_term_a[:] = (self.cur_setpoint_error[:] * self.kp_a) * self.tpa_factor
+ self.I_term_a[:] = torch.clamp(self.I_term_a + self.cur_setpoint_error[:] * self.ki_a, -0.5, 0.5)
+ self.D_term_a[:] = torch.clamp((self.last_body_ang_vel - self.odom.body_ang_vel) * self.kd_a * self.tpa_factor, -0.5, 0.5)
+
+ self.pid_output[:] = (self.P_term_a + self.I_term_a + self.D_term_a)
+ self.last_body_ang_vel[:] = self.odom.body_ang_vel
+
+ def position_controller(self, action, head_free=False):
+ """
+ Position controller, sequence is (x, y, z), use previous-D-term PID controller
+ Note that the action is in world frame, (x, y, z) -> (pitch, -roll, throttle)
+ :param:
+ action: torch.Size([num_envs, 4]), like [[x, y, z, 0]] if num_envs = 1, 0 used to adapt thrust
+ head_free: Keep yaw follow the target, namely keep the drone facing the target direction.
+ """
+ cur_pos_error = (action[:, :3] - self.odom.world_pos)
+ self.cur_setpoint_error[:] = cur_pos_error*5 - self.odom.world_linear_vel
+ self.cur_setpoint_error[:, 1] *= -1 # since roll increase, y decrease
+ self.cur_setpoint_error = self.cur_setpoint_error[:, [1, 0, 2]] # change to (roll, pitch, throttle)
+
+ if head_free:
+ # cur_pos_error = ve2vb(cur_pos_error, self.odom.body_euler[:, 2])
+ print("head_free not implemented yet")
+
+ self.P_term_p[:] = (self.cur_setpoint_error[:] * self.kp_p)
+ self.I_term_p[:] = torch.clamp(self.I_term_p + self.cur_setpoint_error[:] * self.ki_p, -0.5, 0.5)
+ self.D_term_p[:] = torch.clamp((self.odom.last_world_linear_vel - self.odom.world_linear_vel) * self.kd_p, -0.5, 0.5)
+
+ sum = self.P_term_p + self.I_term_p + self.D_term_p
+ self.throttle_command = torch.clamp(sum[:,-1], min=0.0, max=0.5)
+
+ # sum[:,-1] = torch.atan2(action[:, 1], action[:, 0])
+ sum[:, -1] = 0
+ self.angle_controller(torch.clamp(sum, -0.5, 0.5))
+
+ def reset(self, env_idx=None):
+ if env_idx is None:
+ reset_range = torch.arange(self.num_envs, device=self.device)
+ else:
+ reset_range = env_idx
+ # Reset the PID terms (P, I, D, F)
+ self.P_term_a.index_fill_(0, reset_range, 0.0)
+ self.I_term_a.index_fill_(0, reset_range, 0.0)
+ self.D_term_a.index_fill_(0, reset_range, 0.0)
+ self.F_term_a.index_fill_(0, reset_range, 0.0)
+
+ self.P_term_r.index_fill_(0, reset_range, 0.0)
+ self.I_term_r.index_fill_(0, reset_range, 0.0)
+ self.D_term_r.index_fill_(0, reset_range, 0.0)
+ self.F_term_r.index_fill_(0, reset_range, 0.0)
+
+ self.P_term_p.index_fill_(0, reset_range, 0.0)
+ self.I_term_p.index_fill_(0, reset_range, 0.0)
+ self.D_term_p.index_fill_(0, reset_range, 0.0)
+ self.F_term_p.index_fill_(0, reset_range, 0.0)
+
+ # Reset the angle, position, and velocity errors
+ self.angle_rate_error.index_fill_(0, reset_range, 0.0)
+ self.angle_error.index_fill_(0, reset_range, 0.0)
+
+ # Reset the body set points and pid output
+ self.body_set_point.index_fill_(0, reset_range, 0.0)
+ self.pid_output.index_fill_(0, reset_range, 0.0)
+
+ # Reset the last angular velocity
+ self.last_body_ang_vel.index_fill_(0, reset_range, 0.0)
+ self.last_setpoint_error.index_fill_(0, reset_range, 0.0)
+ self.cur_setpoint_error.index_fill_(0, reset_range, 0.0)
+ # Reset the TPA factor and rate
+ self.tpa_factor = 1
+ self.tpa_rate = 0
+ # Reset the RC command values if necessary
+ if self.use_rc:
+ self.rc_command = 0
+
+
+
+def random_quaternion(num_envs=1, device="cuda"):
+ max_rad = math.radians(180)
+ roll = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad
+ pitch = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad
+ yaw = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad / 10
+
+ cy = torch.cos(yaw * 0.5)
+ sy = torch.sin(yaw * 0.5)
+ cp = torch.cos(pitch * 0.5)
+ sp = torch.sin(pitch * 0.5)
+ cr = torch.cos(roll * 0.5)
+ sr = torch.sin(roll * 0.5)
+
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ quat = torch.cat([w, x, y, z], dim=1)
+ quat = quat / quat.norm(dim=1, keepdim=True)
+ return quat
+
diff --git a/examples/drone/hover_env.py b/examples/drone/rl/hover_env.py
similarity index 100%
rename from examples/drone/hover_env.py
rename to examples/drone/rl/hover_env.py
diff --git a/examples/drone/hover_eval.py b/examples/drone/rl/hover_eval.py
similarity index 100%
rename from examples/drone/hover_eval.py
rename to examples/drone/rl/hover_eval.py
diff --git a/examples/drone/hover_train.py b/examples/drone/rl/hover_train.py
similarity index 100%
rename from examples/drone/hover_train.py
rename to examples/drone/rl/hover_train.py
diff --git a/examples/drone/fly.py b/examples/drone/simple_test/fly.py
similarity index 100%
rename from examples/drone/fly.py
rename to examples/drone/simple_test/fly.py
diff --git a/examples/drone/fly_route.py b/examples/drone/simple_test/fly_route.py
similarity index 100%
rename from examples/drone/fly_route.py
rename to examples/drone/simple_test/fly_route.py
diff --git a/examples/drone/interactive_drone.py b/examples/drone/simple_test/interactive_drone.py
similarity index 100%
rename from examples/drone/interactive_drone.py
rename to examples/drone/simple_test/interactive_drone.py
diff --git a/examples/drone/quadcopter_controller.py b/examples/drone/simple_test/quadcopter_controller.py
similarity index 100%
rename from examples/drone/quadcopter_controller.py
rename to examples/drone/simple_test/quadcopter_controller.py