diff --git a/examples/drone/README.md b/examples/drone/README.md
new file mode 100644
index 0000000..349a8d1
--- /dev/null
+++ b/examples/drone/README.md
@@ -0,0 +1,44 @@
+# Drone Examples
+
+This directory contains examples of drone simulations using the Genesis framework.
+
+## Available Examples
+
+### 1. Interactive Drone (`interactive_drone.py`)
+A real-time interactive drone simulation where you can control the drone using keyboard inputs:
+- ↑ (Up Arrow): Move Forward (North)
+- ↓ (Down Arrow): Move Backward (South)
+- ← (Left Arrow): Move Left (West)
+- → (Right Arrow): Move Right (East)
+- Space: Increase Thrust (Accelerate)
+- Left Shift: Decrease Thrust (Decelerate)
+- ESC: Quit
+
+Run with:
+```bash
+python interactive_drone.py -v -m
+```
+
+### 2. Automated Flight (`fly.py`)
+A pre-programmed drone flight simulation that follows a predefined trajectory stored in `fly_traj.pkl`.
+
+Run with:
+```bash
+python fly.py -v -m
+```
+
+## Technical Details
+
+- The drone model used is the Crazyflie 2.X (`urdf/drones/cf2x.urdf`)
+- Base hover RPM is approximately 14468
+- Movement is achieved by varying individual rotor RPMs to create directional thrust
+- The simulation uses realistic physics including gravity and aerodynamics
+- Visualization is optimized for macOS using threaded rendering when run with `-m` flag
+
+## Controls Implementation
+
+The interactive drone uses differential RPM control:
+- Forward/Backward movement: Adjusts front/back rotor pairs
+- Left/Right movement: Adjusts left/right rotor pairs
+- All movements maintain a stable hover while creating directional thrust
+- RPM changes are automatically clipped to safe ranges (0-25000 RPM)
\ No newline at end of file
diff --git a/examples/drone/fly.py b/examples/drone/fly.py
index 693fd11..f017077 100644
--- a/examples/drone/fly.py
+++ b/examples/drone/fly.py
@@ -1,16 +1,13 @@
 import argparse
-import os
-import pickle as pkl
-
 import numpy as np
 
 import genesis as gs
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("-v", "--vis", action="store_true", default=False)
+    parser.add_argument("-m", "--mac", action="store_true", default=False)
     args = parser.parse_args()
 
     ########################## init ##########################
@@ -45,12 +42,182 @@ def main():
 
     ########################## build ##########################
     scene.build()
-    traj = pkl.load(open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "fly_traj.pkl"), "rb"))
+
+    if args.mac:
+        gs.tools.run_in_another_thread(fn=run_sim, args=(scene, drone, args.vis))
+        if args.vis:
+            scene.viewer.start()
+    else:
+        run_sim(scene, drone, args.vis)
+
+
+def run_sim(scene, drone, enable_vis):
+    traj = np.array(
+        [
+            [1.0, 1.0, 0.98824805, 1.0],
+            [0.67815816, 1.0, 1.0, 1.0],
+            [1.0, 0.87905186, 0.8319297, 1.0],
+            [1.0, 0.85295373, 0.94554883, 1.0],
+            [1.0, 1.0, 0.9663153, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 1.0, 1.0, 1.0],
+            [1.0, 0.9954323, 1.0, 1.0],
+            [1.0, 0.9974212, 1.0, 1.0],
+            [1.0, 0.99529535, 1.0, 1.0],
+            [1.0, 0.9965133, 1.0, 1.0],
+            [1.0, 0.99495167, 1.0, 1.0],
+            [1.0, 0.99533206, 1.0, 1.0],
+            [1.0, 0.9941533, 1.0, 1.0],
+            [1.0, 0.9937679, 1.0, 1.0],
+            [1.0, 0.9926078, 1.0, 1.0],
+            [1.0, 0.99150425, 1.0, 1.0],
+            [1.0, 0.9899133, 1.0, 1.0],
+            [1.0, 0.9879518, 1.0, 1.0],
+            [1.0, 0.985401, 1.0, 0.93023926],
+            [1.0, 0.9757207, 1.0, 0.8165948],
+            [1.0, 0.94503635, 1.0, 0.47085124],
+            [1.0, 0.9973584, 1.0, 0.92234856],
+            [1.0, 0.97841257, 1.0, 0.9260282],
+            [1.0, 0.9749091, 1.0, 0.8766382],
+            [1.0, 0.9661152, 1.0, 0.8508391],
+            [1.0, 0.9588664, 1.0, 0.8184431],
+            [1.0, 0.9513355, 1.0, 0.78656846],
+            [1.0, 0.9438352, 1.0, 0.7555151],
+            [1.0, 0.9364986, 1.0, 0.7264303],
+            [1.0, 0.92944163, 1.0, 0.70034355],
+            [1.0, 0.9227477, 1.0, 0.6780561],
+            [1.0, 0.91646177, 1.0, 0.6601221],
+            [1.0, 0.91059643, 1.0, 0.6468646],
+            [1.0, 0.90513545, 1.0, 0.6384181],
+            [1.0, 0.9000414, 1.0, 0.63476765],
+            [1.0, 0.8952549, 1.0, 0.6357777],
+            [1.0, 0.89069635, 1.0, 0.64121217],
+            [1.0, 0.8862596, 1.0, 0.6507421],
+            [1.0, 0.8818036, 1.0, 0.66393715],
+            [1.0, 0.8771375, 1.0, 0.68025357],
+            [1.0, 0.8720022, 1.0, 0.6990145],
+            [1.0, 0.8660441, 1.0, 0.719399],
+            [1.0, 0.85878307, 1.0, 0.7404561],
+            [1.0, 0.84957653, 1.0, 0.7611621],
+            [1.0, 0.83757895, 1.0, 0.78056324],
+            [1.0, 0.8216941, 1.0, 0.7980228],
+            [1.0, 0.8005113, 1.0, 0.8135467],
+            [0.99108833, 0.77218705, 1.0, 0.828064],
+            [0.97618765, 0.7336579, 1.0, 0.8425417],
+            [0.9570234, 0.6814261, 1.0, 0.8581086],
+            [0.92717046, 0.6107281, 1.0, 0.8740242],
+            [0.87264377, 0.51361734, 1.0, 0.8831364],
+            [0.7667494, 0.37425363, 1.0, 0.86565703],
+            [0.58684665, 0.15105894, 1.0, 0.792903],
+            [0.40309954, -0.22192897, 1.0, 0.6778493],
+            [0.30307913, -0.6645406, 0.32032692, 0.5561814],
+            [0.1432502, -1.0, -0.7834326, 0.30731094],
+            [-0.05076139, -1.0, -1.0, -0.18850122],
+            [-0.2028995, -1.0, -1.0, -0.47833002],
+            [-0.33243275, -1.0, -1.0, -0.63186795],
+            [-0.43252927, -1.0, -0.93684345, -0.7109936],
+            [-0.50198543, -1.0, -0.8966909, -0.7451998],
+            [-0.55477273, -1.0, -0.87718576, -0.7572431],
+            [-0.59963316, -1.0, -0.8707306, -0.7596289],
+            [-0.641077, -1.0, -0.8736891, -0.7593429],
+            [-0.68137753, -1.0, -0.8838504, -0.76042706],
+            [-0.72137207, -1.0, -0.8991675, -0.7649133],
+            [-0.76085263, -1.0, -0.9172805, -0.77330756],
+            [-0.7989401, -1.0, -0.93559915, -0.78509957],
+            [-0.8345167, -1.0, -0.95170647, -0.799334],
+            [-0.86661166, -1.0, -0.963775, -0.8150858],
+            [-0.8946256, -1.0, -0.97078484, -0.8317086],
+            [-0.91837806, -1.0, -0.97249895, -0.84885603],
+            [-0.9380378, -1.0, -0.96929866, -0.8663847],
+            [-0.9540071, -1.0, -0.96197397, -0.8842322],
+            [-0.9668097, -1.0, -0.9515317, -0.90233094],
+            [-0.97700363, -1.0, -0.9390431, -0.9205734],
+            [-0.98512334, -1.0, -0.92553586, -0.93881696],
+            [-0.99164504, -1.0, -0.91191846, -0.9569116],
+            [-0.99697274, -1.0, -0.8989406, -0.97473806],
+            [-1.0, -1.0, -0.8871773, -0.99223274],
+            [-1.0, -1.0, -0.87696224, -1.0],
+            [-1.0, -1.0, -0.86855894, -1.0],
+            [-1.0, -1.0, -0.8622101, -1.0],
+            [-1.0, -1.0, -0.85795015, -1.0],
+            [-1.0, -1.0, -0.8557587, -1.0],
+            [-1.0, -1.0, -0.8555704, -1.0],
+            [-1.0, -1.0, -0.8572821, -1.0],
+            [-1.0, -1.0, -0.860755, -1.0],
+            [-1.0, -1.0, -0.8658133, -1.0],
+            [-1.0, -1.0, -0.87224096, -1.0],
+            [-1.0, -1.0, -0.87977535, -1.0],
+            [-1.0, -1.0, -0.8881058, -1.0],
+            [-1.0, -1.0, -0.89687437, -1.0],
+            [-1.0, -1.0, -0.9056818, -1.0],
+            [-1.0, -1.0, -0.91409653, -1.0],
+            [-1.0, -1.0, -0.9216669, -1.0],
+            [-1.0, -1.0, -0.9279278, -1.0],
+            [-1.0, -1.0, -0.93239695, -1.0],
+            [-0.9961943, -1.0, -0.9345514, -1.0],
+            [-0.9834586, -1.0, -0.93362767, -1.0],
+            [-0.9671113, -1.0, -0.9284645, -1.0],
+            [-0.94588476, -1.0, -0.91775376, -1.0],
+            [-0.91785616, -1.0, -0.8995549, -1.0],
+            [-0.88016766, -1.0, -0.87093955, -1.0],
+            [-0.8287441, -1.0, -0.82749766, -1.0],
+            [-0.7582472, -1.0, -0.76269644, -1.0],
+            [-0.66290134, -1.0, -0.66715723, -1.0],
+            [-0.5392508, -1.0, -0.5280629, -1.0],
+            [-0.39078623, -1.0, -0.3290425, -1.0],
+            [-0.2295668, -1.0, -0.05206226, -1.0],
+            [-0.06826158, -1.0, 0.30915332, -1.0],
+            [0.08895309, -1.0, 0.7070197, -1.0],
+            [0.2400503, -1.0, 1.0, -1.0],
+            [0.3742329, -1.0, 1.0, -1.0],
+            [0.48094982, -1.0, 1.0, -1.0],
+            [0.56609666, -1.0, 1.0, -1.0],
+            [0.63677347, -0.88508135, 1.0, -1.0],
+            [0.7058708, -0.694147, 1.0, -1.0],
+            [0.7992784, -0.5113944, 1.0, -1.0],
+            [0.9422653, -0.2919022, 1.0, -1.0],
+        ],
+        dtype=np.float32,
+    )
+
     for i in range(len(traj)):
         # 14468 is hover rpm
         drone.set_propellels_rpm((1 + 0.05 * traj[i]) * 14468.429183500699)
         scene.step()
 
+    if enable_vis:
+        scene.viewer.stop()
+
 
 if __name__ == "__main__":
     main()
diff --git a/examples/drone/fly_traj.pkl b/examples/drone/fly_traj.pkl
deleted file mode 100644
index 1ba9e93..0000000
Binary files a/examples/drone/fly_traj.pkl and /dev/null differ
diff --git a/examples/drone/interactive_drone.py b/examples/drone/interactive_drone.py
new file mode 100644
index 0000000..a719c94
--- /dev/null
+++ b/examples/drone/interactive_drone.py
@@ -0,0 +1,181 @@
+import argparse
+import numpy as np
+import genesis as gs
+import time
+import threading
+from pynput import keyboard
+
+
+class DroneController:
+    def __init__(self):
+        self.thrust = 14468.429183500699  # Base hover RPM - constant hover
+        self.rotation_delta = 200  # Differential RPM for rotation
+        self.thrust_delta = 10  # Amount to change thrust by when accelerating/decelerating
+        self.running = True
+        self.rpms = [self.thrust] * 4
+        self.pressed_keys = set()
+
+    def on_press(self, key):
+        try:
+            if key == keyboard.Key.esc:
+                self.running = False
+                return False
+            self.pressed_keys.add(key)
+            print(f"Key pressed: {key}")
+        except AttributeError:
+            pass
+
+    def on_release(self, key):
+        try:
+            self.pressed_keys.discard(key)
+        except KeyError:
+            pass
+
+    def update_thrust(self):
+        # Store previous RPMs for debugging
+        prev_rpms = self.rpms.copy()
+
+        # Reset RPMs to hover thrust
+        self.rpms = [self.thrust] * 4
+
+        # Acceleration (Spacebar) - All rotors spin faster
+        if keyboard.Key.space in self.pressed_keys:
+            self.thrust += self.thrust_delta
+            self.rpms = [self.thrust] * 4
+            print("Accelerating")
+
+        # Deceleration (Left Shift) - All rotors spin slower
+        if keyboard.Key.shift in self.pressed_keys:
+            self.thrust -= self.thrust_delta
+            self.rpms = [self.thrust] * 4
+            print("Decelerating")
+
+        # Forward (North) - Front rotors spin faster
+        if keyboard.Key.up in self.pressed_keys:
+            self.rpms[0] += self.rotation_delta  # Front left
+            self.rpms[1] += self.rotation_delta  # Front right
+            self.rpms[2] -= self.rotation_delta  # Back left
+            self.rpms[3] -= self.rotation_delta  # Back right
+            print("Moving Forward")
+
+        # Backward (South) - Back rotors spin faster
+        if keyboard.Key.down in self.pressed_keys:
+            self.rpms[0] -= self.rotation_delta  # Front left
+            self.rpms[1] -= self.rotation_delta  # Front right
+            self.rpms[2] += self.rotation_delta  # Back left
+            self.rpms[3] += self.rotation_delta  # Back right
+            print("Moving Backward")
+
+        # Left (West) - Left rotors spin faster
+        if keyboard.Key.left in self.pressed_keys:
+            self.rpms[0] -= self.rotation_delta  # Front left
+            self.rpms[2] -= self.rotation_delta  # Back left
+            self.rpms[1] += self.rotation_delta  # Front right
+            self.rpms[3] += self.rotation_delta  # Back right
+            print("Moving Left")
+
+        # Right (East) - Right rotors spin faster
+        if keyboard.Key.right in self.pressed_keys:
+            self.rpms[0] += self.rotation_delta  # Front left
+            self.rpms[2] += self.rotation_delta  # Back left
+            self.rpms[1] -= self.rotation_delta  # Front right
+            self.rpms[3] -= self.rotation_delta  # Back right
+            print("Moving Right")
+
+        self.rpms = np.clip(self.rpms, 0, 25000)
+
+        # Debug print if any RPMs changed
+        if not np.array_equal(prev_rpms, self.rpms):
+            print(f"RPMs changed from {prev_rpms} to {self.rpms}")
+
+        return self.rpms
+
+
+def run_sim(scene, drone, controller):
+    while controller.running:
+        try:
+            # Update drone with current RPMs
+            rpms = controller.update_thrust()
+            drone.set_propellels_rpm(rpms)
+            # Update physics
+            scene.step()
+            time.sleep(1 / 60)  # Limit simulation rate
+        except Exception as e:
+            print(f"Error in simulation loop: {e}")
+
+    if scene.viewer:
+        scene.viewer.stop()
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-v", "--vis", action="store_true", default=True, help="Enable visualization (default: True)")
+    parser.add_argument("-m", "--mac", action="store_true", default=False, help="Running on MacOS (default: False)")
+    args = parser.parse_args()
+
+    # Initialize Genesis
+    gs.init(backend=gs.cpu)
+
+    # Create scene with enhanced camera view
+    viewer_options = gs.options.ViewerOptions(
+        camera_pos=(4.0, 0.0, 2.0),
+        camera_lookat=(0.0, 0.0, 0.5),
+        camera_fov=45,
+        max_FPS=60,
+    )
+
+    scene = gs.Scene(
+        sim_options=gs.options.SimOptions(
+            dt=0.01,
+            gravity=(0, 0, -9.81),
+        ),
+        viewer_options=viewer_options,
+        show_viewer=args.vis,
+    )
+
+    # Add entities
+    plane = scene.add_entity(gs.morphs.Plane())
+    drone = scene.add_entity(
+        morph=gs.morphs.Drone(
+            file="urdf/drones/cf2x.urdf",
+            pos=(0.0, 0, 0.5),  # Start a bit higher
+        ),
+    )
+
+    # Build scene
+    scene.build()
+
+    # Initialize controller
+    controller = DroneController()
+
+    # Print control instructions
+    print("\nDrone Controls:")
+    print("↑ - Move Forward (North)")
+    print("↓ - Move Backward (South)")
+    print("← - Move Left (West)")
+    print("→ - Move Right (East)")
+    print("ESC - Quit\n")
+    print("Initial hover RPM:", controller.thrust)
+
+    # Start keyboard listener
+    listener = keyboard.Listener(on_press=controller.on_press, on_release=controller.on_release)
+    listener.start()
+
+    if args.mac:
+        # Run simulation in another thread
+        sim_thread = threading.Thread(target=run_sim, args=(scene, drone, controller))
+        sim_thread.start()
+
+        if args.vis:
+            scene.viewer.start()
+
+        # Wait for threads to finish
+        sim_thread.join()
+    else:
+        # Run simulation in main thread
+        run_sim(scene, drone, controller)
+    listener.stop()
+
+
+if __name__ == "__main__":
+    main()