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Interactive drone controlled - cross-platform #211

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Interactive drone controlled - cross-platform #211

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dc7d1e1
interactive drone controlled - macos
PieterBecking Dec 21, 2024
60ee016
support linux and delete pickle
YilingQiao Dec 22, 2024
26ac661
Merge pull request #1 from YilingQiao/feature/interactive-drone-control
PieterBecking Dec 22, 2024
51732a9
Fixed rotation direction
PieterBecking Dec 22, 2024
f365a5c
Adding thrust control
PieterBecking Dec 22, 2024
e3d8e05
Updating README with thrust control
PieterBecking Dec 22, 2024
f173f61
Updating README with -m flag for macos
PieterBecking Dec 22, 2024
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44 changes: 44 additions & 0 deletions examples/drone/README.md
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# 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)
177 changes: 172 additions & 5 deletions examples/drone/fly.py
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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 ##########################
Expand Down Expand Up @@ -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()
Binary file removed examples/drone/fly_traj.pkl
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