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utiasDSL / safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
https://www.dynsyslab.org/safe-robot-learning/
MIT License
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Can we apply MPC control to the 3D quadrotor based on the quaternion model? #147

Closed hsyfpv closed 5 months ago

adamhall commented 6 months ago

Currently, in our CasADi model that MPC has access too provided by the environment, we use Euler angles and roll, pitch, and yaw rates for our state vector for the 3D quadrotor. You can see this here https://github.com/utiasDSL/safe-control-gym/blob/83fae93172782f7c6e98063da0b2425d3f741f1b/safe_control_gym/envs/gym_pybullet_drones/quadrotor.py#L511.

If you want to use quaternions instead, you could generate you're own CasADi model inside your controller. It would also be great to have the option to switch between rotation representations inside the environment (i.e., having a parameter to choose a quaternion, Euler, etc. representation), however, we don't have the bandwidth to tackle this right now. If you do end up making a quaternion representation for the 3D quad, we could work together to make an environment variable to switch between the representations.

adamhall commented 5 months ago

Hi @hsyfpv, Can we close this issue?

hsyfpv commented 5 months ago

Hi @hsyfpv, Can we close this issue?

Of course! Thanks!