387 lines
14 KiB
Python
387 lines
14 KiB
Python
#!/usr/bin/env python3
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"""
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Standalone Drone Simulation - Runs without ROS 2.
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Includes built-in controller for landing demonstration.
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Usage: python standalone_simulation.py [--pattern PATTERN] [--speed SPEED]
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"""
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import argparse
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import base64
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import json
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import math
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import time
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from typing import Dict, Any, Optional, Tuple
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import numpy as np
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import pybullet as p
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import pybullet_data
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# Load configuration
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try:
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from config import DRONE, ROVER, CAMERA, PHYSICS, CONTROLLER, LANDING
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CONFIG_LOADED = True
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except ImportError:
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CONFIG_LOADED = False
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# Defaults if config.py is missing
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DRONE = {"mass": 1.0, "size": (0.3, 0.3, 0.1), "color": (0.8, 0.1, 0.1, 1.0),
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"start_position": (0.0, 0.0, 5.0), "thrust_scale": 15.0,
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"pitch_torque_scale": 2.0, "roll_torque_scale": 2.0, "yaw_torque_scale": 1.0}
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ROVER = {"size": (1.0, 1.0, 0.3), "color": (0.2, 0.6, 0.2, 1.0),
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"start_position": (0.0, 0.0, 0.15), "default_pattern": "stationary",
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"default_speed": 0.5, "default_amplitude": 2.0}
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CAMERA = {"fov": 60.0}
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PHYSICS = {"gravity": -9.81, "timestep": 1/240}
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CONTROLLER = {"Kp_z": 0.5, "Kd_z": 0.3, "Kp_xy": 0.3, "Kd_xy": 0.2}
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LANDING = {"success_velocity": 0.5}
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class StandaloneSimulation:
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"""Complete simulation with built-in controller - no ROS 2 needed."""
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def __init__(self, rover_pattern=None, rover_speed=None, rover_amplitude=None):
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print("=" * 60)
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print("Standalone Drone Simulation (No ROS 2 Required)")
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if CONFIG_LOADED:
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print(" Configuration loaded from config.py")
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print("=" * 60)
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self._running = True
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self._step_count = 0
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self._time = 0.0
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# Use config values or arguments
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self._rover_pattern = rover_pattern or ROVER.get("default_pattern", "stationary")
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self._rover_speed = rover_speed if rover_speed is not None else ROVER.get("default_speed", 0.5)
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self._rover_amplitude = rover_amplitude if rover_amplitude is not None else ROVER.get("default_amplitude", 2.0)
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self._rover_pos = list(ROVER.get("start_position", (0.0, 0.0, 0.15)))
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# Physics constants from config
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self._gravity = PHYSICS.get("gravity", -9.81)
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self._timestep = PHYSICS.get("timestep", 1/240)
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self._control_interval = 5
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# Drone constants from config
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self._drone_mass = DRONE.get("mass", 1.0)
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self._drone_size = DRONE.get("size", (0.3, 0.3, 0.1))
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self._drone_start = DRONE.get("start_position", (0.0, 0.0, 5.0))
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self._drone_color = DRONE.get("color", (0.8, 0.1, 0.1, 1.0))
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self._thrust_scale = DRONE.get("thrust_scale", 15.0)
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self._pitch_torque_scale = DRONE.get("pitch_torque_scale", 2.0)
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self._roll_torque_scale = DRONE.get("roll_torque_scale", 2.0)
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self._yaw_torque_scale = DRONE.get("yaw_torque_scale", 1.0)
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self._hover_thrust = self._drone_mass * abs(self._gravity)
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# Rover constants from config
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self._rover_size = ROVER.get("size", (1.0, 1.0, 0.3))
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self._rover_color = ROVER.get("color", (0.2, 0.6, 0.2, 1.0))
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# Camera
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self._camera_fov = CAMERA.get("fov", 60.0)
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# Controller gains
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self._Kp_z = CONTROLLER.get("Kp_z", 0.5)
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self._Kd_z = CONTROLLER.get("Kd_z", 0.3)
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self._Kp_xy = CONTROLLER.get("Kp_xy", 0.3)
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self._Kd_xy = CONTROLLER.get("Kd_xy", 0.2)
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# Landing
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self._landing_velocity = LANDING.get("success_velocity", 0.5)
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# Control command
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self._command = {'thrust': 0.0, 'pitch': 0.0, 'roll': 0.0, 'yaw': 0.0}
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self._init_physics()
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self._init_objects()
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print(f" Drone Start: {self._drone_start}")
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print(f" Rover Start: {self._rover_pos}")
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print(f" Rover Pattern: {self._rover_pattern}")
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print(f" Rover Speed: {self._rover_speed} m/s")
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print(" Press Ctrl+C to exit")
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print("=" * 60)
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def _init_physics(self) -> None:
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self._physics_client = p.connect(p.GUI)
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p.setGravity(0, 0, self._gravity)
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p.setTimeStep(self._timestep)
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p.resetDebugVisualizerCamera(
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cameraDistance=8.0,
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cameraYaw=45,
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cameraPitch=-30,
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cameraTargetPosition=[0, 0, 1]
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)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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def _init_objects(self) -> None:
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self._ground_id = p.loadURDF("plane.urdf")
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# Create rover (landing pad)
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rover_collision = p.createCollisionShape(
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p.GEOM_BOX,
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halfExtents=[s/2 for s in self._rover_size]
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)
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rover_visual = p.createVisualShape(
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p.GEOM_BOX,
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halfExtents=[s/2 for s in self._rover_size],
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rgbaColor=list(self._rover_color)
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)
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self._rover_id = p.createMultiBody(
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baseMass=0,
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baseCollisionShapeIndex=rover_collision,
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baseVisualShapeIndex=rover_visual,
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basePosition=self._rover_pos
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)
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# Create landing pad marker
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self._create_landing_marker()
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# Create drone
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drone_collision = p.createCollisionShape(
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p.GEOM_BOX,
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halfExtents=[s/2 for s in self._drone_size]
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)
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drone_visual = p.createVisualShape(
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p.GEOM_BOX,
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halfExtents=[s/2 for s in self._drone_size],
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rgbaColor=list(self._drone_color)
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)
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self._drone_id = p.createMultiBody(
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baseMass=self._drone_mass,
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baseCollisionShapeIndex=drone_collision,
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baseVisualShapeIndex=drone_visual,
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basePosition=self._drone_start
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)
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p.changeDynamics(
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self._drone_id, -1,
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linearDamping=0.1,
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angularDamping=0.5
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)
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def _create_landing_marker(self) -> None:
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marker_height = self._rover_pos[2] + self._rover_size[2] / 2 + 0.01
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h_size = 0.3
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line_color = [1, 1, 1]
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p.addUserDebugLine([-h_size, 0, marker_height], [h_size, 0, marker_height],
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lineColorRGB=line_color, lineWidth=3)
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p.addUserDebugLine([-h_size, -h_size, marker_height], [-h_size, h_size, marker_height],
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lineColorRGB=line_color, lineWidth=3)
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p.addUserDebugLine([h_size, -h_size, marker_height], [h_size, h_size, marker_height],
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lineColorRGB=line_color, lineWidth=3)
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def run(self) -> None:
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print("\nSimulation running...")
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try:
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while self._running:
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loop_start = time.time()
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if not p.isConnected():
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break
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# Update rover position
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self._update_rover()
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# Run controller
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if self._step_count % self._control_interval == 0:
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self._run_controller()
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# Apply physics
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self._apply_controls()
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p.stepSimulation()
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self._step_count += 1
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self._time += self._timestep
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# Check landing
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if self._check_landing():
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print("\n*** LANDING SUCCESSFUL! ***\n")
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time.sleep(2)
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break
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# Timing
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elapsed = time.time() - loop_start
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sleep_time = self._timestep - elapsed
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if sleep_time > 0:
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time.sleep(sleep_time)
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except KeyboardInterrupt:
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print("\nStopping simulation...")
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finally:
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if p.isConnected():
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p.disconnect()
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def _update_rover(self) -> None:
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"""Move the rover based on pattern."""
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dt = self._timestep
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if self._rover_pattern == 'stationary':
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return
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elif self._rover_pattern == 'linear':
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omega = self._rover_speed / self._rover_amplitude
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target_x = self._rover_amplitude * math.sin(omega * self._time)
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self._rover_pos[0] += 2.0 * (target_x - self._rover_pos[0]) * dt
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elif self._rover_pattern == 'circular':
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omega = self._rover_speed / self._rover_amplitude
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target_x = self._rover_amplitude * math.cos(omega * self._time)
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target_y = self._rover_amplitude * math.sin(omega * self._time)
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self._rover_pos[0] += 2.0 * (target_x - self._rover_pos[0]) * dt
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self._rover_pos[1] += 2.0 * (target_y - self._rover_pos[1]) * dt
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elif self._rover_pattern == 'square':
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segment = int(self._time / 3) % 4
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corners = [(1, 1), (-1, 1), (-1, -1), (1, -1)]
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target = corners[segment]
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target_x = target[0] * self._rover_amplitude
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target_y = target[1] * self._rover_amplitude
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dx = target_x - self._rover_pos[0]
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dy = target_y - self._rover_pos[1]
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dist = math.sqrt(dx**2 + dy**2)
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if dist > 0.01:
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self._rover_pos[0] += self._rover_speed * dx / dist * dt
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self._rover_pos[1] += self._rover_speed * dy / dist * dt
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# Update rover position in simulation
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p.resetBasePositionAndOrientation(
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self._rover_id,
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[self._rover_pos[0], self._rover_pos[1], self._rover_pos[2]],
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[0, 0, 0, 1]
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)
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def _get_telemetry(self) -> Dict[str, Any]:
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"""Get current drone state."""
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pos, orn = p.getBasePositionAndOrientation(self._drone_id)
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vel, ang_vel = p.getBaseVelocity(self._drone_id)
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euler = p.getEulerFromQuaternion(orn)
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# Landing pad detection
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dx = self._rover_pos[0] - pos[0]
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dy = self._rover_pos[1] - pos[1]
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dz = self._rover_pos[2] - pos[2]
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horizontal_dist = math.sqrt(dx**2 + dy**2)
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vertical_dist = -dz
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landing_pad = None
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if vertical_dist > 0 and vertical_dist < 10.0:
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fov_rad = math.radians(self._camera_fov / 2)
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max_horizontal = vertical_dist * math.tan(fov_rad)
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if horizontal_dist < max_horizontal:
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landing_pad = {
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"relative_x": dx,
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"relative_y": dy,
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"distance": vertical_dist,
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"confidence": 1.0 - (horizontal_dist / max_horizontal)
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}
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return {
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"altimeter": {"altitude": pos[2], "vertical_velocity": vel[2]},
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"velocity": {"x": vel[0], "y": vel[1], "z": vel[2]},
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"imu": {
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"orientation": {"roll": euler[0], "pitch": euler[1], "yaw": euler[2]},
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"angular_velocity": {"x": ang_vel[0], "y": ang_vel[1], "z": ang_vel[2]}
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},
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"landing_pad": landing_pad,
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"rover_position": {"x": self._rover_pos[0], "y": self._rover_pos[1]}
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}
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def _run_controller(self) -> None:
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"""Simple landing controller."""
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telemetry = self._get_telemetry()
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altimeter = telemetry['altimeter']
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altitude = altimeter['altitude']
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vertical_vel = altimeter['vertical_velocity']
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velocity = telemetry['velocity']
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vel_x = velocity['x']
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vel_y = velocity['y']
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landing_pad = telemetry['landing_pad']
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# Altitude control
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target_alt = 0.0
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thrust = self._Kp_z * (target_alt - altitude) - self._Kd_z * vertical_vel
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# Horizontal control
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if landing_pad is not None:
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target_x = landing_pad['relative_x']
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target_y = landing_pad['relative_y']
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pitch = self._Kp_xy * target_x - self._Kd_xy * vel_x
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roll = self._Kp_xy * target_y - self._Kd_xy * vel_y
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else:
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pitch = -self._Kd_xy * vel_x
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roll = -self._Kd_xy * vel_y
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# Clamp
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thrust = max(-1.0, min(1.0, thrust))
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pitch = max(-0.5, min(0.5, pitch))
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roll = max(-0.5, min(0.5, roll))
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self._command = {'thrust': thrust, 'pitch': pitch, 'roll': roll, 'yaw': 0.0}
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def _apply_controls(self) -> None:
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"""Apply control commands to drone."""
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pos, orn = p.getBasePositionAndOrientation(self._drone_id)
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rot_matrix = p.getMatrixFromQuaternion(orn)
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local_up = [rot_matrix[2], rot_matrix[5], rot_matrix[8]]
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total_thrust = self._hover_thrust + (self._command['thrust'] * self._thrust_scale)
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total_thrust = max(0, total_thrust)
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thrust_force = [
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local_up[0] * total_thrust,
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local_up[1] * total_thrust,
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local_up[2] * total_thrust
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]
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p.applyExternalForce(
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self._drone_id, -1,
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forceObj=thrust_force,
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posObj=pos,
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flags=p.WORLD_FRAME
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)
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p.applyExternalTorque(
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self._drone_id, -1,
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torqueObj=[
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self._command['pitch'] * self._pitch_torque_scale,
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self._command['roll'] * self._roll_torque_scale,
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self._command['yaw'] * self._yaw_torque_scale
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],
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flags=p.LINK_FRAME
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)
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def _check_landing(self) -> bool:
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"""Check if drone landed on rover."""
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contacts = p.getContactPoints(bodyA=self._drone_id, bodyB=self._rover_id)
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if len(contacts) > 0:
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vel, _ = p.getBaseVelocity(self._drone_id)
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speed = math.sqrt(vel[0]**2 + vel[1]**2 + vel[2]**2)
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return speed < self._landing_velocity
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return False
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def main():
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parser = argparse.ArgumentParser(description='Standalone Drone Simulation')
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parser.add_argument('--pattern', '-p', type=str, default='stationary',
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choices=['stationary', 'linear', 'circular', 'square'],
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help='Rover movement pattern')
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parser.add_argument('--speed', '-s', type=float, default=0.5,
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help='Rover speed in m/s')
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parser.add_argument('--amplitude', '-a', type=float, default=2.0,
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help='Rover movement amplitude in meters')
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args = parser.parse_args()
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sim = StandaloneSimulation(
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rover_pattern=args.pattern,
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rover_speed=args.speed,
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rover_amplitude=args.amplitude
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)
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sim.run()
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if __name__ == '__main__':
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main()
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