drone-models 0.1.0__py3-none-any.whl

docs/gen_ref_pages.py

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+"""Generate the code reference pages and navigation."""
+
+from pathlib import Path
+
+import mkdocs_gen_files
+
+SKIP_PARTS = {"_typing", "__main__"}
+
+# model.py in these packages is re-exported via __init__, so document only at index level
+SKIP_MODULE_PAGES = {
+    ("drone_models", "first_principles", "model"),
+    ("drone_models", "so_rpy", "model"),
+    ("drone_models", "so_rpy_rotor", "model"),
+    ("drone_models", "so_rpy_rotor_drag", "model"),
+}
+
+TOP_LEVEL_PAGE = """\
+::: drone_models
+    options:
+      members:
+        - parametrize
+        - available_models
+        - model_features
+      show_submodules: false
+
+## Submodules
+
+### Models
+
+| Module | Description |
+|--------|-------------|
+| [first_principles](first_principles/index.md) | Full physics model |
+| [so_rpy_rotor_drag](so_rpy_rotor_drag/index.md) | Fitted model with rotor dynamics and drag |
+| [so_rpy_rotor](so_rpy_rotor/index.md) | Fitted model with rotor dynamics |
+| [so_rpy](so_rpy/index.md) | Simplest fitted model |
+
+### Core
+
+| Module | Description |
+|--------|-------------|
+| [core](../core.md) | `load_params`, `supports` decorator, internal `parametrize` |
+| [drones](../drones.md) | `available_drones` tuple |
+| [symbols](../symbols.md) | CasADi symbolic utilities |
+| [transform](../transform.md) | Motor/PWM/rotor conversion utilities |
+
+### Utilities
+
+| Module | Description |
+|--------|-------------|
+| [utils.rotation](../utils/rotation.md) | Quaternion/Euler/angular velocity conversions |
+| [utils.data_utils](../utils/data_utils.md) | `preprocessing`, `derivatives_svf` |
+| [utils.identification](../utils/identification.md) | `sys_id_translation`, `sys_id_rotation` |
+"""
+
+for path in sorted(Path("drone_models").rglob("*.py")):
+    module_path = path.relative_to(".").with_suffix("")
+    doc_path = path.relative_to(".").with_suffix(".md")
+    full_doc_path = Path("reference", doc_path)
+
+    parts = tuple(module_path.parts)
+
+    if any(part in SKIP_PARTS for part in parts):
+        continue
+
+    if parts in SKIP_MODULE_PAGES:
+        continue
+
+    if parts[-1] == "__init__":
+        parts = parts[:-1]
+        doc_path = doc_path.with_name("index.md")
+        full_doc_path = full_doc_path.with_name("index.md")
+    elif parts[-1] == "__main__":
+        continue
+
+    with mkdocs_gen_files.open(full_doc_path, "w") as fd:
+        if parts == ("drone_models",):
+            fd.write(TOP_LEVEL_PAGE)
+        else:
+            ident = ".".join(parts)
+            fd.write(f"::: {ident}\n")
+
+    mkdocs_gen_files.set_edit_path(full_doc_path, path)
+
+summary = """\
+* [drone_models](drone_models/index.md)
+* [first_principles](drone_models/first_principles/index.md)
+* [so_rpy_rotor_drag](drone_models/so_rpy_rotor_drag/index.md)
+* [so_rpy_rotor](drone_models/so_rpy_rotor/index.md)
+* [so_rpy](drone_models/so_rpy/index.md)
+* Core
+    * [core](drone_models/core.md)
+    * [drones](drone_models/drones.md)
+    * [symbols](drone_models/symbols.md)
+    * [transform](drone_models/transform.md)
+* Utilities
+    * [utils](drone_models/utils/index.md)
+    * [utils.rotation](drone_models/utils/rotation.md)
+    * [utils.data_utils](drone_models/utils/data_utils.md)
+    * [utils.identification](drone_models/utils/identification.md)
+"""
+
+with mkdocs_gen_files.open("reference/SUMMARY.md", "w") as nav_file:
+    nav_file.write(summary)

drone_models/__init__.py

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+"""drone-models: quadrotor dynamics models for estimation, control, and simulation.
+
+This package provides numeric and symbolic quadrotor dynamics models at multiple
+fidelity levels. Models are pure functions compatible with any Array API backend
+(NumPy, JAX, PyTorch, etc.) and with CasADi for symbolic computation.
+
+Use [parametrize][drone_models.parametrize] to bind a dynamics function to a named drone configuration,
+and [available_models][drone_models.available_models] to enumerate all registered models.
+"""
+
+import os
+import sys
+from typing import Callable
+
+# SciPy array API check. We use the most recent array API features, which require the
+# SCIPY_ARRAY_API environment variable to be set to "1". This flag MUST be set before importing
+# scipy, because scipy's C extensions cannot be unloaded once they have been imported. Therefore, we
+# have to error out if the flag is not set. Otherwise, we immediately import scipy to ensure that no
+# other package sets the flag to a different value before importing scipy.
+
+if "scipy" in sys.modules and os.environ.get("SCIPY_ARRAY_API") != "1":
+    msg = """scipy has already been imported and the 'SCIPY_ARRAY_API' environment variable has not
+    been set. Please restart your Python session and set SCIPY_ARRAY_API="1" before importing any
+    packages that depend on scipy, or import this package first to automatically set the flag."""
+    raise RuntimeError(msg)
+
+os.environ["SCIPY_ARRAY_API"] = "1"
+import scipy  # noqa: F401, ensure scipy uses array API features
+
+from drone_models.core import parametrize
+from drone_models.first_principles import dynamics as _first_principles_dynamics
+from drone_models.so_rpy import dynamics as _so_rpy_dynamics
+from drone_models.so_rpy_rotor import dynamics as _so_rpy_rotor_dynamics
+from drone_models.so_rpy_rotor_drag import dynamics as _so_rpy_rotor_drag_dynamics
+
+__all__ = ["parametrize", "available_models", "model_features"]
+
+
+available_models: dict[str, Callable] = {
+    "first_principles": _first_principles_dynamics,
+    "so_rpy": _so_rpy_dynamics,
+    "so_rpy_rotor": _so_rpy_rotor_dynamics,
+    "so_rpy_rotor_drag": _so_rpy_rotor_drag_dynamics,
+}
+
+
+def model_features(model: Callable) -> dict[str, bool]:
+    """Return the feature flags declared by a dynamics function.
+
+    Feature flags are set by the [supports][drone_models.core.supports] decorator on each
+    dynamics function and describe which optional inputs the model accepts.
+
+    Args:
+        model: A dynamics function, or a ``functools.partial`` wrapping one (as
+            returned by [parametrize][drone_models.parametrize]).
+
+    Returns:
+        A dict of feature names to booleans. Currently contains:
+            - ``"rotor_dynamics"``: ``True`` if the model accepts and integrates
+              ``rotor_vel``, ``False`` if passing ``rotor_vel`` raises a
+              ``ValueError``.
+
+    Example:
+        ```python
+        from drone_models import model_features
+        from drone_models.first_principles import dynamics
+
+        model_features(dynamics)  # {'rotor_dynamics': True}
+        ```
+    """
+    if hasattr(model, "func"):  # Is a partial function
+        return model_features(model.func)
+    return getattr(model, "__drone_model_features__")

drone_models/_typing.py

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+"""This file is to be remove later as soon as a proper typing is available by the official array-api."""
+
+from typing import Any, TypeAlias
+
+import numpy.typing as npt
+
+Array: TypeAlias = Any  # To be changed to array_api_typing later
+ArrayLike: TypeAlias = Array | npt.ArrayLike

drone_models/core.py

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+"""Core tools for registering and capability checking for the drone models."""
+
+from __future__ import annotations
+
+import inspect
+import tomllib
+import warnings
+from functools import partial, wraps
+from pathlib import Path
+from typing import TYPE_CHECKING, Any, Callable, ParamSpec, TypeVar
+
+import numpy as np
+
+if TYPE_CHECKING:
+    from types import ModuleType
+
+    from drone_models._typing import Array  # To be changed to array_api_typing later
+
+
+F = TypeVar("F", bound=Callable[..., Any])
+P = ParamSpec("P")
+R = TypeVar("R")
+
+
+def supports(rotor_dynamics: bool = True) -> Callable[[F], F]:
+    """Decorator that declares which optional inputs a dynamics function supports.
+
+    Wraps the decorated function so that:
+
+    * If ``rotor_dynamics=False`` and the caller passes ``rotor_vel``, a
+      ``ValueError`` is raised immediately.
+    * If ``rotor_dynamics=True`` and the caller omits ``rotor_vel``, a
+      ``UserWarning`` is issued and the commanded value is used directly.
+
+    The decorator also attaches a ``__drone_model_features__`` attribute to the
+    wrapper, which [model_features][drone_models.model_features] reads.
+
+    Args:
+        rotor_dynamics: Whether the decorated function models rotor velocity
+            dynamics. Set to ``False`` for models that do not accept or integrate
+            ``rotor_vel`` (e.g. ``so_rpy``). Defaults to ``True``.
+
+    Returns:
+        A decorator that wraps the dynamics function with the capability checks
+        described above.
+    """
+
+    def decorator(fn: F) -> F:
+        @wraps(fn)
+        def wrapper(
+            pos: Array,
+            quat: Array,
+            vel: Array,
+            ang_vel: Array,
+            cmd: Array,
+            rotor_vel: Array | None = None,
+            *args: Any,
+            **kwargs: Any,
+        ) -> tuple[Array, Array, Array, Array, Array | None]:
+            if not rotor_dynamics and rotor_vel is not None:
+                raise ValueError("Rotor dynamics not supported, but rotor_vel is provided.")
+            if rotor_dynamics and rotor_vel is None:
+                warnings.warn("Rotor velocity not provided, using commanded rotor velocity.")
+            return fn(pos, quat, vel, ang_vel, cmd, rotor_vel, *args, **kwargs)
+
+        wrapper.__drone_model_features__ = {"rotor_dynamics": rotor_dynamics}
+
+        return wrapper  # type: ignore
+
+    return decorator
+
+
+def parametrize(
+    fn: Callable[P, R], drone_model: str, xp: ModuleType | None = None, device: str | None = None
+) -> Callable[P, R]:
+    """Parametrize a dynamics function with the default dynamics parameters for a drone model.
+
+    Args:
+        fn: The dynamics function to parametrize.
+        drone_model: The drone model to use.
+        xp: The array API module to use. If not provided, numpy is used.
+        device: The device to use. If none, the device is inferred from the xp module.
+
+    Example:
+        ```{ .python notest }
+        from drone_models.core import parametrize
+        from drone_models.first_principles import dynamics
+
+        dynamics_fn = parametrize(dynamics, drone_model="cf2x_L250")
+        pos_dot, quat_dot, vel_dot, ang_vel_dot, rotor_vel_dot = dynamics_fn(
+            pos=pos, quat=quat, vel=vel, ang_vel=ang_vel, cmd=cmd, rotor_vel=rotor_vel
+        )
+        ```
+
+    Returns:
+        The parametrized dynamics function with all keyword argument only parameters filled in.
+    """
+    try:
+        xp = np if xp is None else xp
+        physics = fn.__module__.split(".")[-2]
+        sig = inspect.signature(fn)
+        kwonly_params = [
+            name
+            for name, param in sig.parameters.items()
+            if param.kind == inspect.Parameter.KEYWORD_ONLY
+        ]
+        params = load_params(physics, drone_model, xp=xp)
+        params = {k: xp.asarray(v, device=device) for k, v in params.items() if k in kwonly_params}
+    except KeyError as e:
+        raise KeyError(
+            f"Model `{physics}` does not exist in the parameter registry for drone `{drone_model}`"
+        ) from e
+    except ValueError as e:
+        raise ValueError(f"Drone model `{drone_model}` not supported for `{physics}`") from e
+    return partial(fn, **params)
+
+
+def load_params(physics: str, drone_model: str, xp: ModuleType | None = None) -> dict:
+    """Load and merge physical and model-specific parameters for a drone configuration.
+
+    Reads parameters from two TOML files:
+
+    * ``drone_models/data/params.toml`` — physical parameters shared across all
+      models (mass, inertia, thrust curves, …).
+    * ``drone_models/<physics>/params.toml`` — model-specific coefficients
+      (e.g. fitted RPY coefficients for ``so_rpy``).
+
+    The two dicts are merged (model-specific values take precedence), and
+    ``J_inv`` is computed from ``J`` and added to the result.
+
+    Args:
+        physics: Name of the model sub-package, e.g. ``"first_principles"``,
+            ``"so_rpy"``, ``"so_rpy_rotor"``, or ``"so_rpy_rotor_drag"``.
+        drone_model: Name of the drone configuration, e.g. ``"cf2x_L250"``.
+            Must exist as a section in both TOML files.
+        xp: Array API module used to convert parameter values. If ``None``,
+            NumPy is used.
+
+    Returns:
+        A flat dict mapping parameter names to arrays (or scalars) in the
+        requested array namespace.  Always contains at least ``mass``, ``J``,
+        ``J_inv``, ``gravity_vec``, and the model-specific coefficients for
+        ``physics``.
+
+    Raises:
+        KeyError: If ``drone_model`` is not found in either TOML file, or if
+            ``physics`` does not correspond to a known sub-package.
+    """
+    xp = np if xp is None else xp
+    with open(Path(__file__).parent / "data/params.toml", "rb") as f:
+        physical_params = tomllib.load(f)
+    if drone_model not in physical_params:
+        raise KeyError(f"Drone model `{drone_model}` not found in data/params.toml")
+    with open(Path(__file__).parent / f"{physics}/params.toml", "rb") as f:
+        model_params = tomllib.load(f)
+    if drone_model not in model_params:
+        raise KeyError(f"Drone model `{drone_model}` not found in model params.toml")
+    params = physical_params[drone_model] | model_params[drone_model]
+    # Make sure J_inv does not have a dtype fixed before conversion to xp arrays to avoid fixing it
+    # to np.float64 when other frameworks might prefer a different dtype.
+    params["J_inv"] = np.linalg.inv(params["J"]).tolist()
+    params = {k: xp.asarray(v) for k, v in params.items()}  # if k in fields
+    return params

drone_models/data/cf21B_500.xml

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+<mujoco model="cf21B">
+  <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
+
+  <asset>
+    <material name="black" rgba="0.102 0.102 0.102 1"/>
+    <material name="gray" rgba="0.3 0.3 0.3 1"/>
+    <material name="light-gray" rgba="0.7 0.7 0.7 1"/>
+    <material name="silver" rgba="0.898 0.898 0.898 1"/>
+    <material name="gold" rgba="0.969 0.878 0.6 1"/>
+    <material name="green" rgba="0.522 0.902 0.145 1"/>
+    <!-- The LED materials are initially transparent and can be changed dynamically -->
+    <material name="led_top" rgba="1.0 1.0 1.0 0.0"/>
+    <material name="led_bot" rgba="1.0 1.0 1.0 0.0"/>
+
+    <mesh name="pcb" file="cf21B/cf21B_pcb.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="motors" file="cf21B/cf21B_motors.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="propL" file="cf21B/cf21B_PropL.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="propR" file="cf21B/cf21B_PropR.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="prop-guards" file="cf21B/cf21B_prop-guards.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="connectors" file="cf21B/cf21B_connectors.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="connector-pins" file="cf21B/cf21B_connector-pins.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="battery" file="cf21B/cf21B_battery.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="battery-holder" file="cf21B/cf21B_battery-holder.stl" scale="1e-3 1e-3 1e-3"/>
+    <mesh name="led-diffusor" file="cf21B/cf_led-diffusor.stl" scale="1e-3 1e-3 1e-3"/>
+  </asset>
+
+  <default>
+    <default class="cf21B">
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="3" condim="1" />
+      </default>
+      <site group="5" />
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="drone" pos="0 0 0.05" childclass="cf21B">
+      <site name="CoM" />
+      <inertial pos="0.0 0.0 0.0" mass="0.04338" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5" />
+      
+      <!-- Meshes -->
+      <geom mesh="pcb" material="gray" class="visual" />
+      <geom mesh="motors" material="black" class="visual" />
+      <geom mesh="prop-guards" material="black" class="visual" />
+      <geom mesh="connectors" material="black" class="visual" />
+      <geom mesh="connector-pins" material="gold" class="visual" />
+      <geom mesh="battery" material="light-gray" class="visual" />
+      <geom mesh="battery-holder" material="black" class="visual" />
+      <geom name="led_top" mesh="led-diffusor" material="led_top" class="visual" pos="0 0 0.015" euler="180 0 0"/>
+      <geom name="led_bot" mesh="led-diffusor" material="led_bot" class="visual" pos="0 0 -0.002"/>
+      
+      <!-- Collision geometry is estimated based on the visual mesh. We use a sphere for maximum
+       computational efficiency with larger swarms. Used by default-->
+      <geom  name="col_sphere" type="sphere" size="0.086" pos="0 0 0.02" class="collision" contype="1" conaffinity="1" />
+      <!-- For higher accuracy with lower performance, you can use a box. By default off. -->
+      <geom  name="col_box" type="box" size="0.07 0.07 0.02" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
+
+      <!-- Motors and Propellers -->
+      <site name="motor0" pos="0.03536 -0.03536 0.0" />
+      <site name="motor1" pos="-0.03536 -0.03536 0.0" />
+      <site name="motor2" pos="-0.03536 0.03536 0.0" />
+      <site name="motor3" pos="0.03536 0.03536 0.0" />
+      <body name="prop0" pos="0.03536 -0.03536 0.012" euler="0 0 45">
+        <geom mesh="propL" material="green" class="visual"/>
+      </body>
+      <body name="prop1" pos="-0.03536 -0.03536 0.012" euler="0 0 135">
+        <geom mesh="propR" material="green" class="visual"/>
+      </body>
+      <body name="prop2" pos="-0.03536 0.03536 0.012" euler="0 0 225">
+        <geom mesh="propL" material="green" class="visual"/>
+      </body>
+      <body name="prop3" pos="0.03536 0.03536 0.012" euler="0 0 315">
+        <geom mesh="propR" material="green" class="visual"/>
+      </body>
+
+      <!-- Cameras -->
+      <camera name="track_cam" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
+      <camera name="fpv_cam" pos="0.03 0 0" euler="0 -90 -90" fovy="70" resolution="640 480" />
+    </body>
+  </worldbody>
+
+  <!-- Actuators 
+  We do not limit the actuation range of the motors here, because we would need to synchronize the
+  control limits from our constants module with the ones in the MuJoCo model. Instead, we rely on
+  the controller simulation for proper clipping. 
+  -->
+  <actuator>
+    <motor gear="0 0 1 0 0 0" site="motor0" name="motor0_force" />
+    <motor gear="0 0 1 0 0 0" site="motor1" name="motor1_force" />
+    <motor gear="0 0 1 0 0 0" site="motor2" name="motor2_force" />
+    <motor gear="0 0 1 0 0 0" site="motor3" name="motor3_force" />
+    <motor gear="0 0 0 0 0 1" site="motor0" name="motor0_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor1" name="motor1_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor2" name="motor2_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor3" name="motor3_torque" />
+  </actuator>
+
+</mujoco>

drone_models/data/cf2x_L250.xml

@@ -0,0 +1,101 @@
+<mujoco model="cf2x">
+  <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
+
+  <asset>
+    <material name="black" rgba="0.102 0.102 0.102 1"/>
+    <material name="gray" rgba="0.3 0.3 0.3 1"/>
+    <material name="light-gray" rgba="0.7 0.7 0.7 1"/>
+    <material name="silver" rgba="0.898 0.898 0.898 1"/>
+    <material name="white" rgba="1 1 1 0.3"/>
+    <material name="gold" rgba="0.969 0.878 0.6 1"/>
+    <!-- The LED materials are initially transparent and can be changed dynamically -->
+    <material name="led_top" rgba="1.0 1.0 1.0 0.0"/>
+    <material name="led_bot" rgba="1.0 1.0 1.0 0.0"/>
+
+    <mesh name="pcb" file="cf2x/cf2x_pcb.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="motors" file="cf2x/cf2xL_motors.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="motor-holder" file="cf2x/cf2x_motor-holder.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="propL" file="cf2x/cf2xL_PropL.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="propR" file="cf2x/cf2xL_PropR.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="connectors" file="cf2x/cf2x_connectors.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="connector-pins" file="cf2x/cf2x_connector-pins.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="battery" file="cf2x/cf2x_battery.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="battery-holder" file="cf2x/cf2x_battery-holder.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="led-diffusor" file="cf21B/cf_led-diffusor.stl" scale="1e-3 1e-3 1e-3"/>
+  </asset>
+
+  <default>
+    <default class="cf2x">
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="3" condim="1" />
+      </default>
+      <site group="5" />
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="drone" pos="0 0 0.05" childclass="cf2x">
+      <site name="CoM" />
+      <inertial pos="0.0 0.0 0.0" mass="0.027" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5" />
+      
+      <!-- Meshes -->
+      <geom mesh="pcb" material="gray" class="visual" />
+      <geom mesh="motors" material="silver" class="visual" />
+      <geom mesh="motor-holder" material="white" class="visual" />
+      <geom mesh="connectors" material="black" class="visual" />
+      <geom mesh="connector-pins" material="gold" class="visual" />
+      <geom mesh="battery" material="light-gray" class="visual" />
+      <geom mesh="battery-holder" material="black" class="visual" />
+      <geom name="led_top" mesh="led-diffusor" material="led_top" class="visual" pos="0 0 0.008" euler="180 0 0"/>
+      <geom name="led_bot" mesh="led-diffusor" material="led_bot" class="visual" pos="0 0 -0.003"/>
+
+      <!-- Collision geometry is estimated based on the visual mesh. We use a sphere for maximum
+       computational efficiency with larger swarms. Used by default-->
+      <geom  name="col_sphere" type="sphere" size="0.07" pos="0 0 0.005" class="collision" contype="1" conaffinity="1" />
+      <!-- For higher accuracy with lower performance, you can use a box. By default off. -->
+      <geom  name="col_box" type="box" size="0.055 0.055 0.02" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
+
+      <!-- Motors and Propellers -->
+      <site name="motor0" pos="0.0325 -0.0325 0.0" />
+      <site name="motor1" pos="-0.0325 -0.0325 0.0" />
+      <site name="motor2" pos="-0.0325 0.0325 0.0" />
+      <site name="motor3" pos="0.0325 0.0325 0.0" />
+      <body name="prop0" pos="0.0325 -0.0325 0.012" euler="0 0 45">
+        <geom mesh="propL" material="black" class="visual"/>
+      </body>
+      <body name="prop1" pos="-0.0325 -0.0325 0.012" euler="0 0 135">
+        <geom mesh="propR" material="black" class="visual"/>
+      </body>
+      <body name="prop2" pos="-0.0325 0.0325 0.012" euler="0 0 225">
+        <geom mesh="propL" material="black" class="visual"/>
+      </body>
+      <body name="prop3" pos="0.0325 0.0325 0.012" euler="0 0 315">
+        <geom mesh="propR" material="black" class="visual"/>
+      </body>
+
+      <!-- Cameras -->
+      <camera name="track_cam" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
+      <camera name="fpv_cam" pos="0.03 0 0" euler="0 -90 -90" fovy="70" resolution="640 480" />
+    </body>
+  </worldbody>
+
+  <!-- Actuators 
+  We do not limit the actuation range of the motors here, because we would need to synchronize the
+  control limits from our constants module with the ones in the MuJoCo model. Instead, we rely on
+  the controller simulation for proper clipping. 
+  -->
+  <actuator>
+    <motor gear="0 0 1 0 0 0" site="motor0" name="motor0_force" />
+    <motor gear="0 0 1 0 0 0" site="motor1" name="motor1_force" />
+    <motor gear="0 0 1 0 0 0" site="motor2" name="motor2_force" />
+    <motor gear="0 0 1 0 0 0" site="motor3" name="motor3_force" />
+    <motor gear="0 0 0 0 0 1" site="motor0" name="motor0_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor1" name="motor1_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor2" name="motor2_torque" />
+    <motor gear="0 0 0 0 0 1" site="motor3" name="motor3_torque" />
+  </actuator>
+
+</mujoco>