udaan 1.0.1__tar.gz

udaan-1.0.1/.gitignore

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+MUJOCO_LOG.TXT
+
+# Runtime-generated MJCF files
+udaan/models/assets/mjcf/multi_quad_pointmass_*q.xml
+udaan/models/assets/mjcf/fleet_*.xml
+
+# Folders
+.vscode/
+.idea/
+
+.DS_Store
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
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+# Spyder project settings
+.spyderproject
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+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Ruff cache
+.ruff_cache/
+
+# Planning docs (local only)
+GYMNASIUM_PLAN.md
+LANDSCAPE.md
+refactor.md

udaan-1.0.1/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2023, Prasanth Kotaru
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

udaan-1.0.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: udaan
+Version: 1.0.1
+Summary: Quadrotor dynamics and control for cable-suspended payload systems
+Project-URL: Homepage, https://github.com/vkotaru/udaan
+Project-URL: Documentation, https://udaan.readthedocs.io
+Project-URL: Repository, https://github.com/vkotaru/udaan
+Project-URL: Issues, https://github.com/vkotaru/udaan/issues
+Author: Prasanth Kotaru
+License-Expression: BSD-3-Clause
+License-File: LICENSE
+Keywords: SE3,SO3,cable-suspended-payload,control,geometric-control,mujoco,quadrotor,robotics,simulation
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Typing :: Typed
+Requires-Python: >=3.10
+Requires-Dist: matplotlib>=3.7
+Requires-Dist: mujoco>=3.0
+Requires-Dist: numpy>=1.24
+Requires-Dist: scipy>=1.10
+Requires-Dist: typer>=0.9
+Provides-Extra: all
+Requires-Dist: control>=0.9; extra == 'all'
+Requires-Dist: gymnasium>=0.29; extra == 'all'
+Requires-Dist: hypothesis>=6.82; extra == 'all'
+Requires-Dist: mujoco>=3.0; extra == 'all'
+Requires-Dist: mypy>=1.5; extra == 'all'
+Requires-Dist: myst-parser>=2.0; extra == 'all'
+Requires-Dist: pre-commit>=3.4; extra == 'all'
+Requires-Dist: pytest-benchmark>=4.0; extra == 'all'
+Requires-Dist: pytest-cov>=4.1; extra == 'all'
+Requires-Dist: pytest>=7.4; extra == 'all'
+Requires-Dist: ruff>=0.1; extra == 'all'
+Requires-Dist: sphinx-autodoc-typehints>=1.24; extra == 'all'
+Requires-Dist: sphinx-rtd-theme>=1.3; extra == 'all'
+Requires-Dist: sphinx>=7.2; extra == 'all'
+Requires-Dist: stable-baselines3>=2.0; extra == 'all'
+Provides-Extra: dev
+Requires-Dist: hypothesis>=6.82; extra == 'dev'
+Requires-Dist: mypy>=1.5; extra == 'dev'
+Requires-Dist: pre-commit>=3.4; extra == 'dev'
+Requires-Dist: pytest-benchmark>=4.0; extra == 'dev'
+Requires-Dist: pytest-cov>=4.1; extra == 'dev'
+Requires-Dist: pytest>=7.4; extra == 'dev'
+Requires-Dist: ruff>=0.1; extra == 'dev'
+Provides-Extra: docs
+Requires-Dist: myst-parser>=2.0; extra == 'docs'
+Requires-Dist: sphinx-autodoc-typehints>=1.24; extra == 'docs'
+Requires-Dist: sphinx-rtd-theme>=1.3; extra == 'docs'
+Requires-Dist: sphinx>=7.2; extra == 'docs'
+Provides-Extra: l1
+Requires-Dist: control>=0.9; extra == 'l1'
+Provides-Extra: mujoco
+Requires-Dist: mujoco>=3.0; extra == 'mujoco'
+Provides-Extra: rl
+Requires-Dist: gymnasium>=0.29; extra == 'rl'
+Requires-Dist: stable-baselines3>=2.0; extra == 'rl'
+Description-Content-Type: text/markdown
+
+<p align="center">
+  <img src=".media/logo.png" width="240" alt="udaan — aerial robotics framework"/>
+</p>
+
+<p align="center">
+  <strong> A Python mujoco based models and controllers for quadcopter cable-suspended payload systems.</strong>
+</p>
+
+<p align="center">
+  <a href="https://github.com/vkotaru/udaan/actions"><img src="https://img.shields.io/github/actions/workflow/status/vkotaru/udaan/ci.yml?branch=main&style=flat-square&logo=githubactions&logoColor=white&label=CI" alt="CI"></a>
+  <a href="https://github.com/vkotaru/udaan/blob/main/LICENSE"><img src="https://img.shields.io/badge/license-BSD--3--Clause-blue?style=flat-square" alt="License"></a>
+  <a href="https://pypi.org/project/udaan/"><img src="https://img.shields.io/badge/python-3.10%2B-3776AB?style=flat-square&logo=python&logoColor=white" alt="Python 3.10+"></a>
+  <a href="https://mujoco.org"><img src="https://img.shields.io/badge/MuJoCo-3.0%2B-76B900?style=flat-square&logo=data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIxNiIgaGVpZ2h0PSIxNiI+PHJlY3Qgd2lkdGg9IjE2IiBoZWlnaHQ9IjE2IiByeD0iMyIgZmlsbD0iIzc2QjkwMCIvPjx0ZXh0IHg9IjgiIHk9IjEyIiBmb250LXNpemU9IjEwIiBmaWxsPSJ3aGl0ZSIgdGV4dC1hbmNob3I9Im1pZGRsZSIgZm9udC1mYW1pbHk9InNhbnMtc2VyaWYiIGZvbnQtd2VpZ2h0PSJib2xkIj5NPC90ZXh0Pjwvc3ZnPg==&logoColor=white" alt="MuJoCo"></a>
+</p>
+
+---
+
+<p align="center">
+  <img src=".media/quadrotor.gif" width="250" alt="Quadrotor"/>
+  <img src=".media/quad_payload_tendon.gif" width="250" alt="Quad + Payload (tendon)"/>
+  <img src=".media/quad_payload_links.gif" width="250" alt="Quad + Payload (links)"/>
+</p>
+<p align="center">
+  <img src=".media/multi_quad_pointmass.gif" width="250" alt="Multi-Quad Pointmass"/>
+  <img src=".media/multi_quad_rigid.gif" width="250" alt="Multi-Quad Rigidbody"/>
+  <img src=".media/fleet_l1.gif" width="250" alt="Fleet L1 Comparison"/>
+</p>
+
+---
+
+> Developed as part of the thesis: _Dynamics and Control for Collaborative Aerial Manipulation_ ([Kotaru, 2022](https://github.com/vkotaru)).
+> Original research code: [vkotaru/floating_models](https://github.com/vkotaru/floating_models). This package is the cleaned-up public release, refactored with [Claude](https://claude.ai).
+
+## Features
+
+|                                                      |                                                                    |
+| ---------------------------------------------------- | ------------------------------------------------------------------ |
+| :helicopter: **Quadrotor dynamics**                  | Single and multi-vehicle SE(3) rigid-body simulation               |
+| :control_knobs: **Geometric controllers**            | PD on SE(3), L1 adaptive on SO(3), force allocation                |
+| :chains: **Cable-suspended payloads**                | Tendon and multi-link cable models with S2 pendulum dynamics       |
+| :people_holding_hands: **Cooperative transport**     | N-quadrotor point-mass and rigid-body payload systems              |
+| :joystick: **MuJoCo integration**                    | Physics-backed simulation with GLFW rendering and GIF recording    |
+| :straight_ruler: **Manifold library**                | SO(3), S2 exponential maps, geodesic stepping, config errors       |
+| :chart_with_upwards_trend: **Trajectory generation** | Polynomial, circular, Lissajous, and smooth reference trajectories |
+| :desktop_computer: **CLI interface**                 | `udaan run` commands for quick demos and experiments               |
+
+## Installation
+
+```bash
+pip install -e .
+```
+
+MuJoCo is included as a core dependency. VPython visualization is optional:
+
+```bash
+pip install -e ".[all]"
+```
+
+## Quick Start
+
+### CLI
+
+```bash
+udaan run quadrotor -t 10                             # quadrotor with geometric control
+udaan run quad-payload -t 10 -m tendon                # quadrotor + cable-suspended payload
+udaan run multi-quad -n 3 -t 10                       # multi-quadrotor cooperative payload
+udaan run multi-quad-rigid -t 10                      # multi-quadrotor rigid-body payload
+udaan run fleet --demo l1-comparison -t 10            # L1 vs PD controller comparison
+udaan run fleet --demo gain-sweep -t 10               # PD gain tuning comparison
+udaan run quadrotor -t 5 -r out.gif                   # record to GIF
+```
+
+### Python
+
+```python
+import udaan as U
+import numpy as np
+
+mdl = U.models.mujoco.Quadrotor(render=True)
+mdl.simulate(tf=10, position=np.array([1., 1., 0.]))
+```
+
+## Documentation
+
+<details>
+<summary><strong>:pushpin: Controller roadmap</strong></summary>
+
+| Controller                    | System             | Status                                    | Reference                                                                          |
+| ----------------------------- | ------------------ | ----------------------------------------- | ---------------------------------------------------------------------------------- |
+| Geometric PD (SE(3))          | Quadrotor          | :white_check_mark: Implemented            | [Lee, Leok, McClamroch 2010](https://ieeexplore.ieee.org/document/5717652)         |
+| Geometric L1 Adaptive (SO(3)) | Quadrotor          | :white_check_mark: Implemented            | [Kotaru, Wu, Sreenath 2020](https://doi.org/10.1115/1.4045558)                     |
+| Geometric PD (SE(3) x S2)     | Quad + Payload     | :white_check_mark: Implemented            | [Sreenath, Lee, Kumar 2013](https://ieeexplore.ieee.org/abstract/document/6760219) |
+| Propeller Force Allocation    | Quadrotor          | :white_check_mark: Implemented            | —                                                                                  |
+| Differential Flatness         | Quad + Payload     | :construction: Partial (flat2state utils) | [Sreenath, Lee, Kumar 2013](https://ieeexplore.ieee.org/abstract/document/6760219) |
+| NLMPC (CasADi)                | Quadrotor          | :memo: Planned                            | —                                                                                  |
+| VBLMPC                        | Quad + Payload     | :memo: Planned                            | [Kotaru, Sreenath 2020](https://hybrid-robotics.berkeley.edu/publications/)        |
+| Geometric PD                  | Multi-Quad Payload | :memo: Planned                            | [Lee 2014](https://ieeexplore.ieee.org/document/6907452)                           |
+| RL (Gymnasium)                | All                | :memo: Planned                            | —                                                                                  |
+
+</details>
+
+<details>
+<summary><strong>:package: Package API reference</strong></summary>
+
+### Base Models (`udaan.models.base`)
+
+Math-only dynamics, no simulator dependency.
+
+| Model                            | State Space | Description                                          |
+| -------------------------------- | ----------- | ---------------------------------------------------- |
+| `Quadrotor`                      | SE(3)       | Rigid body quadrotor, wrench/accel/prop-force inputs |
+| `QuadrotorCSPayload`             | SE(3) x S2  | Quadrotor + cable-suspended point-mass payload       |
+| `FloatingPointmass`              | R3          | 3D point mass with gravity                           |
+| `S2Pendulum`                     | S2          | Spherical pendulum on the 2-sphere                   |
+| `PointmassSuspendedPayload`      | R3 x S2     | Single point-mass agent with suspended payload       |
+| `MultiPointmassSuspendedPayload` | R3 x (S2)^n | Multiple point-mass agents, shared payload           |
+
+### MuJoCo Models (`udaan.models.mujoco`)
+
+MuJoCo-backed physics with GLFW visualization.
+
+| Model                       | Description                                        |
+| --------------------------- | -------------------------------------------------- |
+| `Quadrotor`                 | Single quadrotor                                   |
+| `QuadrotorCSPayload`        | Quad + payload (tendon or links cable model)       |
+| `MultiQuadrotorCSPointmass` | N quadrotors, shared point-mass payload            |
+| `MultiQuadRigidbody`        | N quadrotors, shared rigid-body payload            |
+| `QuadrotorFleet`            | N independent quadrotors for controller comparison |
+
+### Manifold Library (`udaan.manif`)
+
+| Class/Function          | Description                                      |
+| ----------------------- | ------------------------------------------------ |
+| `SO3`                   | Rotation matrix with exponential map stepping    |
+| `S2`                    | Unit sphere with geodesic stepping, config error |
+| `hat` / `vee`           | Skew-symmetric matrix operators                  |
+| `rodrigues_expm`        | Rodrigues rotation formula                       |
+| `expm_taylor_expansion` | Matrix exponential Taylor approximation          |
+
+### Utilities (`udaan.utils`)
+
+| Module       | Description                                                       |
+| ------------ | ----------------------------------------------------------------- |
+| `trajectory` | Smooth, polynomial, circular, and Lissajous trajectory generators |
+| `flat2state` | Differential flatness maps for quadrotor and payload systems      |
+| `assets`     | MuJoCo XML model generator                                        |
+| `vfx`        | VPython-based visualization (base models)                         |
+
+</details>
+
+## License
+
+BSD 3-Clause License. See [LICENSE](LICENSE) for details.

udaan-1.0.1/README.md

@@ -0,0 +1,153 @@
+<p align="center">
+  <img src=".media/logo.png" width="240" alt="udaan — aerial robotics framework"/>
+</p>
+
+<p align="center">
+  <strong> A Python mujoco based models and controllers for quadcopter cable-suspended payload systems.</strong>
+</p>
+
+<p align="center">
+  <a href="https://github.com/vkotaru/udaan/actions"><img src="https://img.shields.io/github/actions/workflow/status/vkotaru/udaan/ci.yml?branch=main&style=flat-square&logo=githubactions&logoColor=white&label=CI" alt="CI"></a>
+  <a href="https://github.com/vkotaru/udaan/blob/main/LICENSE"><img src="https://img.shields.io/badge/license-BSD--3--Clause-blue?style=flat-square" alt="License"></a>
+  <a href="https://pypi.org/project/udaan/"><img src="https://img.shields.io/badge/python-3.10%2B-3776AB?style=flat-square&logo=python&logoColor=white" alt="Python 3.10+"></a>
+  <a href="https://mujoco.org"><img src="https://img.shields.io/badge/MuJoCo-3.0%2B-76B900?style=flat-square&logo=data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIxNiIgaGVpZ2h0PSIxNiI+PHJlY3Qgd2lkdGg9IjE2IiBoZWlnaHQ9IjE2IiByeD0iMyIgZmlsbD0iIzc2QjkwMCIvPjx0ZXh0IHg9IjgiIHk9IjEyIiBmb250LXNpemU9IjEwIiBmaWxsPSJ3aGl0ZSIgdGV4dC1hbmNob3I9Im1pZGRsZSIgZm9udC1mYW1pbHk9InNhbnMtc2VyaWYiIGZvbnQtd2VpZ2h0PSJib2xkIj5NPC90ZXh0Pjwvc3ZnPg==&logoColor=white" alt="MuJoCo"></a>
+</p>
+
+---
+
+<p align="center">
+  <img src=".media/quadrotor.gif" width="250" alt="Quadrotor"/>
+  <img src=".media/quad_payload_tendon.gif" width="250" alt="Quad + Payload (tendon)"/>
+  <img src=".media/quad_payload_links.gif" width="250" alt="Quad + Payload (links)"/>
+</p>
+<p align="center">
+  <img src=".media/multi_quad_pointmass.gif" width="250" alt="Multi-Quad Pointmass"/>
+  <img src=".media/multi_quad_rigid.gif" width="250" alt="Multi-Quad Rigidbody"/>
+  <img src=".media/fleet_l1.gif" width="250" alt="Fleet L1 Comparison"/>
+</p>
+
+---
+
+> Developed as part of the thesis: _Dynamics and Control for Collaborative Aerial Manipulation_ ([Kotaru, 2022](https://github.com/vkotaru)).
+> Original research code: [vkotaru/floating_models](https://github.com/vkotaru/floating_models). This package is the cleaned-up public release, refactored with [Claude](https://claude.ai).
+
+## Features
+
+|                                                      |                                                                    |
+| ---------------------------------------------------- | ------------------------------------------------------------------ |
+| :helicopter: **Quadrotor dynamics**                  | Single and multi-vehicle SE(3) rigid-body simulation               |
+| :control_knobs: **Geometric controllers**            | PD on SE(3), L1 adaptive on SO(3), force allocation                |
+| :chains: **Cable-suspended payloads**                | Tendon and multi-link cable models with S2 pendulum dynamics       |
+| :people_holding_hands: **Cooperative transport**     | N-quadrotor point-mass and rigid-body payload systems              |
+| :joystick: **MuJoCo integration**                    | Physics-backed simulation with GLFW rendering and GIF recording    |
+| :straight_ruler: **Manifold library**                | SO(3), S2 exponential maps, geodesic stepping, config errors       |
+| :chart_with_upwards_trend: **Trajectory generation** | Polynomial, circular, Lissajous, and smooth reference trajectories |
+| :desktop_computer: **CLI interface**                 | `udaan run` commands for quick demos and experiments               |
+
+## Installation
+
+```bash
+pip install -e .
+```
+
+MuJoCo is included as a core dependency. VPython visualization is optional:
+
+```bash
+pip install -e ".[all]"
+```
+
+## Quick Start
+
+### CLI
+
+```bash
+udaan run quadrotor -t 10                             # quadrotor with geometric control
+udaan run quad-payload -t 10 -m tendon                # quadrotor + cable-suspended payload
+udaan run multi-quad -n 3 -t 10                       # multi-quadrotor cooperative payload
+udaan run multi-quad-rigid -t 10                      # multi-quadrotor rigid-body payload
+udaan run fleet --demo l1-comparison -t 10            # L1 vs PD controller comparison
+udaan run fleet --demo gain-sweep -t 10               # PD gain tuning comparison
+udaan run quadrotor -t 5 -r out.gif                   # record to GIF
+```
+
+### Python
+
+```python
+import udaan as U
+import numpy as np
+
+mdl = U.models.mujoco.Quadrotor(render=True)
+mdl.simulate(tf=10, position=np.array([1., 1., 0.]))
+```
+
+## Documentation
+
+<details>
+<summary><strong>:pushpin: Controller roadmap</strong></summary>
+
+| Controller                    | System             | Status                                    | Reference                                                                          |
+| ----------------------------- | ------------------ | ----------------------------------------- | ---------------------------------------------------------------------------------- |
+| Geometric PD (SE(3))          | Quadrotor          | :white_check_mark: Implemented            | [Lee, Leok, McClamroch 2010](https://ieeexplore.ieee.org/document/5717652)         |
+| Geometric L1 Adaptive (SO(3)) | Quadrotor          | :white_check_mark: Implemented            | [Kotaru, Wu, Sreenath 2020](https://doi.org/10.1115/1.4045558)                     |
+| Geometric PD (SE(3) x S2)     | Quad + Payload     | :white_check_mark: Implemented            | [Sreenath, Lee, Kumar 2013](https://ieeexplore.ieee.org/abstract/document/6760219) |
+| Propeller Force Allocation    | Quadrotor          | :white_check_mark: Implemented            | —                                                                                  |
+| Differential Flatness         | Quad + Payload     | :construction: Partial (flat2state utils) | [Sreenath, Lee, Kumar 2013](https://ieeexplore.ieee.org/abstract/document/6760219) |
+| NLMPC (CasADi)                | Quadrotor          | :memo: Planned                            | —                                                                                  |
+| VBLMPC                        | Quad + Payload     | :memo: Planned                            | [Kotaru, Sreenath 2020](https://hybrid-robotics.berkeley.edu/publications/)        |
+| Geometric PD                  | Multi-Quad Payload | :memo: Planned                            | [Lee 2014](https://ieeexplore.ieee.org/document/6907452)                           |
+| RL (Gymnasium)                | All                | :memo: Planned                            | —                                                                                  |
+
+</details>
+
+<details>
+<summary><strong>:package: Package API reference</strong></summary>
+
+### Base Models (`udaan.models.base`)
+
+Math-only dynamics, no simulator dependency.
+
+| Model                            | State Space | Description                                          |
+| -------------------------------- | ----------- | ---------------------------------------------------- |
+| `Quadrotor`                      | SE(3)       | Rigid body quadrotor, wrench/accel/prop-force inputs |
+| `QuadrotorCSPayload`             | SE(3) x S2  | Quadrotor + cable-suspended point-mass payload       |
+| `FloatingPointmass`              | R3          | 3D point mass with gravity                           |
+| `S2Pendulum`                     | S2          | Spherical pendulum on the 2-sphere                   |
+| `PointmassSuspendedPayload`      | R3 x S2     | Single point-mass agent with suspended payload       |
+| `MultiPointmassSuspendedPayload` | R3 x (S2)^n | Multiple point-mass agents, shared payload           |
+
+### MuJoCo Models (`udaan.models.mujoco`)
+
+MuJoCo-backed physics with GLFW visualization.
+
+| Model                       | Description                                        |
+| --------------------------- | -------------------------------------------------- |
+| `Quadrotor`                 | Single quadrotor                                   |
+| `QuadrotorCSPayload`        | Quad + payload (tendon or links cable model)       |
+| `MultiQuadrotorCSPointmass` | N quadrotors, shared point-mass payload            |
+| `MultiQuadRigidbody`        | N quadrotors, shared rigid-body payload            |
+| `QuadrotorFleet`            | N independent quadrotors for controller comparison |
+
+### Manifold Library (`udaan.manif`)
+
+| Class/Function          | Description                                      |
+| ----------------------- | ------------------------------------------------ |
+| `SO3`                   | Rotation matrix with exponential map stepping    |
+| `S2`                    | Unit sphere with geodesic stepping, config error |
+| `hat` / `vee`           | Skew-symmetric matrix operators                  |
+| `rodrigues_expm`        | Rodrigues rotation formula                       |
+| `expm_taylor_expansion` | Matrix exponential Taylor approximation          |
+
+### Utilities (`udaan.utils`)
+
+| Module       | Description                                                       |
+| ------------ | ----------------------------------------------------------------- |
+| `trajectory` | Smooth, polynomial, circular, and Lissajous trajectory generators |
+| `flat2state` | Differential flatness maps for quadrotor and payload systems      |
+| `assets`     | MuJoCo XML model generator                                        |
+| `vfx`        | VPython-based visualization (base models)                         |
+
+</details>
+
+## License
+
+BSD 3-Clause License. See [LICENSE](LICENSE) for details.