Synchronize default yaw params in symbolic model.

Author: yufei4hua

crazyflow/sim/physics.py

@@ -15,7 +15,7 @@
     "acc": np.array([20.907574256269616, 3.653687545690674]),
     "roll_acc": np.array([-130.3, -16.33, 119.3]),
     "pitch_acc": np.array([-99.94, -13.3, 84.73]),
-    "yaw_acc": np.array([-60.0, -10.0, 120.0]),
+    "yaw_acc": np.array([-60.0, -10.0, 140.0]),
 }
 
 

crazyflow/sim/sim.py

@@ -156,8 +156,8 @@ def render(
         mode: str | None = "human",
         world: int = 0,
         default_cam_config: dict | None = None,
-        width: int = 1280,
-        height: int = 720,
+        width: int = 1920,
+        height: int = 1080,
     ) -> NDArray | None:
         if self.viewer is None:
             self.mj_model.vis.global_.offwidth = width

crazyflow/sim/symbolic.py

@@ -194,7 +194,7 @@ def symbolic_attitude(dt: float, params: dict | None = None) -> SymbolicModel:
     # system matrix ill-conditioned for control methods like LQR. Therefore, we introduce a small
     # spring-like term to the yaw dynamics that leads to a non-singular system matrix.
     # TODO: identify proper parameters for yaw_rate from real data.
-    ya, yb, yc = params.get("ya", -0.01), params.get("yb", 0), params.get("yc", 0)
+    ya, yb, yc = params.get("ya", -60.0), params.get("yb", -10.0), params.get("yc", 140.0)
 
     # Define dynamics equations.
     X_dot = cs.vertcat(