Fix outdated physics modes

Author: amacati

README.md

@@ -30,8 +30,10 @@ The simulation is built as a pipeline of functions that are composed at initiali
 
 #### Physics Backends
 Multiple physics models are supported:
-- analytical: A first-principles model based on physical equations
-- sys_id: A system-identified model trained on real drone data
+- first_principles: A first-principles model based on physical equations
+- so_rpy: A system-identified model trained on real drone data
+- so_rpy_rotor: An enhanced system-identified model that includes thrust dynamics
+- so_rpy_rotor_drag: A system-identified model that includes thrust dynamics and drag effects
 
 #### Control Modes
 Different control interfaces are available:

benchmark/op_count.py

@@ -4,7 +4,7 @@
 
 def main():
     """Main entry point for profiling."""
-    sim = Sim(n_worlds=1, n_drones=1, physics="analytical", control="attitude")
+    sim = Sim(n_worlds=1, n_drones=1, physics="first_principles", control="attitude")
 
     compiled_reset = sim._reset.lower(sim.data, sim.default_data, None).compile()
     compiled_step = sim._step.lower(sim.data, 1).compile()

benchmark/performance.py

@@ -77,7 +77,7 @@ def main():
     sim_config = config_dict.ConfigDict()
     sim_config.n_worlds = 1
     sim_config.n_drones = 1
-    sim_config.physics = "analytical"
+    sim_config.physics = "first_principles"
     sim_config.control = "attitude"
     sim_config.device = device
 

crazyflow/randomize/randomize.py

@@ -15,9 +15,6 @@ def randomize_mass(sim: Sim, mass: Array, mask: Array | None = None):
         mass: The new masses. The shape always needs to be (n_worlds, n_drones).
         mask: Boolean array of shape (n_worlds, ) that indicates which worlds to reset. If None,
             all worlds are reset.
-
-    Warning:
-        This currently only works for analytical dynamics.
     """
     sim.data = _randomize_mass_params(sim.data, mass, mask)
 
@@ -32,7 +29,7 @@ def randomize_inertia(sim: Sim, J: Array, mask: Array | None = None):
             all worlds are reset.
 
     Warning:
-        This currently only works for analytical dynamics.
+        This only works for first_principles dynamics.
     """
     if not J.shape == (sim.n_worlds, sim.n_drones, 3, 3):
         raise ValueError(f"Inertia tensor must have shape (n_worlds, n_drones, 3, 3), is {J.shape}")

examples/render.py

@@ -12,7 +12,7 @@ def main():
     sim = Sim(n_worlds=n_worlds, n_drones=n_drones, physics=Physics.so_rpy, device="cpu")
     fps = 60
     cmd = np.zeros((sim.n_worlds, sim.n_drones, 4))
-    cmd[..., 3] = sim.data.params.mass[0, 0, 0] * 9.81 * 0.5
+    cmd[..., 3] = sim.data.params.mass[0, 0, 0] * 9.81
     rgbas = np.random.default_rng(0).uniform(0, 1, (n_drones, 4))
     rgbas[..., 3] = 1.0