Add nominal yaw dynamics.

Set default window size.

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([0.0, 0.0, 0.0]),
+    "yaw_acc": np.array([-60.0, -10.0, 120.0]),
 }
 
 

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 = 640,
-        height: int = 480,
+        width: int = 1280,
+        height: int = 720,
     ) -> NDArray | None:
         if self.viewer is None:
             self.mj_model.vis.global_.offwidth = width