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Fix rotor vel clipping #109

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Merged
ratheron merged 1 commit into from
Sep 10, 2026
Merged

Fix rotor vel clipping #109

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7 changes: 4 additions & 3 deletions crazyflow/sim/sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
import jax.numpy as jnp
import mujoco
import mujoco.mjx as mjx
import numpy as np
from gymnasium.envs.mujoco.mujoco_rendering import MujocoRenderer
from jax import Array, Device

Expand Down Expand Up @@ -676,13 +677,13 @@ def clip_floor_pos(data: SimData) -> SimData:
return data.replace(states=data.states.replace(pos=clip_pos, vel=clip_vel))


def rotor_vel_limits(dynamics: Dynamics, drone: str) -> tuple[Array | float, Array | float]:
def rotor_vel_limits(dynamics: Dynamics, drone: str) -> tuple[float, float]:
"""Limits of ``rotor_vel`` in RPM (first principles) or collective thrust in N (others)."""
params = load_drone_params(drone)
thrust_min, thrust_max = params["thrust_min"], params["thrust_max"]
if dynamics == Dynamics.first_principles:
rpm = motor_force2rotor_vel(jnp.asarray([thrust_min, thrust_max]), params["rpm2thrust"])
return rpm[0], rpm[1]
rpm = motor_force2rotor_vel(np.asarray([thrust_min, thrust_max]), params["rpm2thrust"])
return float(rpm[0]), float(rpm[1])
return 4 * thrust_min, 4 * thrust_max


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