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Control of Unknown Quadrotors from a Single Throw

To reproduce the simulation results (and figure/videos from experimental data) of our IROS 2024 paper "Control of Unknown Quadrotors from a Single Throw", install docker (https://docs.docker.com/engine/install/) and follow the steps below.

NOTE: Only tested on Ubuntu 22.04.

NOTE 2: All commands have to be run from the root of this repository, not from this directory.

NOTE 3: To modify the randomization parameters, see simRandomQuad.py,

NOTE 4: To fly custom configurations in simulation, see Simulation/README.md folder.

Steps to reproduce Simulation

Build container (this also compiles the correct version of indiflight)

docker build . -t pyndiflight-iros2024 -f Simulation/sil-githash.Dockerfile \
    --build-arg COMMIT=85e336c1e                                            \
    --build-arg BUILD_CONFIG=Documentation/Papers/IROS2024/IndiflightConfig.mk

Run container with the python simulation configuration (--num 1000 was used in the paper, but takes long to sim and to analyze)

docker run -it -p 5000:5000                                                \
    -v ./Documentation/Papers/IROS2024/simRandomQuad.py:/sim.py            \
    -v ./Documentation/Papers/IROS2024/IndiflightProfile.txt:/profile.txt  \
    pyndiflight-iros2024 --sil-log --no-real-time --num 20

Copy logs from most recently run container:

docker cp $(docker ps -alq):/logs/. ./logs-simulation

Steps to reproduce plots from dataset or simulation output

Create a new python venv, just to be sure about dependencies

python -m venv ~/.indiflight-venv
source ~/.indiflight-venv/bin/activate

Install dependencies:

pip install --upgrade pip
pip install -r LogAnalysis/indiflightLogTools/requirements.txt
pip install -r Simulation/requirements.txt

Download the dataset http://doi.org/10.4121/0530be90-cc6c-4029-9774-670657882906 on some location on your machine. If you want, substitute the simulation data with the output of your own simulations above

Generate plots and tables (they will appear in LogAnalysis/IROS2024/figures):

python3 Documentation/Papers/IROS2024/generateFigures.py /path/to/dataset
python3 Documentation/Papers/IROS2024/generateVideo.py /path/to/dataset

NOTE: unfortunately, importing the binary datafiles is quite slow... NOTE: the original plots were generated with "text.usetex": True, but that requires a Latex installation. For portability, this is turned off by default here. NOTE: running this will create cache files of the data, so they can be imported faster in the future. To delete the cache, run python3 -c "from LogAnalysis.indiflightLogTools import IndiflightLog; IndiflightLog.clearCache()"