DIM-1842 drone simulator using MuJoCo simulator and Crazyflie 2#2046

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Shreyas0812 wants to merge 18 commits into

dimensionalOS:mainfrom

Shreyas0812:feature/1842-drone-simulator

Commits on Apr 30, 2026

Attempting to solve issuse 1842
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Commits on May 10, 2026

File added -- inspired from unitree_g1_basic_sim and drone_basic. Uses ReplanningAStar (Same as g1) for planning -- yet to be tested
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Done till creating rerun_config, most of the stuff remains the same, drone_rerun_blueprint instead of g1 -- Inspired from unitree_g1_primitive_no_nav
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Rest of the things remain same as g1 as well -- maybe voxel is not needed, will decided to remove later
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Added the imports, making the required files -- MujocoConnection and SimOdometry
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Also needs Odometry in the imports -- creating that now...
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odometry needs timeseries to be created...
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realised while referring that a new Odometry is not required -- removing the file, updating imports, continuing mujoco_connection for drone
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Mujoco_connection -- trying to use the one in unitree directly as well -- will create one later if required
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using same Mujocu connection as unitree -- might change later if required
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Basic -- rerun io starts with camera and 3D -- bugs are there, solving now. Ran test all blueprints for populating all_blueprints. Added the bitcraze_crazyflie_2 in model and a new class in policy
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Commits on May 11, 2026

Commits on May 14, 2026

camera and lidar camera is not available in cf2 -- was getting around ut by addind to to xml -- using original xml which comes with mujoco playground and adding additional checks instead
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