Bitcraze Crazyflie 2 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Crazyflie 2 model from Bitcraze. It is derived from the publicly available ROS description.

URDF → MJCF Conversion

1. Converted the DAE mesh file in crazyflie_description to OBJ format using Blender.
2. Processed the OBJ file with obj2mjcf.
3. Added a <freejoint> to the root body, and some lighting in the XML file.
4. Set the inertial properties to values obtained from the datasheet and MIT's system identification
   • These properties are set via inertial tag i.e. pos ="0 0 0" mass="0.027" diaginertia="2.3951e-5 2.3951e-5 3.2347e-5"
5. Added combined thrust and body moments about a site placed at the inertial frame. The ctrlrange limits are currently arbitrary and need to be further tuned.
6. Added scene.xml which includes the quadrotor, with a textured ground plane and skybox.

License

This model is released under an MIT License.