🐛 Wired single quadrotor dynamics

[jc-bao]

Video

meshcat_1694285145189.tar.mp4

Next step

design input to verify the dynamcis.

[jc-bao]

Problem identified as a visualizer issue

def set_frame(i, name, pos, quat):
    # convert quat from [x,y,z, w] to [w, x,y,z]
--> quat = np.array([quat[3], quat[0], quat[1], quat[2]])
    transform = tf.translation_matrix(pos) @ tf.quaternion_matrix(quat)

Please be careful for different quaternion definition in different packages.