🚁 MuJoCo Drone Simulation with Camera Recording

A complete interactive drone simulation environment built with MuJoCo, featuring controllable quadrotor with multiple camera views, recording capabilities, and real-time controls.

✨ Features

• 🎮 Interactive 3D Controls - Real-time drone control with WASD keys
• 📹 Multiple Camera Views - External, drone-mounted, FPV, and top-down perspectives
• 🎥 Video Recording - Record flights from all camera angles simultaneously
• 🖥️ WSL Compatible - Works in Windows Subsystem for Linux
• ⚡ Real-time Physics - Realistic quadrotor dynamics and motor mixing
• 🎯 Easy Controls - Intuitive keyboard controls for all flight maneuvers

🚀 Quick Start

WORKING DRONE SIMULATOR

python3 drone_working.py

This is the working version with properly functioning controls!

🎮 Complete Controls Reference

Flight Controls (WASD Style)

Key	Action	Description
W	Forward	Pitch forward
S	Backward	Pitch backward
A	Left	Roll left
D	Right	Roll right
Q	Yaw Left	Rotate counterclockwise
E	Yaw Right	Rotate clockwise
Z	Up	Increase altitude
X	Down	Decrease altitude

System Controls

Key	Action	Description
Space	Hover	Stop all movement (emergency stop)
R	Reset	Return drone to starting position
T	Toggle	Switch between active/hover mode
ESC	Exit	Close simulation

Camera Controls

Key	Action	Views Available
[	Previous Camera	Cycles backward through camera views
]	Next Camera	Cycles forward through camera views

Camera Views:

1. External View - Third-person perspective (default)
2. Drone Camera - Camera attached to drone body
3. FPV Camera - First-person view (pilot perspective)
4. Top-Down View - Bird's eye view for navigation

Camera Usage

• Use [ and ] keys to switch between camera views
• Mouse drag to rotate camera view
• Right-click + drag to pan
• Scroll wheel to zoom in/out

🛩️ How to Fly

Basic Flying

1. Start simulation: python3 drone_working.py
2. Take off: Hold Z to lift off
3. Fly around: Use WASD for movement
4. Land safely: Use X to descend gently

First-Person Flying (FPV)

1. Take off in external view first
2. Press ] to cycle to "FPV Camera"
3. Fly from drone's perspective using WASD
4. Switch back with [ or ] if needed

Advanced Maneuvers

• Hover in place: Press Space for instant stop
• Precise control: Quick taps for small movements, hold for continuous
• Emergency reset: Press R if you crash or get lost

📁 Available Simulations

File	Description	Purpose
drone_working.py	🌟 MAIN SIMULATOR - Working controls and camera switching	Interactive 3D drone flying
drone_text_ui.py	Web-based telemetry interface	Remote monitoring via browser
record_flight.py	Pre-programmed flight recording	Creating demo videos
test_simulation.py	Basic functionality test	Troubleshooting setup

🎥 Recording and Screenshots

Automatic Recording

• Videos are automatically saved during simulation
• Multiple camera angles recorded simultaneously
• Files saved in recordings/ directory

Manual Screenshots

python3 record_flight.py  # Creates demo flight videos

Video Output

• Format: MP4 (H.264)
• Resolution: 640x480
• Frame Rate: 30 FPS
• Cameras: All 4 perspectives included

🖥️ WSL Setup (Windows Users)

If You Get Display Errors:

1. Install X11 server: VcXsrv, Xming, or X410
2. Install graphics libraries:

   sudo apt update
   sudo apt install libgl1-mesa-glx libglu1-mesa libxrandr2 libxss1
   sudo apt install libgtk2.0-dev pkg-config

3. Set display: export DISPLAY=:0
4. Enable access control in X11 server settings

Alternative: Use Web Interface

If 3D view doesn't work:

python3 drone_text_ui.py
# Then open http://localhost:8080 in browser

🔧 Requirements

• Python 3.10+
• MuJoCo 3.x (already installed)
• OpenCV (pip install opencv-python)
• NumPy (already installed)

🎯 Pro Tips

Flying Tips

• Start gentle: Use quick taps before holding keys
• Use hover: Press Space frequently to stabilize
• FPV flying: Start in external view, then switch to FPV
• Emergency reset: Press R if you lose control

Camera Tips

• Watch the circles: Bottom indicators show active camera
• Try all views: Each camera offers different perspectives
• FPV for immersion: Best experience for first-person flying
• External for learning: Easiest to see drone orientation

Performance Tips

• Close other programs for best performance
• Use fullscreen for immersive experience
• Try different cameras if one view is slow

🚁 Ready to Fly!

Start with this command:

python3 drone_working.py

Then:

1. Hold Z to take off
2. Use WASD to fly around
3. Press [ or ] to switch camera views
4. Press Space to hover
5. Have fun! 🎉

Enjoy your drone simulation! 🚁✨