quadrotor-sim-py

A minimal quadrotor flight simulator written in Python, designed for academic research and fast prototyping.

Features

1. Lightweight quadrotor simulator
   Models quadrotor dynamics down to the force and torque level. Ideal for fast prototyping and algorithm testing.

2. Rigidbody dynamics with SE(3) model
   Dynamics modeled on the SE(3) Lie group with Runge-Kutta 4th-order integration (RK4).
   Includes a default implementation of the nonlinear Geometric Tracking Controller.

3. Python-based and easily extendable
   Designed for integration with tools like CasADi or PyTorch for advanced control or learning-based development.

4. Flight trajectory visualization
   Animated 3D visualization of quadrotor motion alongside the desired trajectory.

Run the simulator

Before running the simulator, install the required packages:

pip install -r requirements.txt

Then run the simulation:

python ./main.py

Reinforecement Learning (Experimental)

Train a RL model for quadrotor control:

python train_rl.py --traj HOVERING --iterations 1000 --n-envs 16 --total-steps 1000000000000
tensorboard --logdir runs/ppo_quadrotor

Download the pre-trained RL model:

mkdir -p runs/ppo_quadrotor/best
cd runs/ppo_quadrotor/best
wget https://github.com/shengwen-tw/quadrotor-sim-py/raw/refs/heads/blob/runs/ppo_quadrotor/best/best_model.zip

Run the simulator with the RL controller:

python main.py --ctrl=RL --plan_yaw_traj=no

Project Structure

quadrotor-sim-py/
├── main.py                 # Entry point of the simulation
├── requirements.txt        # Required Python packages
├── trajectory_planner.py   # Trajectory planner
├── dynamics.py             # Quadrotor dynamics model
├── quadrotor.py            # Quadrotor environment wrapper
├── geometric_control.py    # Geometric tracking controller for quadrotor
├── se3_math.py             # SE(3) math utilities
├── rigidbody_visualize.py  # 3D visualization
├── utils/                  # Placeholder
│       └── __init__.py
├── preview.png             # Preview image of the simulator

Preview

License

This project is licensed under the MIT License.
Feel free to use, modify, and distribute without restriction.