Quadcopter simulation framework based on MuJoCo

Main use cases:

• Trajectory tracking with geometric control for evaluating results of trajectory planning and swarm applications
• Performing complex maneuvers, such as a backflip
• Reinforcement learning of quadcopter agile maneuvering
• Experiments with payload transportation

Installation

To install this repository, first open a terminal and run the following commands:

$ git clone https://github.com/antalpeter1999/tdk-2022
$ cd tdk-2022/

Now create a virtual environment, activate it, then execute:

$ pip install -e .

To test the installation run a script, e.g.

$ cd flight/
$ python fly.py

To run the payload transportation script, some modifications are needed in the cvxopt Python package.