gym-quad

Description

This is a gym environment for quadrotor control. It is based on the PyBullet physics engine.

The environment is a 3D quadrotor with 4 rotors. The rotors are controlled by a 4D action space. The observation space is a 3D position and 3D velocity. The reward is the negative distance to a target position.

The main feature is that the quadrotor is hanging an object by a free joint. The object can be moved by the quadrotor. The object can also be moved by an external force.

Visualization	Multi Quad	Plot
Bi-level PID Controller Limitation: sensitive to object mass, large control error.

Installation

pip install -e .

Usage

cd gym_quad
python quad_bullet.py

TODO

• Dual drone environment apply force
• Soft rope for single drone (multi-link or spring)
• More drones pulling a object (3 or more. )