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 |
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Bi-level PID Controller  Limitation: sensitive to object mass, large control error. |
pip install -e .cd gym_quad
python quad_bullet.py- Dual drone environment apply force
- Soft rope for single drone (multi-link or spring)
- More drones pulling a object (3 or more. )