The UISC Quadrotor Simulator is a flexible simulation platform for quadrotor dynamics and control algorithms. Key features include:
- Dynamics Model: First-order motor dynamics based on UZH-RPG's framework with configurable quadrotor parameters (mass, inertia, thrust coefficients).
- Control Modes: Supports CTBR (Collective Thrust + Body Rates), CTBM (Collective Thrust + Body Moments), and SRT (Single Rotor Thrusts) control interfaces.
- Vectorized Simulation: Run multiple quadrotor instances in parallel for large-scale experiments.
- Visualization: Real-time visualization using rerun.
- Sensor Simulation: IMU, LiDAR, and camera sensors (under development).
- Disturbance Models: Wind, Constant Force, Constant Torque, and more.
- Pure Python implementation for easy integration with reinforcement learning frameworks.
Upcoming: Gym-compatible environment wrapper for reinforcement learning applications.
- Python ≥ 3.10
git clone https://github.com/CQU-UISC/uisc-quad-sim.git
cd uisc-quad-sim
python3 -m pip install -e .Run a simulation with the CTBR controller and visualize with rerun:
python3 -m uisc_quad_sim.examples.examplectrl
Example: Trajectory tracking with body-rate control.
- Core dynamics and CTBR/CTBM/SRT interfaces
- Rerun visualization integration
- Sensor simulation (IMU, LiDAR, camera)
- Gym environment wrapper
- ROS 2 compatibility
- Documentation and tutorials
Xu Lu - lux@cqu.edu.cn GitHub Organization: CQU-UISC
This project leverages the following organizations and projects:
Special thanks to the RPG at UZH for their foundational work in quadrotor control.