https://github.com/uzh-rpg/flightmare

An Open Flexible Quadrotor Simulator
https://github.com/uzh-rpg/flightmare

Last synced: 1 day ago
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An Open Flexible Quadrotor Simulator

• Host: GitHub
• URL: https://github.com/uzh-rpg/flightmare
• Owner: uzh-rpg
• License: other
• Created: 2020-07-14T12:40:25.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2024-06-14T15:36:57.000Z (6 months ago)
• Last Synced: 2024-12-05T16:02:42.054Z (16 days ago)
• Language: C++
• Homepage: https://uzh-rpg.github.io/flightmare/
• Size: 94.6 MB
• Stars: 1,030
• Watchers: 34
• Forks: 346
• Open Issues: 120
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-robotic-tooling - flightmare - Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. (Simulation / Version Control)

README

        
# Flightmare - 左青龙

![Build Status](https://github.com/uzh-rpg/flightmare/workflows/CPP_CI/badge.svg) ![clang format](https://github.com/uzh-rpg/flightmare/workflows/clang_format/badge.svg)

![License](https://img.shields.io/badge/License-MIT-blue.svg) ![website]( https://img.shields.io/website-up-down-green-red/https/naereen.github.io.svg)

**Flightmare** is a flexible modular quadrotor simulator.

Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation.

Those two components are totally decoupled and can run independently from each other. 

Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment.

Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.

**[Website](https://uzh-rpg.github.io/flightmare/)** & 

**[Documentation](https://flightmare.readthedocs.io/)** 

[![IMAGE ALT TEXT HERE](./docs/flightmare_main.png)](https://youtu.be/m9Mx1BCNGFU)

## Installation

Installation instructions can be found in our [Wiki](https://github.com/uzh-rpg/flightmare/wiki).

  

## Updates

 *  17.11.2020 [Spotlight](https://youtu.be/8JyrjPLt8wo) Talk at CoRL 2020 

 *  04.09.2020 Release Flightmare

## Publication

If you use this code in a publication, please cite the following paper **[PDF](http://rpg.ifi.uzh.ch/docs/CoRL20_Yunlong.pdf)**

```

@inproceedings{song2020flightmare,

    title={Flightmare: A Flexible Quadrotor Simulator},

    author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},

    booktitle={Conference on Robot Learning},

    year={2020}

}

```

## License

This project is released under the MIT License. Please review the [License file](LICENSE) for more details.