3D quadrotor symoblic model

utiasDSL / safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

https://www.dynsyslab.org/safe-robot-learning/

MIT License

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3D quadrotor symoblic model #58

Closed adamhall closed 2 years ago

adamhall commented 2 years ago

Added 3D quad symbolic model, made the 3D quad observation the body rates in the body frame, added rotation matrix support, and modified the pybullet physics to eliminate damping factors.