CrazyFlyt 0.0.1

Crazyflie UAV simulation based on the PyFlyt library

CrazyFlyt

This library very much in the developmental stage

Non-Gymnasium examples

If you're not interested in RL but want to use the library for your own research, we provide a bunch of example code in examples/ that you can run with python3 examples/***.py in macOS and Linux.

PyFlyt also has naive support for flying real Crazyflie drones. These examples are provided under examples/crazyflie/***.py. The library is built using CrazyFlie drones, check out the documentation. These scripts are built with as little dependencies as possible, but enable interfacing with real (using the CrazyPA module) or virtual drones easy.

Simulation Only

sim_single.py

Simulates a single drone in the pybullet env with position control.

sim_swarm.py

Simulates a swarm of drones in the pybullet env with velocity control.

sim_cube.py

Simulates a swarm of drones in a spinning cube.

Hardware Only

fly_single.py

Flies a real Crazyflie, check out the documentation and how to connect to get your URI(s) and modify them in line 18.

fly_swarm.py

Flies a real Crazyflie swarm, same as the previous example, but now takes in a list of URIs.

Simulation or Hardware

sim_n_fly_single.py

Simple script that can be used to fly a single crazyflie in sim or with a real drone using either the --hardware or --simulate args.

sim_n_fly_multiple.py

Simple script that can be used to fly a swarm of crazyflies in sim or with real drones using either the --hardware or --simulate args.

sim_n_fly_cube_from_scratch.py

Simple script that can be used to fly a swarm of crazyflies in sim or with real drones using either the --hardware or --simulate args, and forms the same spinning cube from takeoff as in sim_cube.py.