Скачать или смотреть Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots

We are happy to release an update for the Aerial Gym Simulator.

Code: https://github.com/ntnu-arl/aerial_gy...

The new update includes support for multi-linked embodiments, with fixed, reconfigurable (active), and soft (passive) joints for simulated multirotors. A faithful simulation model of a compliant robot Morphy(   • Morphy: a Compliant and Morphologically-Aw...  ) and models for active reconfigurable multirotor platforms are added!

We provide scripts for training:
State-based RL policies for position setpoint tracking including end-to-end methods
Vision (depth) based RL-policies for navigation of cluttered environments
Joint-aware policies for soft drones that minimize oscillations of compliant joints
Joint and motor control policies for reconfigurable systems for robot-shape and position control

Newer capabilities to query face and vertex indices and surface normal information are added to the rendering framework alongside the capability to query user-defined vertex-level annotations from the environment.
Scripts to deploy trained policies on real robots are provided alongside network model files for easy reproducibility.