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Skydio X2 in Mujoco

Using the mujoco_menagerie repo, I let the drone out of its cage.

Alt Text

Getting started

Set-up MuJoCo and the requirements. Then, simply run main.py

To-Dos

Here are some To-Dos of this project:

  • Improve PID controllers
  • Add a "real" sensor and state estimator
  • Add a "real" trajectory planner

Acknowledgements

Mujoco: https://github.com/google-deepmind/mujoco Mujoco Menagerie: https://github.com/google-deepmind/mujoco_menagerie Simple PID: https://github.com/m-lundberg/simple-pid/tree/master