safe-control-gym

(★ 911)

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

Owner Repos

gym-pybullet-drones ★ 2,112

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

Python
crisp_controllers ★ 230

CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

C++
crazyflow ★ 164

Scalable drone simulation using JAX.

Python
upright ★ 154

[RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

Python
lsy_drone_racing ★ 84

LSY Autonomous Drone Racing Challenge

Python
util-uwb-dataset ★ 60

The UTIAS UWB dataset and data parsing scripts.

Python

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  • .gitignore
  • .pre-commit-config.yaml
  • CITATION.cff
  • LICENSE
  • pyproject.toml
  • README.md
  • setup.py

# Use via CDN

jsDelivr

jsDelivr serves any public GitHub repository as a CDN with zero setup. Pick a version and a file to get a ready-to-paste link and snippet.

Link
Example

Command Glossary

Commands referenced in this DOCs, explained below.

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conda activate

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Activate a conda environment.
See also: `conda deactivate`.

conda activate myenv

Activate an existing environment named `myenv`:

conda activate {{path/to/myenv}}

Activate an existing environment located at custom path:

conda activate --stack myenv

Stack `myenv` environment on top of a previous environment making libraries/commands/variables from both accessible:

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conda create

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Create new conda environments.

conda create {{[-y|--yes]}} {{[-n|--name]}} py39 python=3.9 "numpy>=1.11" scipy

Create a new environment named `py39`, install Python 3.9, NumPy v1.11 or above in it, and the latest stable version of SciPy. Say yes to all confirmations:

conda create {{[-n|--name]}} myenv --file {{file1.yml}} --file {{file2.yml}}

Create a new environment named `myenv` and install packages listed in files:

conda create {{[-p|--prefix]}} {{path/to/myenv}}

Create a new environment at a custom path (i.e. prefix):

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conda install

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Install packages into an existing conda environment.

conda install {{package1 package2 ...}}

Install one or more package into the currently active conda environment:

conda install {{[-c|--channel]}} conda-forge {{package}}

Install a single package into the currently active conda environment using channel conda-forge:

conda install {{[-c|--channel]}} conda-forge --override-channels {{package}}

Install a single package into the currently active conda environment using channel conda-forge and ignoring other channels:

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conda

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Package, dependency, and environment management for any programming language.
Some subcommands such as `create` have their own usage documentation.
See also: `mamba`.

conda create {{[-n|--name]}} {{environment_name}} {{python=3.9 matplotlib}}

Create a new environment, installing named packages into it:

conda info {{[-e|--envs]}}

List all environments:

conda activate {{environment_name}}

Activate an environment:

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git clone

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Clone an existing repository.

git clone {{remote_repository_location}} {{path/to/directory}}

Clone an existing repository into a new directory (the default directory is the repository name):

git clone --recursive {{remote_repository_location}}

Clone an existing repository and its submodules:

git clone {{[-n|--no-checkout]}} {{remote_repository_location}}

Clone only the `.git` directory of an existing repository:

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pre-commit

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Create Git hooks that run before commits.

pre-commit install

Install pre-commit into your Git hooks:

pre-commit run

Run pre-commit hooks on all staged files:

pre-commit run --all-files

Run pre-commit hooks on all files, staged or unstaged:

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python

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Python language interpreter.

python

Start a REPL (interactive shell):

python {{path/to/file.py}}

Execute a specific Python file:

python -i {{path/to/file.py}}

Execute a specific Python file and start a REPL:

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python3

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This command is an alias of `python`.

tldr python

View documentation for the original command:

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apt-get

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Debian and Ubuntu package management utility.
Search for packages using `apt-cache`.
It is recommended to use `apt` when used interactively in Ubuntu versions 16.04 and later.

sudo apt-get update

Update the list of available packages and versions (it's recommended to run this before other `apt-get` commands):

sudo apt-get install {{package}}

Install a package, or update it to the latest available version:

sudo apt-get remove {{package}}

Remove a package:

// repository documentation