Swarm quadrotor RL environments built on PyBullet with a custom drone setup, 5D yaw control, and benchmark-oriented flight behavior
Project description
Swarm Gym PyBullet Drones
Swarm's fork of gym-pybullet-drones packages the quadrotor simulation environments we use for Swarm benchmark and control workloads.
It depends on the published swarm-bullet3 distribution for the Swarm-maintained PyBullet fork.
The published distribution name for this package is swarm-drone-gym.
This fork keeps the Gymnasium and Stable-Baselines3 2.x compatible environment surface, while adding Swarm-specific improvements:
- custom drone parameters used by Swarm evaluation workloads
- 5D action space with yaw control for richer policy outputs
- yaw-control float32 precision fix for stable behavior at extreme values
- benchmark-oriented environment simplifications used by our training and evaluation loops
Repository: https://github.com/swarm-subnet/swarm-gym-pybullet-drones
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