Simple question about gym-pybullet-drones

[JacopoPan]

Hi @Suvian-wy,

the physical property (mass, inertia) of the UAV models that are in the URDF files, e.g. cf2x.urdf, are taken from the system identification work at ETH and Polytechnique Montreal of

• Julian Forster (System Identification of the Crazyflie 2.0 Nano Quadrocopter)
• and Carlos Luis (Design of a Trajectory Tracking Controller for a Nanoquadcopter)

I would keep in mind a couple of things: (i) adding decks, reflective markers, etc. certainly affects the mass of a CF2.x, (ii) the default action space of this gym contains propellers' RPMs (and thrust is assumed perfectly proportional to their squared values). On a practical on-board implementation, you'd probably want to set PWMs: a brief quantitative investigation of the relation between PWM/RPM/thrust can be found here.

(With regard to aerodynamics, there are a few simple effects, like drag and ground effect, implemented from data collected in real-life experiments. You should check this pre-print.)

[Suvian-wy]

OK! Thanks!