Examples

The runnable examples are grouped by topic, following the folders in examples/. Start with hover if you're new, or jump to the group that matches your use case. Run an example from the repository root with python examples/<group>/<script>.py.

• Control — how to command the drones at different levels, such as positions, attitudes, or body rates, and how to build your own controllers on top
• JAX — how to use JAX transformations on the simulation, such as gradients through the dynamics or sharding across devices
• Plugins — how to easily add features to the simulation, such as domain randomization, disturbances, or aerodynamic effects
• Rendering — how to render the simulation with MuJoCo or gaussian splats and extract sensor data, such as camera images or depth maps
• Contacts — how to detect collisions between drones and their environment
• Environments — how to train and evaluate reinforcement learning policies with Gymnasium environments