User Guide

In-depth documentation for every part of the simulator.

• Simulator Overview — SimData layout, worlds, drones, and the data convention
• Object-Oriented API — Sim class, control methods, rendering, and reset
• Functional API — purely functional interface for JAX transformations
• Dynamics — first-principles vs. fitted dynamics, when to use each
• Control Modes — state, attitude, force/torque, and rotor velocity control
• Pipelines — composable step and reset pipelines, randomization, and disturbances
• Visualization — rendering modes, cameras, raycasting, and materials
• MuJoCo Integration — MJCF scene construction, adding objects, and sync internals
• Gymnasium Environments — vectorized environments for RL training