First, install dependencies.

Make sure you have numpy, scipy, and matplotlib (for Python 3). (Can install these using your system's package manager).

Install meshcat e.g. with pip install meshcat (required for visualization).

Quadsim requires the python_utils repo to exist on a PYTHONPATH.

The recommended setup is to create a folder named "python" (e.g. in your home folder) and then clone both python_utils and quadsim in ~/python.

mkdir ~/python
cd ~/python
git clone https://github.com/alspitz/python_utils
git clone https://github.com/alspitz/regression # (optional)
git clone https://github.com/alspitz/quadsim

Next, in your .bashrc, add ${HOME}/python to PYTHONPATH. e.g. add the following line.

export PYTHONPATH="${HOME}/python":"${PYTHONPATH}"

Change directory and rc file as needed (e.g. if using zsh).

Run python interactive.py, python main.py, python compare.py, or python learntest.py.

A browser window should open with a visualization of the quadrotor executing the reference trajectories with the specified controllers.

After that, plots should appear showing state and control variables.

interactive.py allows you to send step commands to the robot using WASD, QE, and -+ (while focused on the terminal).

compare.py has some disturbances and additional settings that can be enabled at the bottom of the file.

learntest.py iteratively learns a dynamics model to mitigate the effects of a static wind field.

See below for what the meshcat visualization should look like.