Simulation

The first part of the challenge is to complete the race track in simulation. To that end, we provide a high-fidelity simulator with interfaces that are identical to the real-world setup. We use crazyflow as the underlying simulator to model the physics of the drone and to render the environment.

Running the Simulation

Once you have installed the lsy_drone_racing package, you should be able to start a simulation run with

python scripts/sim.py

The simulation script has a built-in CLI that allows you to set a few useful arguments. For example, if you want the simulation to render its output and run more than just a single race, you can pass these arguments with

python scripts/sim.py -r -n 10

This will render the simulation (-r or --render) and run 10 races in succession (-n or --n_runs). For a list of all arguments, use -h or --help.

Switching Between Configurations

You can choose which configuration to use by changing the --config command line option. For example, to run the example controller on the hardest scenario, use the following command:

python scripts/sim.py --config level3.toml

To use your own controller, you can pass the path to your controller script as the --controller argument. For example:

python scripts/sim.py --config level3.toml --controller my_controller.py

Note

You can also write your controller file directly into the config files located in the config folder. That way, you don’t need to specify the controller script when running the simulation, and the controller will be used in the automated challenge evaluation.