flybots 1.0.0__py3-none-any.whl

flybots-1.0.0.dist-info/METADATA

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+Metadata-Version: 2.5
+Name: flybots
+Version: 1.0.0
+Summary: From-scratch autonomous UAV algorithms: multirotor, fixed-wing and VTOL flight models, 42 runnable simulations and reinforcement-learning environments.
+Project-URL: Homepage, https://guilyx.github.io/flybots/
+Project-URL: Documentation, https://guilyx.github.io/flybots/
+Project-URL: Repository, https://github.com/guilyx/flybots
+Project-URL: Changelog, https://github.com/guilyx/flybots/blob/main/CHANGELOG.md
+Project-URL: Issues, https://github.com/guilyx/flybots/issues
+Author-email: Erwin Lejeune <erwin.lejeune15@gmail.com>
+License-Expression: MIT
+License-File: LICENSE
+Keywords: control,drone,fixed-wing,path-planning,quadrotor,reinforcement-learning,robotics,simulation,state-estimation,uav,vtol
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Education
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Education
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Typing :: Typed
+Requires-Python: >=3.12
+Requires-Dist: matplotlib>=3.9
+Requires-Dist: numpy>=2.0
+Requires-Dist: scipy>=1.14
+Provides-Extra: gym
+Requires-Dist: gymnasium>=1.0; extra == 'gym'
+Provides-Extra: video
+Requires-Dist: imageio-ffmpeg>=0.5; extra == 'video'
+Description-Content-Type: text/markdown
+
+<div align="center">
+
+# flybots
+
+**Flight algorithms, from scratch.**
+
+Multirotor, fixed-wing and VTOL flight models with the physics written out
+in full — plus 42 runnable simulations and a gym for teaching a drone to
+fly itself.
+
+[**Documentation**](https://guilyx.github.io/flybots/) ·
+[Getting started](https://guilyx.github.io/flybots/guide/getting-started) ·
+[Flight models](https://guilyx.github.io/flybots/vehicles/) ·
+[Reinforcement learning](https://guilyx.github.io/flybots/learning/) ·
+[Algorithm atlas](https://guilyx.github.io/flybots/simulations/)
+
+[![CI](https://github.com/guilyx/flybots/actions/workflows/ci.yml/badge.svg)](https://github.com/guilyx/flybots/actions/workflows/ci.yml)
+[![Docs](https://github.com/guilyx/flybots/actions/workflows/pages.yml/badge.svg)](https://guilyx.github.io/flybots/)
+[![PyPI](https://img.shields.io/pypi/v/flybots.svg?logo=pypi&logoColor=white)](https://pypi.org/project/flybots/)
+[![Python 3.12+](https://img.shields.io/badge/python-3.12+-blue.svg)](https://www.python.org/downloads/)
+[![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://github.com/guilyx/flybots/blob/main/LICENSE)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://pre-commit.com/)
+[![uv](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/uv/main/assets/badge/v0.json)](https://github.com/astral-sh/uv)
+
+</div>
+
+<a href="https://guilyx.github.io/flybots/#see-it-fly">
+  <img src="https://raw.githubusercontent.com/guilyx/flybots/main/docs/public/media/promo.gif" alt="flybots — quadrotor, fixed-wing, VTOL, planning, trajectory generation, estimation, mapping, swarms and reinforcement learning" width="820"/>
+</a>
+
+<sub>Quadrotor, fixed-wing, VTOL, planning, trajectory generation, estimation, mapping, swarms and reinforcement learning, closing on all 42 simulations. Every frame is simulated at render time by <a href="https://github.com/guilyx/flybots/blob/main/scripts/make_promo.py"><code>scripts/make_promo.py</code></a> — no stock footage, and nothing that can drift out of sync with the code. Above is a sample of each scene; the full seventy-eight seconds, at full resolution, is <a href="https://guilyx.github.io/flybots/#see-it-fly">on the docs site</a>.</sub>
+
+---
+
+## Install
+
+```bash
+pip install flybots
+```
+
+```bash
+flybots doctor            # verify the install, run the physics self-checks
+flybots list              # browse 42 simulations
+flybots run pid_hover     # render one to a GIF
+flybots train hover       # teach a quadrotor to hold position
+```
+
+## Sixty seconds in
+
+A fixed wing, trimmed and flown to a new altitude and heading:
+
+```python
+from uav_sim.vehicles.fixed_wing import create_fixed_wing, FixedWingPreset
+from uav_sim.control.fixed_wing_autopilot import FixedWingAutopilot, AutopilotCommand
+
+aircraft = create_fixed_wing(FixedWingPreset.SKYWALKER_X8)
+aircraft.reset_trimmed(altitude=120.0)          # solve for equilibrium flight
+
+pilot = FixedWingAutopilot(aircraft.fw_params)  # gains derived from the airframe
+command = AutopilotCommand(altitude=160.0, airspeed=20.0, course=1.0)
+
+for _ in range(12_000):
+    aircraft.step(pilot.compute(aircraft.state, command, 0.01), 0.01)
+
+print(aircraft.state[2])    # 160.0
+```
+
+## What is here
+
+| | |
+|---|---|
+| **Vehicles** | 6DOF quadrotor with motor dynamics · full Beard & McLain fixed-wing · tilt-rotor VTOL that transitions |
+| **Control** | Cascaded PID · LQR · MPC · pure pursuit · geometric SO(3) · fixed-wing autopilot · VTOL mode scheduler |
+| **Planning** | A* · RRT* · PRM · potential field · coverage · min-snap · Frenet · quintic |
+| **Estimation** | EKF · UKF · particle filter · complementary filter · EKF-SLAM |
+| **Perception** | Occupancy mapping · obstacle detection · visual servoing · gimbal tracking |
+| **Swarm** | Reynolds flocking · consensus · virtual structure · leader-follower · Voronoi coverage |
+| **Learning** | 6 RL environments · pure-NumPy trainer (ARS, CEM) · optional Gymnasium integration |
+
+Nothing here wraps a solver. The Newton-Euler equations, the aerodynamic
+coefficient build-up, the Kalman recursions and the sampling-based planners
+are written out in NumPy next to the citation they came from.
+
+## Flight models
+
+Three airframes, one frame convention, so they compose.
+
+```python
+from uav_sim.vehicles.fixed_wing import create_fixed_wing, FixedWingPreset
+
+aircraft = create_fixed_wing(FixedWingPreset.AEROSONDE)
+controls = aircraft.reset_trimmed(airspeed=35.0, altitude=200.0)
+
+for _ in range(6000):
+    aircraft.step(controls, 0.005)
+
+aircraft.state[2]     # 200.0 — thirty seconds, open loop, no drift
+```
+
+That is the acceptance test for the whole aerodynamic model: if any force
+or moment is inconsistent, trim is not an equilibrium and the aircraft
+wanders. Every stability derivative is live, and there is a test that fails
+if you zero any of them.
+
+- [Fixed-wing](https://guilyx.github.io/flybots/vehicles/fixed-wing) — coefficient build-up, stall, trim solver
+- [VTOL tilt-rotor](https://guilyx.github.io/flybots/vehicles/vtol) — hover → cruise → hover with altitude held
+- [Quadrotor](https://guilyx.github.io/flybots/vehicles/quadrotor) — mixer and per-motor dynamics
+
+## Teach one to fly
+
+```bash
+flybots envs                # 6 tasks: hover, waypoint, trajectory, landing, 2 fixed-wing
+flybots train hover         # pure NumPy — no deep-learning stack
+flybots play hover --policy policies/hover.npz --gif hover.gif
+```
+
+```python
+from uav_sim.gym import make, train, evaluate
+
+result = train("hover", iterations=120, seed=0)
+print(evaluate("hover", result.policy, episodes=25))
+```
+
+Gymnasium's API without the Gymnasium dependency. Install
+`flybots[gym]` and the environments register as `uav_sim/Hover-v0` for use
+with any standard RL library.
+
+The interesting part is not the algorithm — it is that
+[four setup choices](https://guilyx.github.io/flybots/learning/design-notes)
+decide whether these tasks are learnable at all. Each is documented with
+the measurement that motivated it.
+
+## Simulations
+
+Forty-odd runnable demos, each with a three-panel animation, an academic
+reference and a JSON log:
+
+```bash
+flybots list
+flybots info astar_3d
+flybots run astar_3d
+```
+
+Browse them all in the
+[algorithm atlas](https://guilyx.github.io/flybots/simulations/).
+
+## Conventions
+
+Worth ten minutes before you write a controller:
+
+| | Frame | Axes |
+|---|---|---|
+| World | **ENU** | `x` east, `y` north, `z` up |
+| Body | **FLU** | `x` forward, `y` left, `z` up |
+
+A consequence of Forward-Left-Up is that **positive pitch is nose-down**,
+and because the world is ENU, **banking right decreases the heading**.
+Aerodynamics texts use Forward-Right-Down; the library converts at the
+boundary rather than rewriting the equations. Full details in
+[Frames and conventions](https://guilyx.github.io/flybots/guide/conventions).
+
+## Development
+
+```bash
+git clone https://github.com/guilyx/flybots.git
+cd flybots
+uv sync --all-groups
+
+uv run flybots doctor
+uv run pytest
+
+pre-commit install && pre-commit install --hook-type commit-msg
+```
+
+Contributions welcome — see [CONTRIBUTING.md](https://github.com/guilyx/flybots/blob/main/CONTRIBUTING.md) for the bar
+a new algorithm has to clear, and
+[CHANGELOG.md](https://github.com/guilyx/flybots/blob/main/CHANGELOG.md) for what has changed.
+
+## Safety
+
+These models are simplified, the controllers are not certified, and nothing
+here has been validated against a real airframe. Do not fly hardware on
+control code taken from this repository without independent verification.
+See [SECURITY.md](https://github.com/guilyx/flybots/blob/main/SECURITY.md).
+
+## License
+
+MIT — see [LICENSE](https://github.com/guilyx/flybots/blob/main/LICENSE).

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+flybots-1.0.0.dist-info/WHEEL,sha256=zOwg4jB6zX2kU910N-cMawjivD6tO8NEWvE12je1bVk,87
+flybots-1.0.0.dist-info/entry_points.txt,sha256=YHTMflKnF0qmAuOZSoDZZaP4EBfBx2p-6lKa16ta7ls,99
+flybots-1.0.0.dist-info/licenses/LICENSE,sha256=43m0JCNQfcdOOM4hovBlmah1nr7S1Ge9tNMzrAPYE-s,1070
+flybots-1.0.0.dist-info/RECORD,,

flybots-1.0.0.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: hatchling 1.32.0
+Root-Is-Purelib: true
+Tag: py3-none-any

flybots-1.0.0.dist-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+flybots = uav_sim.cli.main:main
+uav-sim = uav_sim.cli.main:main_deprecated_alias

flybots-1.0.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Erwin Lejeune
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

uav_sim/__init__.py

@@ -0,0 +1,16 @@
+# Erwin Lejeune - 2026-02-17
+"""flybots — from-scratch algorithms for autonomous UAVs.
+
+Published on PyPI as ``flybots``; the import package is still ``uav_sim``
+and will be renamed to match in a later release.
+"""
+
+from importlib.metadata import PackageNotFoundError, version
+
+try:
+    __version__ = version("flybots")
+except PackageNotFoundError:  # pragma: no cover - only when run from a bare checkout
+    # Not installed, so there is no metadata to read. Better an honest
+    # placeholder than a number hard-coded here that can disagree with
+    # pyproject -- a disagreement nothing catches until a release fails.
+    __version__ = "0+unknown"

uav_sim/cli/__init__.py

@@ -0,0 +1,6 @@
+# Erwin Lejeune - 2026-02-18
+"""Command-line interface for ``flybots``."""
+
+from uav_sim.cli.main import build_parser, main
+
+__all__ = ["build_parser", "main"]