PegasusSimulator/PegasusSimulator

A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more

What it solves

Pegasus Simulator provides a powerful yet accessible framework for simulating vehicle dynamics, specifically focusing on multirotor vehicles. It bridges the gap between high-fidelity simulation and industry-standard flight control stacks like PX4 and ArduPilot, allowing developers to test and validate control algorithms without needing physical hardware.

How it works

Built on top of NVIDIA Omniverse and Isaac Sim, the framework leverages high-fidelity physics and rendering. It provides a simulation interface that integrates with PX4 and ArduPilot, while also offering a custom Python control interface for direct control and experimentation.

Who it’s for

This tool is designed for researchers, PhD students, and robotics engineers working on aerial vehicle dynamics, guidance, navigation, and control (GNC) systems.

Highlights

  • Industry Integration: Native support for PX4 and ArduPilot flight stacks.
  • High-Fidelity Simulation: Powered by NVIDIA Isaac Sim for realistic physics and environment rendering.
  • Flexible Control: Includes a custom Python interface for rapid prototyping of control laws.
  • Multirotor Focus: Specialized for multirotor vehicle topologies with plans for expansion to other vehicle types.

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