# PegasusSimulator
**Repository Path**: ACManipulation/PegasusSimulator
## Basic Information
- **Project Name**: PegasusSimulator
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-15
- **Last Updated**: 2025-09-15
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# Pegasus Simulator
[)](https://discord.gg/AjCxw2QUmt)
**Pegasus Simulator** is a framework built on top of [NVIDIA Omniverse](https://docs.omniverse.nvidia.com/) and [IsaacSim](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html). It is designed to provide an easy yet powerful way of simulating the dynamics of vehicles. It provides a simulation interface for [PX4](https://px4.io/) and [ArduPilot](https://ardupilot.org/) integration, as well as a custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions.
Check the provided documentation [here](https://pegasussimulator.github.io/PegasusSimulator/) to discover how to install and use this framework.
## Latest Updates
* **2025-07-20**: Pegasus Simulator v4.5.0 is released for Isaac 4.5.0. This version is **NOT** compatible with older versions of Isaac Sim. The Ardupilot experimental interface was not tested in this version.
* **2024-11-01**: Pegasus Simulator v4.2.0 is released for Isaac 4.2.0. This version is **NOT** compatible with older versions of Isaac Sim. This version includes a new experimental interface for Ardupilot integration, provided by open-source contributor [Tomer Tiplitsky](https://github.com/TomerTip).
* **2024-08-02**: Pegasus Simulator v4.1.0 is released for Isaac 4.1.0. This version is **NOT** compatible with older versions of Isaac Sim.
## Citation
If you find Pegasus Simulator useful in your academic work, please cite the paper below. It is also available [here](https://doi.org/10.1109/ICUAS60882.2024.10556959).
```
@INPROCEEDINGS{10556959,
author={Jacinto, Marcelo and Pinto, João and Patrikar, Jay and Keller, John and Cunha, Rita and Scherer, Sebastian and Pascoal, António},
booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},
year={2024},
volume={},
number={},
pages={917-922},
keywords={Simulation;Robot sensing systems;Real-time systems;Sensor systems;Sensors;Task analysis},
doi={10.1109/ICUAS60882.2024.10556959}}
```
## Main Developer Team
This simulation framework is an open-source effort, started by me, Marcelo Jacinto in January/2023. It is a tool that was created with the original purpose of serving my Ph.D. workplan for the next 4 years, which means that you can expect this repository to be mantained, hopefully at least until 2027.
* Project Founder
* [Marcelo Jacinto](https://github.com/MarceloJacinto), under the supervision of Prof. Rita Cunha and Prof. Antonio Pascoal (IST/ISR-Lisbon)
* Architecture
* [Marcelo Jacinto](https://github.com/MarceloJacinto)
* [João Pinto](https://github.com/jschpinto)
* Multirotor Dynamic Simulation and Control
* [Marcelo Jacinto](https://github.com/MarceloJacinto)
* Example Applications
* [Marcelo Jacinto](https://github.com/MarceloJacinto)
* [João Pinto](https://github.com/jschpinto)
* Ardupilot Integration (Experimental)
* [Tomer Tiplitsky](https://github.com/TomerTip)
* [Tanner Gilbert](https://github.com/TannerGilbert)
Also check the always up-to-date [Github contributors list](https://github.com/PegasusSimulator/PegasusSimulator/graphs/contributors) with all the open-source contributors.
## Guidance, Control and Navigation Project
In parallel to this project, the Pegasus (GNC) guidance, control, and navigation project serves as the foundation control code for performing real-world experiments for my Ph.D. More information can be found at this link:
[Pegasus GNC](https://pegasusresearch.github.io/pegasus/)
## Project Roadmap
An high level project roadmap is available [here](https://pegasussimulator.github.io/PegasusSimulator/source/references/roadmap.html).
## Support and Contributing
We welcome new contributions from the community to improve this work. Please check the [Contributing](https://pegasussimulator.github.io/PegasusSimulator/source/references/contributing.html) section in the documentation for the guidelines on how to help improve and support this project.
* Use [Discussions](https://github.com/PegasusSimulator/PegasusSimulator/discussions) for discussing ideas, asking questions, and requests features.
* Use [Issues](https://github.com/PegasusSimulator/PegasusSimulator/issues) to track work in development, bugs and documentation issues.
* Use [Pull Requests](https://github.com/PegasusSimulator/PegasusSimulator/pulls) to fix bugs or contribute directly with your own ideas, code, examples or improve documentation.
## Licenses
Pegasus Simulator is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/).
PX4-Autopilot is available as an open-source project under [BSD-3 License](https://github.com/PX4/PX4-Autopilot).
## Project Sponsors
- Dynamics Systems and Ocean Robotics (DSOR) group of the Institute for Systems and Robotics (ISR), a research unit of the Laboratory of Robotics and Engineering Systems (LARSyS).
- Instituto Superior Técnico, Universidade de Lisboa
The work developed by Marcelo Jacinto and João Pinto was supported by Ph.D. grants funded by Fundação para a Ciência e Tecnologia (FCT).
