MuJoCo Playground An open-source framework for GPU-accelerated robot learning and sim-to-real transfer

Introducing playground.mujoco.org
Combining MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of robot platforms: quadrupeds, humanoids, dexterous hands, and arms.
Get started today: pip install playground

LOVE IT!

Did you model the flight at all? I reckon this is modelable with MuJoCo, with a little sysID