  Simulators play a critical role in aerial robotics both in and out of the
classroom. We present RotorPy, a simulation environment written entirely in
Python intentionally designed to be a lightweight and accessible tool for
robotics students and researchers alike to probe concepts in estimation,
planning, and control for aerial robots. RotorPy simulates the 6-DoF dynamics
of a multirotor robot including aerodynamic wrenches, obstacles, actuator
dynamics and saturation, realistic sensors, and wind models. This work
describes the modeling choices for RotorPy, benchmark testing against real
data, and a case study using the simulator to design and evaluate a model-based
wind estimator.
