airsimdroneracinglab.client

Module Contents

Classes

VehicleClient(ip='', port=41451, timeout_value=3600)

MultirotorClient(ip='', port=41451, timeout_value=3600)

class airsimdroneracinglab.client.VehicleClient(ip='', port=41451, timeout_value=3600)
__annotations__
reset(self)

Reset the vehicle to its original starting state

Note that you must call enableApiControl and armDisarm again after the call to reset

ping(self)

If connection is established then this call will return true otherwise it will be blocked until timeout

Returns

Return type

bool

getClientVersion(self)
getServerVersion(self)
getMinRequiredServerVersion(self)
getMinRequiredClientVersion(self)
enableApiControl(self, vehicle_name='')

Enables API control for vehicle with name vehicle_name

Parameters

vehicle_name (str, optional) – Name of vehicle to enable API control for

Returns

Success

Return type

bool

disableApiControl(self, vehicle_name='')

Disables API control for vehicle with name vehicle_name

Parameters

vehicle_name (str, optional) – Name of vehicle to disable API control for

Returns

Success

Return type

bool

isApiControlEnabled(self, vehicle_name='')

Returns true if API control is established.

If false (which is default) then API calls would be ignored. After a successful call to enableApiControl, isApiControlEnabled should return true.

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

If API control is enabled

Return type

bool

arm(self, vehicle_name='')

Arms vehicle corresponding to vehicle_name

Parameters

vehicle_name (str) – Name of vehicle

Returns

Success

Return type

bool

disarm(self, vehicle_name='')

Disarms vehicle corresponding to vehicle_name.

Parameters

vehicle_name (str) – Name of vehicle

Returns

Success

Return type

bool

simPause(self, is_paused)

Pauses simulation

Parameters

is_paused (bool) – True to pause the simulation, False to release

simIsPause(self)

Returns true if the simulation is paused

Returns

If the simulation is paused

Return type

bool

simContinueForTime(self, seconds)

Continue the simulation for the specified number of seconds

Parameters

seconds (float) – Time to run the simulation for

getHomeGeoPoint(self, vehicle_name='')

Get the Home location of the vehicle

Parameters

vehicle_name (str, optional) – Name of vehicle to get home location of

Returns

Home location of the vehicle

Return type

GeoPoint

confirmConnection(self)

Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.

simSwapTextures(self, tags, tex_id=0, component_id=0, material_id=0)

Runtime Swap Texture API

See https://microsoft.github.io/AirSim/retexturing/ for details

Parameters

  • tags (str) – string of “,” or “, ” delimited tags to identify on which actors to perform the swap

  • tex_id (int, optional) –

    indexes the array of textures assigned to each actor undergoing a swap

    If out-of-bounds for some object’s texture set, it will be taken modulo the number of textures that were available

  • component_id (int, optional) –

  • material_id (int, optional) –

Returns

List of objects which matched the provided tags and had the texture swap perfomed

Return type

list[str]

simSetTimeOfDay(self, is_enabled, start_datetime='', is_start_datetime_dst=False, celestial_clock_speed=1, update_interval_secs=60, move_sun=True)

Control the position of Sun in the environment

Sun’s position is computed using the coordinates specified in OriginGeopoint in settings for the date-time specified in the argument, else if the string is empty, current date & time is used

Parameters

  • is_enabled (bool) – True to enable time-of-day effect, False to reset the position to original

  • start_datetime (str, optional) – Date & Time in %Y-%m-%d %H:%M:%S format, e.g. 2018-02-12 15:20:00

  • is_start_datetime_dst (bool, optional) – True to adjust for Daylight Savings Time

  • celestial_clock_speed (float, optional) – Run celestial clock faster or slower than simulation clock E.g. Value 100 means for every 1 second of simulation clock, Sun’s position is advanced by 100 seconds so Sun will move in sky much faster

  • update_interval_secs (float, optional) – Interval to update the Sun’s position

  • move_sun (bool, optional) – Whether or not to move the Sun

simEnableWeather(self, enable)

Enable Weather effects. Needs to be called before using simSetWeatherParameter API

Parameters

enable (bool) – True to enable, False to disable

simSetWeatherParameter(self, param, val)

Enable various weather effects

Parameters

  • param (WeatherParameter) – Weather effect to be enabled

  • val (float) – Intensity of the effect, Range 0-1

simSetTextureFromUrl(self, object_name, url)

Set texture of an object from a URL resource.

Parameters

  • object_name (string) – Name of object for which the texture is to be set

  • url (string) – URL of texture file

simGetImage(self, camera_name, image_type, vehicle_name='')

Get a single image

Returns bytes of png format image which can be dumped into abinary file to create .png image string_to_uint8_array() can be used to convert into Numpy unit8 array See https://microsoft.github.io/AirSim/image_apis/ for details

Parameters

  • camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used

  • image_type (ImageType) – Type of image required

  • vehicle_name (str, optional) – Name of the vehicle with the camera

Returns

Binary string literal of compressed png image

simGetImages(self, requests, vehicle_name='')

Get multiple images

See https://microsoft.github.io/AirSim/image_apis/ for details and examples

Parameters

  • requests (list[ImageRequest]) – Images required

  • vehicle_name (str, optional) – Name of vehicle associated with the camera

Returns

Return type

list[ImageResponse]

simGetMeshPositionVertexBuffers(self)

Returns the static meshes that make up the scene

See https://microsoft.github.io/AirSim/meshes/ for details and how to use this

Returns

Return type

list[MeshPositionVertexBuffersResponse]

simGetCollisionInfo(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Name of the Vehicle to get the info of

Returns

Return type

CollisionInfo

simSetVehiclePose(self, pose, ignore_collison, vehicle_name='')

Set the pose of the vehicle

If you don’t want to change position (or orientation) then just set components of position (or orientation) to floating point nan values

Parameters

  • pose (Pose) – Desired Pose pf the vehicle

  • ignore_collision (bool) – Whether to ignore any collision or not

  • vehicle_name (str, optional) – Name of the vehicle to move

simGetVehiclePose(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Name of the vehicle to get the Pose of

Returns

Return type

Pose

simSetTraceLine(self, color_rgba, thickness=1.0, vehicle_name='')

Modify the color and thickness of the line when Tracing is enabled

Tracing can be enabled by pressing T in the Editor or setting EnableTrace to True in the Vehicle Settings

Parameters

  • color_rgba (list) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of the line

  • vehicle_name (string, optional) – Name of the vehicle to set Trace line values for

simGetObjectPose(self, object_name)

Returns true pose if simstartrace is not called Returns true pose if simstartrace was called with tier=1 Returns noisy pose if simstartrace was called with tier=2 or tier=3

Parameters

object_name (str) – Name of the object to get pose for

Returns

pose of desired object, NanPose if object not found

Return type

Pose

__internalGetObjectPose(self, object_name)
simSetObjectPose(self, object_name, pose, teleport=True)

Set the pose of the object(actor) in the environment

The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour. See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter

Parameters

  • object_name (str) – Name of the object(actor) to move

  • pose (Pose) – Desired Pose of the object

  • teleport (bool, optional) – Whether to move the object immediately without affecting their velocity

Returns

If the move was successful

Return type

bool

simGetNominalGateInnerDimensions(self)

  • Return the dimensions of the drone racing gate cavity, with scale (width=1.0, thickness=1.0, height=1.0)

  • Use this API in conjunction with simGetObjectScale(), simSetObjectScale(), simSetObjectPose() to generate arbitrary sized checkered gates with arbitrary poses.

Returns

width, thickness, height of the gate inner cavity in meters. See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/issues/28 for gate coordinate system

Return type

Vector3r

simGetNominalGateOuterDimensions(self)

  • Return the outer dimensions of the drone racing gate, with scale (width=1.0, thickness=1.0, height=1.0)

  • Use this API in conjunction with simGetObjectScale(), simSetObjectScale(), simSetObjectPose() to generate arbitrary sized checkered gates with arbitrary poses.

Returns

width, thickness, height of the gate inner cavity in meters. See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/issues/28 for gate coordinate system

Return type

Vector3r

simGetObjectScale(self, object_name)
Parameters

object_name (str) – Name of the object to poll

Returns

scale vector of desired object

Return type

Vector3r

simGetObjectScaleInternal(self, object_name)
simSetObjectScale(self, object_name, scale_vector)
Parameters

  • object_name (str) – Name of the object to poll

  • scale (Vector3r) – desired scale of the object

simLoadLevel(self, level_name)

Loads desired level

Parameters

level_name (str) – Description

Returns

Description

Return type

TYPE

simListSceneObjects(self, name_regex='.*')

Lists the objects present in the environment

Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors

Parameters

name_regex (str, optional) – String to match actor names against, e.g. “Cylinder.*”

Returns

List containing all the names

Return type

list[str]

simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex=False)

Set segmentation ID for specific objects

See https://microsoft.github.io/AirSim/image_apis/#segmentation for details

Parameters
Returns

If the mesh was found

Return type

bool

simGetSegmentationObjectID(self, mesh_name)

Returns Object ID for the given mesh name

Mapping of Object IDs to RGB values can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt

Parameters

mesh_name (str) – Name of the mesh to get the ID of

simPrintLogMessage(self, message, message_param='', severity=0)

Prints the specified message in the simulator’s window.

If message_param is supplied, then it’s printed next to the message and in that case if this API is called with same message value but different message_param again then previous line is overwritten with new line (instead of API creating new line on display).

For example, simPrintLogMessage(“Iteration: “, to_string(i)) keeps updating same line on display when API is called with different values of i. The valid values of severity parameter is 0 to 3 inclusive that corresponds to different colors.

Parameters

  • message (str) – Message to be printed

  • message_param (str, optional) – Parameter to be printed next to the message

  • severity (int, optional) – Range 0-3, inclusive, corresponding to the severity of the message

simGetCameraInfo(self, camera_name, vehicle_name='')

Get details about the camera

Parameters

  • camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used

  • vehicle_name (str, optional) – Vehicle which the camera is associated with

Returns

Return type

CameraInfo

simSetCameraOrientation(self, camera_name, orientation, vehicle_name='')

  • Control the orientation of a selected camera

Parameters

  • camera_name (str) – Name of the camera to be controlled

  • orientation (Quaternionr) – Quaternion representing the desired orientation of the camera

  • vehicle_name (str, optional) – Name of vehicle which the camera corresponds to

simSetCameraFov(self, camera_name, fov_degrees, vehicle_name='')

  • Control the field of view of a selected camera

Parameters

  • camera_name (str) – Name of the camera to be controlled

  • fov_degrees (float) – Value of field of view in degrees

  • vehicle_name (str, optional) – Name of vehicle which the camera corresponds to

simGetGroundTruthKinematics(self, vehicle_name='')

Get Ground truth kinematics of the vehicle

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

Ground truth of the vehicle

Return type

KinematicsState

simGetGroundTruthEnvironment(self, vehicle_name='')

Get ground truth environment state

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

Ground truth environment state

Return type

EnvironmentState

getImuData(self, imu_name='', vehicle_name='')
Parameters

  • imu_name (str, optional) – Name of IMU to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

ImuData

getBarometerData(self, barometer_name='', vehicle_name='')
Parameters

  • barometer_name (str, optional) – Name of Barometer to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

BarometerData

getMagnetometerData(self, magnetometer_name='', vehicle_name='')
Parameters

  • magnetometer_name (str, optional) – Name of Magnetometer to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

MagnetometerData

getGpsData(self, gps_name='', vehicle_name='')
Parameters

  • gps_name (str, optional) – Name of GPS to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

GpsData

getDistanceSensorData(self, distance_sensor_name='', vehicle_name='')
Parameters

  • distance_sensor_name (str, optional) – Name of Distance Sensor to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

DistanceSensorData

getLidarData(self, lidar_name='', vehicle_name='')
Parameters

  • lidar_name (str, optional) – Name of Lidar to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

LidarData

simGetLidarSegmentation(self, lidar_name='', vehicle_name='')

Returns Segmentation ID of each point’s collided object in the last Lidar update

Parameters

  • lidar_name (str, optional) – Name of Lidar sensor

  • vehicle_name (str, optional) – Name of the vehicle wth the sensor

Returns

Segmentation IDs of the objects

Return type

list[int]

simFlushPersistentMarkers(self)

Clear any persistent markers - those plotted with setting is_persistent=True in the APIs below

simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size=10.0, duration=- 1.0, is_persistent=False)

Plot a list of 3D points in World NED frame

Parameters

  • points (list[Vector3r]) – List of Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • size (float, optional) – Size of plotted point

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

simPlotLineStrip(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=- 1.0, is_persistent=False)

Plots a line strip in World NED frame, defined from points[0] to points[1], points[1] to points[2], … , points[n-2] to points[n-1]

Parameters

  • points (list[Vector3r]) – List of 3D locations of line start and end points, specified as Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

simPlotLineList(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=- 1.0, is_persistent=False)

Plots a line strip in World NED frame, defined from points[0] to points[1], points[2] to points[3], … , points[n-2] to points[n-1]

Parameters

  • points (list[Vector3r]) – List of 3D locations of line start and end points, specified as Vector3r objects. Must be even

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

simPlotArrows(self, points_start, points_end, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, arrow_size=2.0, duration=- 1.0, is_persistent=False)

Plots a list of arrows in World NED frame, defined from points_start[0] to points_end[0], points_start[1] to points_end[1], … , points_start[n-1] to points_end[n-1]

Parameters

  • points_start (list[Vector3r]) – List of 3D start positions of arrow start positions, specified as Vector3r objects

  • points_end (list[Vector3r]) – List of 3D end positions of arrow start positions, specified as Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • arrow_size (float, optional) – Size of arrow head

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

simPlotStrings(self, strings, positions, scale=5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration=- 1.0)

Plots a list of strings at desired positions in World NED frame.

Parameters

  • strings (list[String], optional) – List of strings to plot

  • positions (list[Vector3r]) – List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings’ list

  • scale (float, optional) – Font scale of transform name

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • duration (float, optional) – Duration (seconds) to plot for

simPlotTransforms(self, poses, scale=5.0, thickness=5.0, duration=- 1.0, is_persistent=False)

Plots a list of transforms in World NED frame.

Parameters

  • poses (list[Pose]) – List of Pose objects representing the transforms to plot

  • scale (float, optional) – Length of transforms’ axes

  • thickness (float, optional) – Thickness of transforms’ axes

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

simPlotTransformsWithNames(self, poses, names, tf_scale=5.0, tf_thickness=5.0, text_scale=10.0, text_color_rgba=[1.0, 0.0, 0.0, 1.0], duration=- 1.0)

Plots a list of transforms with their names in World NED frame.

Parameters

  • poses (list[Pose]) – List of Pose objects representing the transforms to plot

  • names (list[string]) – List of strings with one-to-one correspondence to list of poses

  • tf_scale (float, optional) – Length of transforms’ axes

  • tf_thickness (float, optional) – Thickness of transforms’ axes

  • text_scale (float, optional) – Font scale of transform name

  • text_color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0 for the transform name

  • duration (float, optional) – Duration (seconds) to plot for

cancelLastTask(self, vehicle_name='')

Cancel previous Async task

Parameters

vehicle_name (str, optional) – Name of the vehicle

waitOnLastTask(self, timeout_sec=float('nan'))

Wait for the last Async task to complete

Parameters

timeout_sec (float, optional) – Time for the task to complete

Returns

Result of the last task

True if the task completed without cancellation or timeout

Return type

bool

class airsimdroneracinglab.client.MultirotorClient(ip='', port=41451, timeout_value=3600)

Bases: airsimdroneracinglab.client.VehicleClient, object

__annotations__
takeoffAsync(self, timeout_sec=20, vehicle_name='')

Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to reach desired altitude

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

landAsync(self, timeout_sec=60, vehicle_name='')

Land the vehicle

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to land

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

goHomeAsync(self, timeout_sec=3e+38, vehicle_name='')

Return vehicle to Home i.e. Launch location

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to reach desired altitude

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name='')
moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name='')
moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
Parameters

  • vx (float) – desired velocity in world (NED) X axis

  • vy (float) – desired velocity in world (NED) Y axis

  • vz (float) – desired velocity in world (NED) Z axis

  • duration (float) – Desired amount of time (seconds), to send this command for

  • drivetrain (DrivetrainType, optional) –

  • yaw_mode (YawMode, optional) –

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
Parameters

  • vx (float) – desired velocity in world (NED) X axis

  • vy (float) – desired velocity in world (NED) Y axis

  • z (float) – desired altitude in world (NED) Z axis

  • duration (float) – Desired amount of time (seconds), to send this command for

  • drivetrain (DrivetrainType, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveOnPathAsync(self, path, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • path (TYPE) – Description

  • velocity (TYPE) – Description

  • timeout_sec (float, optional) – Description

  • drivetrain (TYPE, optional) – Description

  • yaw_mode (TYPE, optional) – Description

  • lookahead (TYPE, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Description

Return type

TYPE

moveToPositionAsync(self, x, y, z, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • x (float) – Description

  • y (float) – Description

  • z (float) – Description

  • velocity (float) – Description

  • timeout_sec (float, optional) – Description

  • drivetrain (DrivetrainType, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • lookahead (float, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveToZAsync(self, z, velocity, timeout_sec=3e+38, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • z (float) – Description

  • velocity (float) – Description

  • timeout_sec (float, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • lookahead (float, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveToYawAsync(self, yaw, timeout_sec=3e+38, margin=5, vehicle_name='')
Parameters

  • yaw_rate (float) – Desired yaw angle, in degrees per second.

  • timeout_sec (float, optional) – Description

  • margin (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveByYawRateAsync(self, yaw_rate, duration, vehicle_name='')
Parameters

  • yaw_rate (float) – Desired yaw rate, in degrees per second.

  • duration (float) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveOnSplineAsync(self, waypoints, vel_max=15.0, acc_max=7.5, add_position_constraint=True, add_velocity_constraint=True, add_acceleration_constraint=False, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0], replan_from_lookahead=True, replan_lookahead_sec=1.0, vehicle_name='')

  • Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoints parameter).

  • Uses ETHZ-ASL’s mav_trajectory_generation as the trajectory planning backend.

  • Tracks the references positions and velocities using a pure pursuit tracking controller.

  • The gains of the pure pursuit tracking controller are set by setTrajectoryTrackerGains.

  • Reference yaws are allocated along the tangent of the trajectory. Hence the drone will always look at the direction along which it is flying, behaving like a 3D car.

  • Note: setTrajectoryTrackerGains() must be called once before calling moveOnSpline()

Parameters

  • waypoints (list[Vector3r]) –

    • List of 3D waypoints, defined in local NED frame of the vehicle to track.

  • vel_max (float, optional) –

    • Maximum magnitude of velocity along trajectory

  • acc_max (float, optional) –

    • Maximum magnitude of acceleration along trajectory

  • add_position_constraint (bool, optional) –

    • Add a start constraint at current position, so that the planned trajectory is smooth if the drone is already moving.

    • If replan_from_lookahead is False, and add_position_constraint is False, trajectory starts from the first element of the “waypoints” list param.

    • If replan_from_lookahead is False, and add_position_constraint is True, a position constraint is added at current odometry, and so the trajectory starts from current position.

    • If replan_from_lookahead is True, a position constraint trajectory is always added at look-ahead point regardless of the value of “add_position_constraint”, and so the trajectory starts from the lookahead point.

    • See below for the definition of “look-ahead point”.

  • add_velocity_constraint (bool, optional) –

    • Should only be set to True if add_position_constraint is True.

    • If replan_from_lookahead is True, a velocity constraint is added at current odometry.

    • If replan_from_lookahead is True, a velocity constraint is added at lookahead point.

  • add_acceleration_constraint (bool, optional) –

    • Should only be set to True if add_velocity_constraint (and therefore, add_position_constraint) is True.

    • If replan_from_lookahead is True, an acceleration constraint is added at current odometry.

    • If replan_from_lookahead is True, an acceleration constraint is added at lookahead point.

  • viz_traj (bool, optional) –

    • set this to True to visualize trajectory in unreal window.

    • Note that visualization would appear in the FPV image, so this should only be used for debugging.

  • viz_traj_color_rgba (list, optional) –

    • list of 4 floats from 0.0 to 1.0 that determines RGBA value of trajectory visualization.

    • Example: viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0] corresponds to Red

  • replan_from_lookahead (bool, optional) –

    • If this is set to true, the trajectory will start from the “look-ahead point” associated with the trajectory the drone is currently following.

    • The lookahead point is defined by the value of the replan_lookahead_sec paramater sent in the previous call to moveOnSpline.

  • replan_lookahead_sec (float, optional) –

    • Defines the lookahead point by sampling the current trajectory replan_lookahead_sec number of seconds ahead.

    • If replan_from_lookahead is passed as True in the next call to moveOnSpline, the next call’s trajectory will start from the lookahead point defined by the current call’s replan_lookahead_sec

  • vehicle_name (str, optional) –

    • Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveOnSplineVelConstraintsAsync(self, waypoints, velocity_constraints, vel_max=15.0, acc_max=7.5, add_position_constraint=True, add_velocity_constraint=True, add_acceleration_constraint=False, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 0.4], replan_from_lookahead=True, replan_lookahead_sec=1.0, vehicle_name='')

  • Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoints parameter).

  • Also adds corresponding 3D velocity vector constraints (specified by the velocity_constraints parameter).

  • Uses ETHZ-ASL’s mav_trajectory_generation as the trajectory planning backend.

  • Tracks the references positions and velocities using a pure pursuit tracking controller.

  • The gains of the pure pursuit tracking controller are set by setTrajectoryTrackerGains.

  • Reference yaws are allocated along the tangent of the trajectory. Hence the drone will always look at the direction along which it is flying, behaving like a 3D car.

  • Reference yaws are allocated along the tangent of the trajectory.

  • Note: setTrajectoryTrackerGains() must be called once before calling moveOnSpline()

Parameters

  • waypoints (list[Vector3r]) –

    • List of 3D waypoints, defined in local NED frame of the vehicle to track.

  • velocity_constraints (list[Vector3r]) –

    • List of 3D velocity vector constraints, defined in local NED frame of the vehicle to track.

  • vel_max (float, optional) –

    • Maximum magnitude of velocity along trajectory

  • acc_max (float, optional) –

  • Maximum magnitude of acceleration along trajectory (-) –

  • add_position_constraint (bool, optional) –

    • Add a start constraint at current position, so that the planned trajectory is smooth if the drone is already moving.

    • If replan_from_lookahead is False, and add_position_constraint is False, trajectory starts from the first element of the “waypoints” list param.

    • If replan_from_lookahead is False, and add_position_constraint is True, a position constraint is added at current odometry, and so the trajectory starts from current position.

    • If replan_from_lookahead is True, a position constraint trajectory is always added at look-ahead point regardless of the value of “add_position_constraint”, and so the trajectory starts from the lookahead point.

    • See below for the definition of “look-ahead point”.

  • add_velocity_constraint (bool, optional) –

    • Should only be set to True if add_position_constraint is True.

    • If replan_from_lookahead is True, a velocity constraint is added at current odometry.

    • If replan_from_lookahead is True, a velocity constraint is added at lookahead point.

  • add_acceleration_constraint (bool, optional) –

    • Should only be set to True if add_velocity_constraint (and therefore, add_position_constraint) is True.

    • If replan_from_lookahead is True, an acceleration constraint is added at current odometry.

    • If replan_from_lookahead is True, an acceleration constraint is added at lookahead point.

  • viz_traj (bool, optional) –

    • set this to True to visualize trajectory in unreal window.

    • Note that visualization would appear in the FPV image, so this should only be used for debugging.

  • viz_traj_color_rgba (list, optional) –

    • list of 4 floats from 0.0 to 1.0 that determines RGBA value of trajectory visualization.

    • Example: viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0] corresponds to Red

  • replan_from_lookahead (bool, optional) –

    • If this is set to true, the trajectory will start from the “look-ahead point” associated with the trajectory the drone is currently following.

    • The lookahead point is defined by the value of the replan_lookahead_sec paramater sent in the previous call to moveOnSpline.

  • replan_lookahead_sec (float, optional) –

    • Defines the lookahead point by sampling the current trajectory replan_lookahead_sec number of seconds ahead.

    • If replan_from_lookahead is passed as True in the next call to moveOnSpline, the next call’s trajectory will start from the lookahead point defined by the current call’s replan_lookahead_sec

  • vehicle_name (str, optional) –

    • Name of the multirotor to send this command to

Returns

Success

Return type

bool

clearTrajectory(self, vehicle_name='')

Clears, and stops following the current trajectory (see moveOnSpline() or moveOnSplineVelConstraintsAsyn,c if any.

Parameters

vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Description

Return type

TYPE

setTrajectoryTrackerGains(self, gains=TrajectoryTrackerGains(), vehicle_name='')

  • Sets trajectory tracker gains for moveOnSplineAsync, moveOnSplineVelConstraintsAsync.

  • Must be called once before either of the moveOnSpline*() APIs is called

Parameters

  • gains (TrajectoryTrackerGains) – Pass TrajectoryTrackerGains() to set default values. Look at TrajectoryTrackerGains to set custom gains

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

moveByManualAsync(self, vx_max, vy_max, z_min, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')

  • Read current RC state and use it to control the vehicles.

Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints then that RC state would be ignored.

Parameters

  • vx_max (float) – max velocity allowed in x direction

  • vy_max (float) – max velocity allowed in y direction

  • vz_max (float) – max velocity allowed in z direction

  • z_min (float) – min z allowed for vehicle position

  • duration (float) – after this duration vehicle would switch back to non-manual mode

  • drivetrain (DrivetrainType) – when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn’t do that (crab-like movement)

  • yaw_mode (YawMode) – Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

hoverAsync(self, vehicle_name='')
moveByRC(self, rcdata=RCData(), vehicle_name='')
moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name='')

  • Directly control the motors using PWM values

Parameters

  • front_right_pwm (float) – PWM value for the front right motor (between 0.0 to 1.0)

  • rear_left_pwm (float) – PWM value for the rear left motor (between 0.0 to 1.0)

  • front_left_pwm (float) – PWM value for the front left motor (between 0.0 to 1.0)

  • rear_right_pwm (float) – PWM value for the rear right motor (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByRollPitchYawZAsync(self, roll, pitch, yaw, z, duration, vehicle_name='')

  • z is given in local NED frame of the vehicle.

  • Roll angle, pitch angle, and yaw angle set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw (float) – Desired yaw angle, in radians.

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByRollPitchYawThrottleAsync(self, roll, pitch, yaw, throttle, duration, vehicle_name='')

  • Desired throttle is between 0.0 to 1.0

  • Roll angle, pitch angle, and yaw angle are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw (float) – Desired yaw angle, in radians.

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByRollPitchYawrateThrottleAsync(self, roll, pitch, yaw_rate, throttle, duration, vehicle_name='')

  • Desired throttle is between 0.0 to 1.0

  • Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw_rate (float) – Desired yaw rate, in radian per second.

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByRollPitchYawrateZAsync(self, roll, pitch, yaw_rate, z, duration, vehicle_name='')

  • z is given in local NED frame of the vehicle.

  • Roll angle, pitch angle, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw_rate (float) – Desired yaw rate, in radian per second.

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByAngleRatesZAsync(self, roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name='')

  • z is given in local NED frame of the vehicle.

  • Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll_rate (float) – Desired roll rate, in radians / second

  • pitch_rate (float) – Desired pitch rate, in radians / second

  • yaw_rate (float) – Desired yaw rate, in radians / second

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByAngleRatesThrottleAsync(self, roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name='')

  • Desired throttle is between 0.0 to 1.0

  • Roll rate, pitch rate, and yaw rate set points are given in radians, in the body frame.

  • The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • Frame Convention:

    • X axis is along the Front direction of the quadrotor.

    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the right direction, w.r.t. our FLU body frame.

    • Y axis is along the Left direction of the quadrotor.

    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the front direction, w.r.t. our FLU body frame.

    • Z axis is along the Up direction.

    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the left direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
Parameters

  • roll_rate (float) – Desired roll rate, in radians / second

  • pitch_rate (float) – Desired pitch rate, in radians / second

  • yaw_rate (float) – Desired yaw rate, in radians / second

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

setAngleRateControllerGains(self, angle_rate_gains=AngleRateControllerGains(), vehicle_name='')
  • Modifying these gains will have an affect on ALL move*() APIs.

    This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers. That angle level setpoint is itself tracked with and angle rate controller.

  • This function should only be called if the default angle rate control PID gains need to be modified.

Parameters

  • angle_rate_gains (AngleRateControllerGains) –

    • Correspond to the roll, pitch, yaw axes, defined in the body frame.

    • Pass AngleRateControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

setAngleLevelControllerGains(self, angle_level_gains=AngleLevelControllerGains(), vehicle_name='')

  • Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)

  • Modifying these gains will also affect the behaviour of moveByVelocityAsync() API.

    This is because the AirSim flight controller will track velocity setpoints by converting them to angle set points.

  • This function should only be called if the default angle level control PID gains need to be modified.

  • Passing AngleLevelControllerGains() sets gains to default airsim values.

Parameters

  • angle_level_gains (AngleLevelControllerGains) –

    • Correspond to the roll, pitch, yaw axes, defined in the body frame.

    • Pass AngleLevelControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

setVelocityControllerGains(self, velocity_gains=VelocityControllerGains(), vehicle_name='')

  • Sets velocity controller gains for moveByVelocityAsync().

  • This function should only be called if the default velocity control PID gains need to be modified.

  • Passing VelocityControllerGains() sets gains to default airsim values.

  • Modifying the velocity controller gains will have an effect on the trajectory tracking behavior of moveOnSpline*() APIs,

    as moveOnSpline*() APIs use a controller on the lines of the pure-pursuit approach, which is tracking the reference position and velocities of the reference trajectories, while minimizing cross-track errors in both position and velocity state, by sending velocity commands (via moveByVelocityAsync()) in the backend. If you change this, it might be worth playing with the gains of moveOnSpline() by using setTrajectoryTrackerGains()

Parameters

  • velocity_gains (VelocityControllerGains) –

    • Correspond to the world X, Y, Z axes.

    • Pass VelocityControllerGains() to reset gains to default recommended values.

    • Modifying velocity controller gains will have an affect on the behaviour of moveOnSplineAsync() and moveOnSplineVelConstraintsAsync(), as they both use velocity control to track the trajectory.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

setPositionControllerGains(self, position_gains=PositionControllerGains(), vehicle_name='')

Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains need to be modified.

Parameters

  • position_gains (PositionControllerGains) –

    • Correspond to the X, Y, Z axes.

    • Pass PositionControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

getMultirotorState(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Vehicle to get the state of

Returns

Return type

MultirotorState

simLogMultirotorState(self, is_enabled, vehicle_name='')

Starts or stops high frequency logging of full multirotor state to a text file in Documents/AirSim. Values logged: Position, orientation, linear/angular velocity, linear/angular acceleration, body forces and torques, rotor speeds and rotor torques.

Parameters

  • is_enabled (bool, required) – Start/stop.

  • vehicle_name (str, optional) – Vehicle to start logging for

simStartRace(self, tier=1)

Starts an instance of a race in your given level, if valid.

__internalRandomGoalZone(self, gate_name)
simResetRace(self)

Resets a current race: moves players to start positions, timer and penalties reset.

simDisableRaceLog(self)

Disables race log

simIsRacerDisqualified(self, vehicle_name)
Parameters

vehicle_name (str) – Name of the multirotor to send this command to

Returns

True if vehicle_name is disqualified. False if not

Return type

bool

simGetLastGatePassed(self, vehicle_name)
Parameters

vehicle_name (str) – Name of the multirotor to send this command to

Returns

index of last gate passed by vehicle_name

Return type

int