airsimneurips¶

This page documents airsimneurips, the python package to be used for Game of Drones: A NeurIPS 2019 Competition.
Please see the quick API overview in the github readme

class airsimneurips.client.MultirotorClient(ip='127.0.0.1', port=41451, timeout_value=3600)¶

arm(vehicle_name='')¶

Arms vehicle corresponding to vehicle_name

Parameters: vehicle_name (str) – Name of vehicle
Returns: Success
Return type: bool

cancelLastTask(vehicle_name='')¶

clearTrajectory(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

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

disableApiControl(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

disarm(vehicle_name='')¶

Disarms vehicle corresponding to vehicle_name.

Parameters: vehicle_name (str) – Name of vehicle
Returns: Success
Return type: bool

enableApiControl(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

getMultirotorState(vehicle_name='') → airsimneurips.types.MultirotorState¶

Parameters: vehicle_name (str, optional) – Name of the multirotor to send this command to
Returns: Description
Return type: MultirotorState

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

Parameters

timeout_sec (float, 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

hoverAsync(vehicle_name='')¶

Parameters: vehicle_name (str, optional) – Name of the multirotor to send this command to
Returns: Success
Return type: bool

isApiControlEnabled(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, the isApiControlEnabled should return true.

Parameters: vehicle_name (str, optional) – Name of vehicle
Returns: If API is enabled
Return type: bool

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

Parameters

timeout_sec (int, 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

moveByAngleRatesThrottleAsync(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

moveByAngleRatesZAsync(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

moveByRollPitchYawThrottleAsync(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

moveByRollPitchYawZAsync(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

moveByRollPitchYawrateThrottleAsync(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(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

moveByVelocityAsync(vx, vy, vz, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, 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) – 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

moveByVelocityZAsync(vx, vy, z, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, 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

moveByYawRateAsync(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

moveOnPathAsync(path, velocity, timeout_sec=3e+38, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, 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

moveOnSplineAsync(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(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

moveToPositionAsync(x, y, z, velocity, timeout_sec=3e+38, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, 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

moveToYawAsync(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

moveToZAsync(z, velocity, timeout_sec=3e+38, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, 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

ping()¶: If connection is established then this call will return true otherwise it will be blocked until timeout. :returns: True if ping was succesfull :rtype: bool

plot_transform(pose_list, vehicle_name='')¶

Plots a transform for a requested list of poses

Parameters

pose_list (list[Pose]) – Description
vehicle_name (str, optional) – Name of the multirotor to send this command to

reset()¶: This resets the vehicle to its original starting state. Note that you must call enableApiControl() and arm() again after calling reset.

setAngleLevelControllerGains(angle_level_gains=<airsimneurips.types.AngleLevelControllerGains object>, 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() and moveOnSpline*() APIs.

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

setAngleRateControllerGains(angle_rate_gains=<airsimneurips.types.AngleRateControllerGains object>, 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

setPositionControllerGains(position_gains=<airsimneurips.types.PositionControllerGains object>, 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

setTrajectoryTrackerGains(gains=<airsimneurips.types.TrajectoryTrackerGains object>, 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

setVelocityControllerGains(velocity_gains=<airsimneurips.types.VelocityControllerGains object>, 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.
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()
Passing VelocityControllerGains() sets gains to default airsim values.

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

simContinueForTime(duration)¶

Parameters: duration (float) – Unpauses simulator if paused, runs it for desired duration (seconds), then pauses it.

simDisableRaceLog()¶: Disables race log

simGetCameraInfo(camera_name, vehicle_name='')¶

Parameters

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

Returns

Description

Return type

CameraInfo

simGetCollisionInfo(vehicle_name='')¶

Parameters: vehicle_name (str, optional) – Name of the multirotor to send this command to
Returns: Description
Return type: CollisionInfo

simGetGroundTruthKinematics(vehicle_name='') → airsimneurips.types.KinematicsState¶

Parameters: vehicle_name (str, optional) – Name of the multirotor to send this command to
Returns: Description
Return type: TYPE

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

Parameters

camera_name (string) – name of camera to get image for
image_type (ImageType) – Description
vehicle_name (str) – Name of the multirotor to send this command to. Note that the vehicle_name must have camera_name in its section in the settings.json file

Returns

Description

Return type

TYPE

simGetImages(requests, vehicle_name='')¶

Parameters

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

Returns

Description

Return type

TYPE

simGetLastGatePassed(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

simGetNominalGateInnerDimensions()¶

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()¶

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

simGetObjectPose(object_name)¶

Returns true pose for tier 1 races Returns noisy pose for tier 2 and 3 races

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

simGetObjectScale(object_name)¶

Parameters: object_name (str) – Name of the object to poll
Returns: scale vector of desired object
Return type: Vector3r

simGetSegmentationObjectID(mesh_name)¶

Parameters: mesh_name (str) – Description
Returns: segmentation ID
Return type: int

simGetVehiclePose(vehicle_name='')¶

Parameters: vehicle_name (str, optional) – Name of the multirotor to send this command to
Returns: pose of desired vehicle
Return type: Pose

simIsPaused()¶

Returns: Returns True if simulator is paused.
Return type: bool

simIsRacerDisqualified(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

simListSceneObjects(name_regex='.*')¶

Returns list of all objects in the scene

Parameters: name_regex (str, optional) – Description
Returns: List of all objects in the scene
Return type: List[strings]

simLoadLevel(level_name)¶

Loads desired level

Parameters: level_name (str) – Description
Returns: Description
Return type: TYPE

simPause()¶: Pauses sim

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

Prints the specified message in the simulator’s window. | If message_param is also supplied then its 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 (TYPE) – Description
message_param (str, optional) – Description
severity (int, optional) – Description

Returns

Description

Return type

TYPE

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

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

Sets camera’s orientation to desired quaternion

Parameters

camera_name (str) – Description
orientation (Quaternionr) – Desired orientation quaternion
vehicle_name (str, optional) – Name of the multirotor to send this command to

simSetObjectPose(object_name, pose, teleport=True)¶

Parameters

object_name (string) – Name of object to move. Note that you can get all objects with simListSceneObjects.
pose (Pose) – desired Pose in world NED frame
teleport (bool, optional) – Description

Returns

Description

Return type

TYPE

simSetObjectScale(object_name, scale_vector)¶

Parameters

object_name (str) – Name of the object to poll
scale (Vector3r) – desired scale of the object

simSetSegmentationObjectID(mesh_name, object_id, is_name_regex=False)¶

Parameters

mesh_name (str) – Description
object_id (int) – Description
is_name_regex (bool, optional) – Description

Returns

Success

Return type

bool

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

Parameters

pose (TYPE) – Description
ignore_collison (TYPE) – Description
vehicle_name (str, optional) – Name of the multirotor to send this command to

simStartRace(tier=1)¶: Starts an instance of a race in your given level, if valid.

simUnPause()¶: Resumes / unpauses sim

takeoffAsync(timeout_sec=20, vehicle_name='')¶

Parameters

timeout_sec (int, 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

waitOnLastTask(timeout_sec=nan)¶

Parameters: timeout_sec (TYPE, optional) – Description
Returns: Description
Return type: TYPE

class airsimneurips.types.AngleLevelControllerGains(rollGains=<airsimneurips.types.PIDGains object>, pitchGains=<airsimneurips.types.PIDGains object>, yawGains=<airsimneurips.types.PIDGains object>)¶

Struct to contain controller gains used by angle rate PID controller

rollGains¶

kP, kI, kD for roll axis

Type: PIDGains

pitchGains¶

kP, kI, kD for pitch axis

Type: PIDGains

yawGains¶

kP, kI, kD for yaw axis

Type: PIDGains

class airsimneurips.types.AngleRateControllerGains(rollGains=<airsimneurips.types.PIDGains object>, pitchGains=<airsimneurips.types.PIDGains object>, yawGains=<airsimneurips.types.PIDGains object>)¶

Struct to contain controller gains used by angle level PID controller

rollGains¶

kP, kI, kD for roll axis

Type: PIDGains

pitchGains¶

kP, kI, kD for pitch axis

Type: PIDGains

yawGains¶

kP, kI, kD for yaw axis

Type: PIDGains

class airsimneurips.types.CameraInfo¶

fov¶

Description

Type: int

pose¶

Description

Type: TYPE

proj_mat¶

Description

Type: TYPE

class airsimneurips.types.CollisionInfo¶

has_collided¶

Description

Type: bool

impact_point¶

Description

Type: TYPE

normal¶

Description

Type: TYPE

object_id¶

Description

Type: int

object_name¶

Description

Type: str

penetration_depth¶

Description

Type: float

position¶

Description

Type: TYPE

time_stamp¶

Description

Type: float

class airsimneurips.types.DrivetrainType¶

Type of DrivetrainType

ForwardOnly¶

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type: int

MaxDegreeOfFreedom¶

Description

Type: int

class airsimneurips.types.GeoPoint¶

altitude¶

Description

Type: float

latitude¶

Description

Type: float

longitude¶

Description

Type: float

class airsimneurips.types.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)¶

camera_name¶

Description

Type: str

compress¶

Description

Type: bool

image_type¶

Description

Type: TYPE

pixels_as_float¶

Description

Type: bool

class airsimneurips.types.ImageResponse¶

camera_orientation¶

Description

Type: TYPE

camera_position¶

Description

Type: TYPE

compress¶

Description

Type: bool

height¶

Description

Type: int

image_data_float¶

Description

Type: float

image_data_uint8¶

Description

Type: TYPE

image_type¶

Description

Type: TYPE

message¶

Description

Type: str

pixels_as_float¶

Description

Type: float

time_stamp¶

Description

Type: TYPE

width¶

Description

Type: int

class airsimneurips.types.ImageType¶

DepthPerspective¶

Description

Type: int

DepthPlanner¶

Description

Type: int

DepthVis¶

Description

Type: int

DisparityNormalized¶

Description

Type: int

Infrared¶

Description

Type: int

Scene¶

Description

Type: int

Segmentation¶

Description

Type: int

SurfaceNormals¶

Description

Type: int

class airsimneurips.types.KinematicsState¶

angular_acceleration¶

Description

Type: Vector3r

angular_velocity¶

Description

Type: Vector3r

linear_acceleration¶

Description

Type: Vector3r

linear_velocity¶

Description

Type: Vector3r

orientation¶

Description

Type: Quaternionr

position¶

Description

Type: Vector3r

class airsimneurips.types.LandedState¶

Flying¶

Description

Type: int

Landed¶

Description

Type: int

class airsimneurips.types.MsgpackMixin¶

classmethod from_msgpack(encoded)¶

Parameters: encoded (TYPE) – Description
Returns: Description
Return type: TYPE

to_msgpack(*args, **kwargs)¶

Parameters

*args – Description
**kwargs – Description

Returns

Description

Return type

TYPE

class airsimneurips.types.MultirotorState¶

collision¶

Description

Type: CollisionInfo

gps_location¶

Description

Type: GeoPoint

kinematics_estimated¶

Description

Type: KinematicsState

landed_state¶

Description

Type: LandedState.Landed

rc_data¶

Description

Type: RCData

timestamp¶

Description

Type: np.uint64

class airsimneurips.types.PIDGains(kp, ki, kd)¶

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP¶

Proportional gain

Type: float

kI¶

Integrator gain

Type: float

kD¶

Derivative gain

Type: float

class airsimneurips.types.Pose(position_val=<Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, orientation_val=<Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0})¶

orientation¶

Description

Type: Quaternionr

position¶

Description

Type: Vector3r

static nanPose()¶

Returns: Description
Return type: TYPE

class airsimneurips.types.PositionControllerGains(xGains=<airsimneurips.types.PIDGains object>, yGains=<airsimneurips.types.PIDGains object>, zGains=<airsimneurips.types.PIDGains object>)¶

Struct to contain controller gains used by position PID controller

xGains¶

kP, kI, kD for X axis

Type: PIDGains

yGains¶

kP, kI, kD for Y axis

Type: PIDGains

zGains¶

kP, kI, kD for Z axis

Type: PIDGains

class airsimneurips.types.ProjectionMatrix¶

matrix¶

Description

Type: list

class airsimneurips.types.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)¶

w_val¶

Description

Type: float

x_val¶

Description

Type: float

y_val¶

Description

Type: float

z_val¶

Description

Type: float

conjugate()¶

Returns: Description
Return type: TYPE

cross(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

dot(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

get_length()¶

Returns: norm of quaternion
Return type: float

inverse()¶

Returns: Description
Return type: TYPE

static nanQuaternionr()¶

Returns: Description
Return type: TYPE

outer_product(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

rotate(other)¶

Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description
ValueError – Description

sgn()¶

Returns: Description
Return type: TYPE

star()¶

Returns: Description
Return type: TYPE

to_numpy_array()¶

Returns: Description
Return type: np.array

class airsimneurips.types.RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)¶

is_initialized¶

Description

Type: bool

is_valid¶

Description

Type: bool

pitch¶

Description

Type: TYPE

roll¶

Description

Type: TYPE

switch1¶

Description

Type: TYPE

switch2¶

Description

Type: TYPE

switch3¶

Description

Type: TYPE

switch4¶

Description

Type: TYPE

switch5¶

Description

Type: TYPE

switch6¶

Description

Type: TYPE

switch7¶

Description

Type: TYPE

switch8¶

Description

Type: TYPE

throttle¶

Description

Type: TYPE

timestamp¶

Description

Type: int

yaw¶

Description

Type: TYPE

class airsimneurips.types.TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)¶

Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints

kp_cross_track¶

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kd_cross_track¶

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kp_vel_cross_track¶

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kd_vel_cross_track¶

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kp_along_track¶

P gain for position error measured along path tangent

Type: float

kd_along_track¶

D gain for position error measured along path tangent

Type: float

kp_vel_along_track¶

P gain for velocity error measured along path tangent

Type: float

kd_vel_along_track¶

D gain for velocity error measured along path tangent

Type: float

kp_z_track¶

P gain for position error measured along world Z axis

Type: float

kd_z_track¶

D gain for position error measured along world Z axis

Type: float

kp_vel_z¶

P gain for velocity error measured along world Z axis

Type: float

kd_vel_z¶

D gain for velocity error measured along world Z axis

Type: float

kp_yaw¶

P gain for yaw error

Type: float

kd_yaw¶

D gain for yaw error

Type: float

to_list()¶

Call this before sending to setTrajectoryTrackerGains

Returns: Description
Return type: list[float]

class airsimneurips.types.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)¶

x_val¶

Description

Type: float

y_val¶

Description

Type: float

z_val¶

Description

Type: float

cross(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

distance_to(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE

dot(other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

get_length()¶

Returns: Description
Return type: TYPE

static nanVector3r()¶

Returns: Description
Return type: TYPE

to_Quaternionr()¶

Returns: Description
Return type: TYPE

to_numpy_array()¶

Returns: Description
Return type: TYPE

class airsimneurips.types.VelocityControllerGains(xGains=<airsimneurips.types.PIDGains object>, yGains=<airsimneurips.types.PIDGains object>, zGains=<airsimneurips.types.PIDGains object>)¶

Struct to contain controller gains used by velocity PID controller

xGains¶

kP, kI, kD for X axis

Type: PIDGains

yGains¶

kP, kI, kD for Y axis

Type: PIDGains

zGains¶

kP, kI, kD for Z axis

Type: PIDGains

class airsimneurips.types.YawMode(is_rate=True, yaw_or_rate=0.0)¶

Struct YawMode with two fields, yaw_or_rate and is_rate. If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in degrees/sec, which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.

If is_rate is False then yaw_or_rate is interpreted as angle in degrees, which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.

When yaw_mode.is_rate == true, the drivetrain parameter shouldn’t be set to ForwardOnly because there’s a contradiction as we’re asking for the drone to keep front pointing ahead, but also rotate continuously. However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff. For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center. In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20. This will cause drone to go in its path while rotating which may allow to do 360 scanning.

In most cases, you just don’t want yaw to change which you can do by setting yaw rate of 0. The shorthand for this is airsim.YawMode()

is_rate¶

if True, yaw_or_rate is interpreted as angular velocity in degrees/sec, if False, yaw_or_rate is interpreted as angles in degrees,

Type: bool

yaw_or_rate¶

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type: float

airsimneurips.utils.get_pfm_array(response)¶

Parameters: response (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.get_public_fields(obj)¶

Parameters: obj (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.list_to_2d_float_array(flst, width, height)¶

Parameters

flst (TYPE) – Description
width (TYPE) – Description
height (TYPE) – Description

Returns

Description

Return type

TYPE

airsimneurips.utils.read_pfm(file)¶

Read a pfm file

Parameters: file (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: Exception – Description

airsimneurips.utils.string_to_float_array(bstr)¶

Parameters: bstr (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.string_to_uint8_array(bstr)¶

Parameters: bstr (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.to_dict(obj)¶

Parameters: obj (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.to_eularian_angles(q)¶

Parameters: q (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.to_quaternion(pitch, roll, yaw)¶

Parameters

pitch (TYPE) – Description
roll (TYPE) – Description
yaw (TYPE) – Description

Returns

Description

Return type

TYPE

airsimneurips.utils.to_str(obj)¶

Parameters: obj (TYPE) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.wait_key(message='')¶

Wait for a key press on the console and return it.

Parameters: message (str, optional) – Description
Returns: Description
Return type: TYPE

airsimneurips.utils.write_file(filename, bstr)¶

Parameters

filename (TYPE) – Description
bstr (TYPE) – Description

airsimneurips.utils.write_pfm(file, image, scale=1)¶

Write a pfm file

Parameters

file (TYPE) – Description
image (TYPE) – Description
scale (int, optional) – Description

Raises

Exception – Description

airsimneurips.utils.write_png(filename, image)¶

image must be numpy array H X W X channels

Parameters

filename (TYPE) – Description
image (TYPE) – Description