airsim
This page documents airsim, the python package to be used for Microsoft AirSim.
- class airsim.client.VehicleClient(ip='', port=41451, timeout_value=3600)[source]
Bases:
object- cancelLastTask(vehicle_name='')[source]
Cancel previous Async task
- Parameters
vehicle_name (str, optional) – Name of the vehicle
- confirmConnection()[source]
Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.
- enableApiControl(is_enabled, vehicle_name='')[source]
Enables or disables API control for vehicle corresponding to vehicle_name
- getSettingsString()[source]
Fetch the settings text being used by AirSim
- Returns
Settings text in JSON format
- Return type
- isApiControlEnabled(vehicle_name='')[source]
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.
- isRecording()[source]
Whether Recording is running or not
- Returns
True if Recording, else False
- Return type
- ping()[source]
If connection is established then this call will return true otherwise it will be blocked until timeout
- Return type
- reset()[source]
Reset the vehicle to its original starting state
Note that you must call enableApiControl and armDisarm again after the call to reset
- simAddDetectionFilterMeshName(camera_name, image_type, mesh_name, vehicle_name='', external=False)[source]
Add mesh name to detect in wild card format
For example: simAddDetectionFilterMeshName(“Car_*”) will detect all instance named “Car_*”
- 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
mesh_name (str) – mesh name in wild card format
vehicle_name (str, optional) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- simAddVehicle(vehicle_name, vehicle_type, pose, pawn_path='')[source]
Create vehicle at runtime
- Parameters
- Returns
Whether vehicle was created
- Return type
- simClearDetectionMeshNames(camera_name, image_type, vehicle_name='', external=False)[source]
Clear all mesh names from detection filter
- 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) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- simContinueForFrames(frames)[source]
Continue (or resume if paused) the simulation for the specified number of frames, after which the simulation will be paused.
- Parameters
frames (int) – Frames to run the simulation for
- simContinueForTime(seconds)[source]
Continue the simulation for the specified number of seconds
- Parameters
seconds (float) – Time to run the simulation for
- simCreateVoxelGrid(position, x, y, z, res, of)[source]
Construct and save a binvox-formatted voxel grid of environment
- Parameters
position (Vector3r) – Position around which voxel grid is centered in m
x (int) – Size of each voxel grid dimension in m
y (int) – Size of each voxel grid dimension in m
z (int) – Size of each voxel grid dimension in m
res (float) – Resolution of voxel grid in m
of (str) – Name of output file to save voxel grid as
- Returns
True if output written to file successfully, else False
- Return type
- simEnableWeather(enable)[source]
Enable Weather effects. Needs to be called before using simSetWeatherParameter API
- Parameters
enable (bool) – True to enable, False to disable
- simFlushPersistentMarkers()[source]
Clear any persistent markers - those plotted with setting is_persistent=True in the APIs below
- simGetCameraInfo(camera_name, vehicle_name='', external=False)[source]
Get details about the camera
- Parameters
- Return type
- simGetCollisionInfo(vehicle_name='')[source]
- Parameters
vehicle_name (str, optional) – Name of the Vehicle to get the info of
- Return type
- simGetDetections(camera_name, image_type, vehicle_name='', external=False)[source]
Get current detections
- 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) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- Returns
DetectionInfo array
- simGetDistortionParams(camera_name, vehicle_name='', external=False)[source]
Get camera distortion parameters
- Parameters
- Returns
List of distortion parameter values corresponding to K1, K2, K3, P1, P2 respectively.
- Return type
List (float)
- simGetGroundTruthEnvironment(vehicle_name='') EnvironmentState[source]
Get ground truth environment state
The position inside the returned EnvironmentState is in the frame of the vehicle’s starting point
- Parameters
vehicle_name (str, optional) – Name of the vehicle
- Returns
Ground truth environment state
- Return type
- simGetGroundTruthKinematics(vehicle_name='') KinematicsState[source]
Get Ground truth kinematics of the vehicle
The position inside the returned KinematicsState is in the frame of the vehicle’s starting point
- Parameters
vehicle_name (str, optional) – Name of the vehicle
- Returns
Ground truth of the vehicle
- Return type
- simGetImage(camera_name, image_type, vehicle_name='', external=False)[source]
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
- Returns
Binary string literal of compressed png image
- simGetImages(requests, vehicle_name='', external=False)[source]
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
external (bool, optional) – Whether the camera is an External Camera
- Return type
- simGetLidarSegmentation(lidar_name='', vehicle_name='')[source]
NOTE: Deprecated API, use getLidarData() API instead Returns Segmentation ID of each point’s collided object in the last Lidar update
- simGetMeshPositionVertexBuffers()[source]
Returns the static meshes that make up the scene
See https://microsoft.github.io/AirSim/meshes/ for details and how to use this
- Return type
- simGetObjectScale(object_name)[source]
Gets scale of an object in the world
- Parameters
object_name (str) – Object to get the scale of
- Returns
Scale
- Return type
airsim.Vector3r
- simGetSegmentationObjectID(mesh_name)[source]
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
- simGetVehiclePose(vehicle_name='')[source]
The position inside the returned Pose is in the frame of the vehicle’s starting point
- simGetWorldExtents()[source]
Returns a list of GeoPoints representing the minimum and maximum extents of the world
- Returns
list[GeoPoint]
- simIsPause()[source]
Returns true if the simulation is paused
- Returns
If the simulation is paused
- Return type
- simListSceneObjects(name_regex='.*')[source]
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
- simPause(is_paused)[source]
Pauses simulation
- Parameters
is_paused (bool) – True to pause the simulation, False to release
- simPlotArrows(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)[source]
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.
- simPlotLineList(points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=-1.0, is_persistent=False)[source]
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.
- simPlotLineStrip(points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=-1.0, is_persistent=False)[source]
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.
- simPlotPoints(points, color_rgba=[1.0, 0.0, 0.0, 1.0], size=10.0, duration=-1.0, is_persistent=False)[source]
Plot a list of 3D points in World NED frame
- simPlotStrings(strings, positions, scale=5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration=-1.0)[source]
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(poses, scale=5.0, thickness=5.0, duration=-1.0, is_persistent=False)[source]
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(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)[source]
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
- simPrintLogMessage(message, message_param='', severity=0)[source]
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.
- simRunConsoleCommand(command)[source]
Allows the client to execute a command in Unreal’s native console, via an API. Affords access to the countless built-in commands such as “stat unit”, “stat fps”, “open [map]”, adjust any config settings, etc. etc. Allows the user to create bespoke APIs very easily, by adding a custom event to the level blueprint, and then calling the console command “ce MyEventName [args]”. No recompilation of AirSim needed!
- Parameters
command ([string]) – Desired Unreal Engine Console command to run
- Returns
Success
- Return type
[bool]
- simSetCameraFov(camera_name, fov_degrees, vehicle_name='', external=False)[source]
Control the field of view of a selected camera
- simSetCameraPose(camera_name, pose, vehicle_name='', external=False)[source]
Control the pose of a selected camera
- simSetDetectionFilterRadius(camera_name, image_type, radius_cm, vehicle_name='', external=False)[source]
Set detection radius for all cameras
- 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
radius_cm (int) – Radius in [cm]
vehicle_name (str, optional) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- simSetDistortionParam(camera_name, param_name, value, vehicle_name='', external=False)[source]
Set single camera distortion parameter
- Parameters
camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
param_name (str) – Name of distortion parameter
value (float) – Value of distortion parameter
vehicle_name (str, optional) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- simSetDistortionParams(camera_name, distortion_params, vehicle_name='', external=False)[source]
Set camera distortion parameters
- Parameters
camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
distortion_params (dict) – Dictionary of distortion param names and corresponding values {“K1”: 0.0, “K2”: 0.0, “K3”: 0.0, “P1”: 0.0, “P2”: 0.0}
vehicle_name (str, optional) – Vehicle which the camera is associated with
external (bool, optional) – Whether the camera is an External Camera
- simSetFilmbackSettings(sensor_width, sensor_height, camera_name, vehicle_name='', external=False)[source]
- simSetKinematics(state, ignore_collision, vehicle_name='')[source]
Set the kinematics state 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
state (KinematicsState) – 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
- simSetObjectMaterial(object_name, material_name, component_id=0)[source]
Runtime Swap Texture API See https://microsoft.github.io/AirSim/retexturing/ for details :param object_name: name of object to set material for :type object_name: str :param material_name: name of material to set for object :type material_name: str :param component_id: index of material elements :type component_id: int, optional
- Returns
True if material was set
- Return type
- simSetObjectMaterialFromTexture(object_name, texture_path, component_id=0)[source]
Runtime Swap Texture API See https://microsoft.github.io/AirSim/retexturing/ for details :param object_name: name of object to set material for :type object_name: str :param texture_path: path to texture to set for object :type texture_path: str :param component_id: index of material elements :type component_id: int, optional
- Returns
True if material was set
- Return type
- simSetObjectPose(object_name, pose, teleport=True)[source]
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
- simSetPresetFilmbackSettings(preset_filmback_settings, camera_name, vehicle_name='', external=False)[source]
- simSetPresetLensSettings(preset_lens_settings, camera_name, vehicle_name='', external=False)[source]
- simSetSegmentationObjectID(mesh_name, object_id, is_name_regex=False)[source]
Set segmentation ID for specific objects
See https://microsoft.github.io/AirSim/image_apis/#segmentation for details
- Parameters
mesh_name (str) – Name of the mesh to set the ID of (supports regex)
object_id (int) –
Object ID to be set, range 0-255
RBG values for IDs can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
is_name_regex (bool, optional) – Whether the mesh name is a regex
- Returns
If the mesh was found
- Return type
- simSetTimeOfDay(is_enabled, start_datetime='', is_start_datetime_dst=False, celestial_clock_speed=1, update_interval_secs=60, move_sun=True)[source]
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
- simSetTraceLine(color_rgba, thickness=1.0, vehicle_name='')[source]
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
- simSetVehiclePose(pose, ignore_collision, vehicle_name='')[source]
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
- simSetWeatherParameter(param, val)[source]
Enable various weather effects
- Parameters
param (WeatherParameter) – Weather effect to be enabled
val (float) – Intensity of the effect, Range 0-1
- simSetWind(wind)[source]
Set simulated wind, in World frame, NED direction, m/s
- Parameters
wind (Vector3r) – Wind, in World frame, NED direction, in m/s
- simSpawnObject(object_name, asset_name, pose, scale, physics_enabled=False, is_blueprint=False)[source]
Spawned selected object in the world
- Parameters
object_name (str) – Desired name of new object
asset_name (str) – Name of asset(mesh) in the project database
pose (airsim.Pose) – Desired pose of object
scale (airsim.Vector3r) – Desired scale of object
physics_enabled (bool, optional) – Whether to enable physics for the object
is_blueprint (bool, optional) – Whether to spawn a blueprint or an actor
- Returns
Name of spawned object, in case it had to be modified
- Return type
- simSwapTextures(tags, tex_id=0, component_id=0, material_id=0)[source]
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
- simTestLineOfSightBetweenPoints(point1, point2)[source]
Returns whether the target point is visible from the perspective of the source point
- class airsim.client.MultirotorClient(ip='', port=41451, timeout_value=3600)[source]
Bases:
VehicleClient,object- getMultirotorState(vehicle_name='') MultirotorState[source]
The position inside the returned MultirotorState is in the frame of the vehicle’s starting point
- Parameters
vehicle_name (str, optional) – Vehicle to get the state of
- Return type
- getRotorStates(vehicle_name='') RotorStates[source]
Used to obtain the current state of all a multirotor’s rotors. The state includes the speeds, thrusts and torques for all rotors.
- Parameters
vehicle_name (str, optional) – Vehicle to get the rotor state of
- Returns
Containing a timestamp and the speed, thrust and torque of all rotors.
- Return type
- goHomeAsync(timeout_sec=3e+38, vehicle_name='')[source]
Return vehicle to Home i.e. Launch location
- moveByAngleRatesThrottleAsync(roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name='')[source]
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='')[source]
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
- moveByManualAsync(vx_max, vy_max, z_min, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, vehicle_name='')[source]
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
- moveByMotorPWMsAsync(front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name='')[source]
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
- moveByRC(rcdata=<RCData> { 'is_initialized': False, 'is_valid': False, 'pitch': 0.0, 'roll': 0.0, 'switch1': 0, 'switch2': 0, 'switch3': 0, 'switch4': 0, 'switch5': 0, 'switch6': 0, 'switch7': 0, 'switch8': 0, 'throttle': 0.0, 'timestamp': 0, 'yaw': 0.0}, vehicle_name='')[source]
- moveByRollPitchYawThrottleAsync(roll, pitch, yaw, throttle, duration, vehicle_name='')[source]
Desired throttle is between 0.0 to 1.0
Roll angle, pitch angle, and yaw angle are given in degrees when using PX4 and in radians when using SimpleFlight, 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.
pitch (float) – Desired pitch angle.
yaw (float) – Desired yaw angle.
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='')[source]
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='')[source]
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='')[source]
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='')[source]
- 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
- moveByVelocityBodyFrameAsync(vx, vy, vz, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, vehicle_name='')[source]
- Parameters
vx (float) – desired velocity in the X axis of the vehicle’s local NED frame.
vy (float) – desired velocity in the Y axis of the vehicle’s local NED frame.
vz (float) – desired velocity in the Z axis of the vehicle’s local NED frame.
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(vx, vy, z, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, vehicle_name='')[source]
- moveByVelocityZBodyFrameAsync(vx, vy, z, duration, drivetrain=0, yaw_mode=<YawMode> { 'is_rate': True, 'yaw_or_rate': 0.0}, vehicle_name='')[source]
- Parameters
vx (float) – desired velocity in the X axis of the vehicle’s local NED frame
vy (float) – desired velocity in the Y axis of the vehicle’s local NED frame
z (float) – desired Z value (in local NED frame of the vehicle)
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
- 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='')[source]
- moveToGPSAsync(latitude, longitude, altitude, 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='')[source]
- 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='')[source]
- 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='')[source]
- setAngleLevelControllerGains(angle_level_gains=<airsim.types.AngleLevelControllerGains object>, vehicle_name='')[source]
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
- setAngleRateControllerGains(angle_rate_gains=<airsim.types.AngleRateControllerGains object>, vehicle_name='')[source]
- 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=<airsim.types.PositionControllerGains object>, vehicle_name='')[source]
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
- setVelocityControllerGains(velocity_gains=<airsim.types.VelocityControllerGains object>, vehicle_name='')[source]
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.
- 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
- class airsim.client.CarClient(ip='', port=41451, timeout_value=3600)[source]
Bases:
VehicleClient,object- getCarControls(vehicle_name='')[source]
- Parameters
vehicle_name (str, optional) – Name of vehicle
- Return type
- getCarState(vehicle_name='')[source]
The position inside the returned CarState is in the frame of the vehicle’s starting point
- setCarControls(controls, vehicle_name='')[source]
Control the car using throttle, steering, brake, etc.
- Parameters
controls (CarControls) – Struct containing control values
vehicle_name (str, optional) – Name of vehicle to be controlled
- class airsim.types.AngleLevelControllerGains(roll_gains=<airsim.types.PIDGains object>, pitch_gains=<airsim.types.PIDGains object>, yaw_gains=<airsim.types.PIDGains object>)[source]
Struct to contain controller gains used by angle rate PID controller
- class airsim.types.AngleRateControllerGains(roll_gains=<airsim.types.PIDGains object>, pitch_gains=<airsim.types.PIDGains object>, yaw_gains=<airsim.types.PIDGains object>)[source]
Struct to contain controller gains used by angle level PID controller
- class airsim.types.BarometerData[source]
- altitude = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- pressure = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- qnh = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- time_stamp = 0
- class airsim.types.Box2D[source]
- max = <Vector2r> { 'x_val': 0.0, 'y_val': 0.0}
- min = <Vector2r> { 'x_val': 0.0, 'y_val': 0.0}
- class airsim.types.Box3D[source]
- max = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- min = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- class airsim.types.CameraInfo[source]
- fov = -1
- pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}
- proj_mat = <ProjectionMatrix> { }
- class airsim.types.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)[source]
- brake = 0.0
- gear_immediate = True
- handbrake = False
- is_manual_gear = False
- manual_gear = 0
- steering = 0.0
- throttle = 0.0
- class airsim.types.CarState[source]
- collision = <CollisionInfo> { }
- gear = 0
- handbrake = False
- kinematics_estimated = <KinematicsState> { }
- maxrpm = 0.0
- rpm = 0.0
- speed = 0.0
- timestamp = 0
- class airsim.types.CollisionInfo[source]
- has_collided = False
- impact_point = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- normal = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- object_id = -1
- object_name = ''
- penetration_depth = 0.0
- position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- time_stamp = 0.0
- class airsim.types.DetectionInfo[source]
- box2D = <Box2D> { }
- box3D = <Box3D> { }
- geo_point = <GeoPoint> { }
- name = ''
- relative_pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}
- class airsim.types.DistanceSensorData[source]
- distance = 0.0
- max_distance = 0.0
- min_distance = 0.0
- relative_pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}
- time_stamp = 0
- class airsim.types.EnvironmentState[source]
- air_density = 0.0
- air_pressure = 0.0
- geo_point = <GeoPoint> { }
- gravity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- temperature = 0.0
- class airsim.types.GnssFixType[source]
- GNSS_FIX_2D_FIX = 2
- GNSS_FIX_3D_FIX = 3
- GNSS_FIX_NO_FIX = 0
- GNSS_FIX_TIME_ONLY = 1
- class airsim.types.GnssReport[source]
- eph = 0.0
- epv = 0.0
- fix_type = <GnssFixType> { }
- geo_point = <GeoPoint> { }
- time_utc = 0
- velocity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- class airsim.types.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)[source]
- camera_name = '0'
- compress = False
- image_type = 0
- pixels_as_float = False
- class airsim.types.ImageResponse[source]
- camera_orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- camera_position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- compress = True
- height = 0
- image_data_float = 0.0
- image_data_uint8 = 0
- image_type = 0
- message = ''
- pixels_as_float = 0.0
- time_stamp = 0
- width = 0
- class airsim.types.ImageType[source]
- DepthPerspective = 2
- DepthPlanar = 1
- DepthVis = 3
- DisparityNormalized = 4
- Infrared = 7
- OpticalFlow = 8
- OpticalFlowVis = 9
- Scene = 0
- Segmentation = 5
- SurfaceNormals = 6
- class airsim.types.ImuData[source]
- angular_velocity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- linear_acceleration = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- time_stamp = 0
- class airsim.types.KinematicsState[source]
- angular_acceleration = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- angular_velocity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- linear_acceleration = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- linear_velocity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- class airsim.types.LidarData[source]
- point_cloud = 0.0
- pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}
- segmentation = 0
- time_stamp = 0
- class airsim.types.MagnetometerData[source]
- magnetic_field_body = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- magnetic_field_covariance = 0.0
- time_stamp = 0
- class airsim.types.MeshPositionVertexBuffersResponse[source]
- indices = 0.0
- name = ''
- orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- vertices = 0.0
- class airsim.types.MultirotorState[source]
- can_arm = False
- collision = <CollisionInfo> { }
- gps_location = <GeoPoint> { }
- kinematics_estimated = <KinematicsState> { }
- landed_state = 0
- rc_data = <RCData> { 'is_initialized': False, 'is_valid': False, 'pitch': 0.0, 'roll': 0.0, 'switch1': 0, 'switch2': 0, 'switch3': 0, 'switch4': 0, 'switch5': 0, 'switch6': 0, 'switch7': 0, 'switch8': 0, 'throttle': 0.0, 'timestamp': 0, 'yaw': 0.0}
- ready = False
- ready_message = ''
- timestamp = 0
- class airsim.types.PIDGains(kp, ki, kd)[source]
Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
- class airsim.types.Pose(position_val=None, orientation_val=None)[source]
-
- orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}
- class airsim.types.PositionControllerGains(x_gains=<airsim.types.PIDGains object>, y_gains=<airsim.types.PIDGains object>, z_gains=<airsim.types.PIDGains object>)[source]
Struct to contain controller gains used by position PID controller
- class airsim.types.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)[source]
-
- w_val = 0.0
- x_val = 0.0
- y_val = 0.0
- z_val = 0.0
- class airsim.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)[source]
- is_initialized = False
- is_valid = False
- pitch = 0.0
- roll = 0.0
- switch1 = 0
- switch2 = 0
- switch3 = 0
- switch4 = 0
- switch5 = 0
- switch6 = 0
- switch7 = 0
- switch8 = 0
- throttle = 0.0
- timestamp = 0
- yaw = 0.0
- class airsim.types.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)[source]
-
- x_val = 0.0
- y_val = 0.0
- z_val = 0.0
- class airsim.types.VelocityControllerGains(x_gains=<airsim.types.PIDGains object>, y_gains=<airsim.types.PIDGains object>, z_gains=<airsim.types.PIDGains object>)[source]
Struct to contain controller gains used by velocity PID controller
- class airsim.types.WeatherParameter[source]
- Dust = 6
- Enabled = 8
- Fog = 7
- MapleLeaf = 4
- Rain = 0
- RoadLeaf = 5
- RoadSnow = 3
- Roadwetness = 1
- Snow = 2
- class airsim.types.YawMode(is_rate=True, yaw_or_rate=0.0)[source]
- is_rate = True
- yaw_or_rate = 0.0