VehicleClient
- class airgen.client.VehicleClient(ip='', port=41451, timeout_value=3600, geo=False, run_in_background=False)
Bases:
object
- Parameters:
geo (bool)
run_in_background (bool)
- armDisarm(arm, vehicle_name='')
Arms or disarms vehicle
- Parameters:
arm (bool) -- True to arm, False to disarm the vehicle
vehicle_name (str, optional) -- Name of the vehicle to send this command to
- Returns:
Success
- Return type:
bool
- confirmConnection()
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='')
Enables or disables API control for vehicle corresponding to vehicle_name
- Parameters:
is_enabled (bool) -- True to enable, False to disable API control
vehicle_name (str, optional) -- Name of the vehicle to send this command to
- getBarometerData(barometer_name='', vehicle_name='')
- Parameters:
barometer_name (str, optional) -- Name of Barometer to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
BarometerData
- getClientVersion()
- getDistanceSensorData(distance_sensor_name='', vehicle_name='')
- Parameters:
distance_sensor_name (str, optional) -- Name of Distance Sensor to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
DistanceSensorData
- getGpsData(gps_name='', vehicle_name='')
- Parameters:
gps_name (str, optional) -- Name of GPS to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
GpsData
- getHomeGeoPoint(vehicle_name='')
Get the Home location of the vehicle
- Parameters:
vehicle_name (str, optional) -- Name of vehicle to get home location of
- Returns:
Home location of the vehicle
- Return type:
GeoPoint
- getImages(camera_name, image_types, vehicle_name='')
Get multiple images
- Parameters:
camera_name (str) -- Name of camera to obtain images from
image_types (list[ImageType]) -- Images required
vehicle_name (str, optional) -- Name of vehicle associated with the camera
- Returns:
Each list item is a tuple of image and metadata, where image is a numpy array and metadata is a dictionary.
- Return type:
list[ImageResponse]
- getImuData(imu_name='', vehicle_name='')
- Parameters:
imu_name (str, optional) -- Name of IMU to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
ImuData
- getLidarData(lidar_name='', vehicle_name='')
- Parameters:
lidar_name (str, optional) -- Name of Lidar to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
LidarData
- getMagnetometerData(magnetometer_name='', vehicle_name='')
- Parameters:
magnetometer_name (str, optional) -- Name of Magnetometer to get data from, specified in settings.json
vehicle_name (str, optional) -- Name of vehicle to which the sensor corresponds to
- Return type:
MagnetometerData
- getMinRequiredClientVersion()
- getMinRequiredServerVersion()
- getNavMeshInfo()
Get NavMesh information, as an array of XYZ center, min and max values in global NED coordinates
- Parameters:
None
- Returns:
List of values if successful, else empty list
- Return type:
list[Vector3r]
- getServerVersion()
- getSettingsString()
Fetch the settings text being used by airgen
- Returns:
Settings text in JSON format
- Return type:
str
- isAnyPointInCollisionBatch(points)
Get Collision information about an array of points. Returns True if any of the points is in collision, else False
- Parameters:
points (list[Vector3r]) -- List of points to be checked in airgen coordinates
- Returns:
True if any of the points is in collision, else False
- 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, isApiControlEnabled should return true.
- Parameters:
vehicle_name (str, optional) -- Name of the vehicle
- Returns:
If API control is enabled
- Return type:
bool
- isPointInCollision(point)
Get Collision information about a point. Returns True if point is in collision, else False
- Parameters:
point (Vector3r) -- Point to be checked in airgen coordinates
- Returns:
True if point is in collision, else False
- Return type:
bool
- isRecording()
Whether Recording is running or not
- Returns:
True if Recording, else False
- Return type:
bool
- listVehicles()
Lists the names of current vehicles
- Returns:
List containing names of all vehicles
- Return type:
list[str]
- ping()
If connection is established then this call will return true otherwise it will be blocked until timeout
- Return type:
bool
- reset()
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)
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
- simAddMeshFromPath(object_name, path, pose, scale, physics_enabled=False)
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 (airgen.Pose) -- Desired pose of object
scale (airgen.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:
True if object was spawned, False otherwise
- Return type:
bool
- simAddVehicle(vehicle_name, vehicle_type, pose, pawn_path='')
Create vehicle at runtime
- Parameters:
vehicle_name (str) -- Name of the vehicle being created
vehicle_type (str) -- Type of vehicle, e.g. "simpleflight"
pose (Pose) -- Initial pose of the vehicle
pawn_path (str, optional) -- Vehicle blueprint path, default empty wbich uses the default blueprint for the vehicle type
- Returns:
Whether vehicle was created
- Return type:
bool
- simBuildSDF(position, x, y, z, res)
Construct a signed distance field of the environment centered at position, and with dimensions (x, y, z). Internally, the SDF is stored as a special case of a voxel grid with floating point distances instead of boolean occupancy.
- Parameters:
position (Vector3r) -- Global position around which field is centered in m
x (float) -- Size of distance field dimensions in m
y (float) -- Size of distance field dimensions in m
z (float) -- Size of distance field dimensions in m
res (float) -- Resolution of distance field in m
- simCameraLookAt(camera_name, pose, vehicle_name='')
Control the pose of a selected camera
- Parameters:
camera_name (str) -- Name of the camera to be controlled
pose (Pose) -- Pose representing the desired position the camera has to observe
vehicle_name (str, optional) -- Name of vehicle which the camera corresponds to
external (bool, optional) -- Whether the camera is an External Camera
- simCheckInVolume(position, volume_object_name)
Check if a point is inside a volume.
- Parameters:
position (Vector3r) -- Global position at which volume is to be checked (m)
volume_object_name (str) -- Name of the volume object
- simCheckOccupancy(position)
Check and return occupancy of a point. Requires signed distance field to be built beforehand.
- Parameters:
position (Vector3r) -- Global position at which occupancy is to be checked (m)
- simClearDetectionMeshNames(camera_name, image_type, vehicle_name='', external=False)
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)
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)
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)
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:
bool
- simDestroyObject(object_name)
Removes selected object from the world
- Parameters:
object_name (str) -- Name of object to be removed
- Returns:
True if object is queued up for removal
- Return type:
bool
- simEnableFocusPlane(enable, camera_name, vehicle_name='', external=False)
- simEnableManualFocus(enable, camera_name, vehicle_name='', external=False)
- simEnableWeather(enable)
Enable Weather effects. Needs to be called before using simSetWeatherParameter API
- Parameters:
enable (bool) -- True to enable, False to disable
- simFlushPersistentMarkers()
Clear any persistent markers - those plotted with setting is_persistent=True in the APIs below
- simGetCameraInfo(camera_name, vehicle_name='', external=False)
Get details about the camera
- Parameters:
camera_name (str) -- Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
vehicle_name (str, optional) -- Vehicle which the camera is associated with
external (bool, optional) -- Whether the camera is an External Camera
- Return type:
CameraInfo
- simGetCollisionInfo(vehicle_name='')
- Parameters:
vehicle_name (str, optional) -- Name of the Vehicle to get the info of. This call will also reset the collision info (state of the vehicle) to False.
- Return type:
CollisionInfo
- simGetCurrentFieldOfView(camera_name, vehicle_name='', external=False)
- simGetDetections(camera_name, image_type, vehicle_name='', external=False)
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)
Get 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
vehicle_name (str, optional) -- Vehicle which the camera is associated with
external (bool, optional) -- Whether the camera is an External Camera
- Returns:
List of distortion parameter values corresponding to K1, K2, K3, P1, P2 respectively.
- Return type:
List (float)
- simGetFilmbackSettings(camera_name, vehicle_name='', external=False)
- simGetFocalLength(camera_name, vehicle_name='', external=False)
- simGetFocusAperture(camera_name, vehicle_name='', external=False)
- simGetFocusDistance(camera_name, vehicle_name='', external=False)
- simGetGroundTruthEnvironment(vehicle_name='')
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:
EnvironmentState
- simGetGroundTruthKinematics(vehicle_name='')
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:
KinematicsState
- simGetImage(camera_name, image_type, vehicle_name='', external=False)
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
- Parameters:
camera_name (str) -- Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
image_type (ImageType) -- Type of image required
vehicle_name (str, optional) -- Name of the vehicle with the camera
external (bool, optional) -- Whether the camera is an External Camera
- Returns:
Binary string literal of compressed png image
- simGetImages(requests, vehicle_name='', external=False)
Get multiple images
- 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:
list[ImageResponse]
- simGetImagesAlongTrajectory(poses, requests, vehicle_name='', external=False)
Get images along a trajectory (specified by position and pose) when
- Parameters:
poses (list[Pose]) -- A list of poses of the vehicle, at which images are to be requested
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, defaults to False
- Return type:
list[ImageResponse]
- simGetLensSettings(camera_name, vehicle_name='', external=False)
Get the lens settings for the camera
- Parameters:
camera_name (str) -- camera name
vehicle_name (str, optional) -- vechile name. Defaults to "".
external (bool, optional) -- Whether the camera is an External Camera. Defaults to False.
- simGetLidarSegmentation(lidar_name='', vehicle_name='')
NOTE: Deprecated API, use getLidarData() API instead Returns Segmentation ID of each point's collided object in the last Lidar update
- Parameters:
lidar_name (str, optional) -- Name of Lidar sensor
vehicle_name (str, optional) -- Name of the vehicle wth the sensor
- Returns:
Segmentation IDs of the objects
- Return type:
list[int]
- simGetMeshPositionVertexBuffers()
Returns the static meshes that make up the scene
- Return type:
list[MeshPositionVertexBuffersResponse]
- simGetObjectCenter(object_name)
Gets the center of an object in the world
- Parameters:
object_name (str) -- Object to get the center of
- Returns:
Center position
- Return type:
airgen.Vector3r
- simGetObjectDimensions(object_name)
Gets bounds of an object in the world
- Parameters:
object_name (str) -- Object to get the bounds of
- Returns:
Extents in X, Y, Z
- Return type:
airgen.Vector3r
- simGetObjectPose(object_name)
The position inside the returned Pose is in the world frame
- Parameters:
object_name (str) -- Object to get the Pose of
- Return type:
Pose
- simGetObjectScale(object_name)
Gets scale of an object in the world
- Parameters:
object_name (str) -- Object to get the scale of
- Returns:
Scale
- Return type:
airgen.Vector3r
- simGetPresetFilmbackSettings(camera_name, vehicle_name='', external=False)
- simGetPresetLensSettings(camera_name, vehicle_name='', external=False)
Get the preset lens settings for the camera
- Parameters:
camera_name (str) -- camera name
vehicle_name (str, optional) -- vechile name. Defaults to "".
external (bool, optional) -- Whether the camera is an External Camera. Defaults to False.
- Returns:
_description_
- Return type:
_type_
- simGetSDFGradient(position)
Get the SDF gradient at a point (vector pointing away from the closest 'object surface') in the environment. Requires signed distance field to be built beforehand.
- Parameters:
position (Vector3r) -- Global position at which gradient is to be computed (m)
- Returns:
SDF gradient at the position
- Return type:
gradient (Vector3r)
- simGetSegmentationObjectID(mesh_name)
Returns Object ID for the given mesh name (case-sensitive)
- Parameters:
mesh_name (str) -- Name of the mesh to get the ID of
- simGetSignedDistance(position)
Get signed distance of a point (distance to the closest 'object surface') in the environment. Requires signed distance field to be built beforehand.
Distance is positive if the point is in free space, and negative if the point is inside an object.
- Parameters:
position (Vector3r) -- Global position at which distance is to be computed (m)
- Returns:
dist (float)
- simGetSignedDistances(positions)
Get signed distance of a list of points (distance to the closest 'object surface') in the environment. Requires signed distance field to be built beforehand.
Distance is positive if the point is in free space, and negative if the point is inside an object.
- Parameters:
positions (list) -- List of global positions at which distance is to be computed (m)
- Returns:
dists (list)
- simGetVehiclePose(vehicle_name='')
The position inside the returned Pose is in the frame of the vehicle's starting point
- Parameters:
vehicle_name (str, optional) -- Name of the vehicle to get the Pose of
- Return type:
Pose
- simGetWorldExtents()
Returns a list of GeoPoints representing the minimum and maximum extents of the world
- Returns:
list[GeoPoint]
- simIsPause()
Returns true if the simulation is paused
- Returns:
If the simulation is paused
- Return type:
bool
- simListAssets()
Lists all the assets present in the Asset Registry
- Returns:
Names of all the assets
- Return type:
list[str]
- simListSceneObjects(name_regex='.*')
Lists the objects present in the environment
Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors
- Parameters:
name_regex (str, optional) -- String to match actor names against, e.g. "Cylinder.*"
- Returns:
List containing all the names
- Return type:
list[str]
- simLoadLevel(level_name)
Loads a level specified by its name
- Parameters:
level_name (str) -- Name of the level to load
- Returns:
True if the level was successfully loaded
- Return type:
bool
- simLoadSDF(filepath)
Load a saved signed distance field.
- Parameters:
filepath (str) -- Filename to load the SDF from
- simPause(is_paused)
Pauses simulation
- Parameters:
is_paused (bool) -- True to pause the simulation, False to release
- simPlanPath(start, goal, smooth_path, draw_path)
Plan a collision-free path between start and goal points and return the intermediate waypoints.
- Parameters:
start (Vector3r) -- Start position in airgen coordinates
goal (Vector3r) -- Goal position in airgen coordinates
smooth_path (bool) -- Returns a smooth spline if True, else returns a list of coarse waypoints
draw_path (bool) -- Draws the path in the Unreal environment if True
- Returns:
List of waypoints if successful, else empty list
- Return type:
list[Vector3r]
- simPlanPathToRandomFreePoint(search_radius, smooth_path, draw_path)
Plan a collision-free path to a random point within a radius around the vehicle and return the intermediate waypoints.
- Parameters:
search_radius (float) -- Radius around the vehicle to search for a free point in m
smooth_path (bool) -- Returns a smooth spline if True, else returns a list of coarse waypoints
draw_path (bool) -- Draws the path in the Unreal environment if True
- Returns:
List of waypoints if successful, else empty list
- Return type:
list[Vector3r]
- simPlanPathToRandomizeGoal(start, goal, search_radius, num_trials, smooth_path, draw_path)
Plan a collision-free path from the current position to a random point within a radius around the goal and return the intermediate waypoints.
- Parameters:
start (Vector3r) -- Start position in airgen coordinates
goal (Vector3r) -- Goal position in airgen coordinates
search_radius (float) -- Radius around the vehicle to search for a free point in m
num_trials (int) -- number of random points to query for a free point
smooth_path (bool) -- Returns a smooth spline if True, else returns a list of coarse waypoints
draw_path (bool) -- Draws the path in the Unreal environment if True
- Returns:
List of waypoints if successful, else empty list
- Return type:
list[Vector3r]
- 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)
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)
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)
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)
Plot a list of 3D points in World NED frame
- Parameters:
points (list[Vector3r]) -- List of Vector3r objects
color_rgba (list, optional) -- desired RGBA values from 0.0 to 1.0
size (float, optional) -- Size of plotted point
duration (float, optional) -- Duration (seconds) to plot for
is_persistent (bool, optional) -- If set to True, the desired object will be plotted for infinite time.
- simPlotStrings(strings, positions, scale=5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration=-1.0)
Plots a list of strings at desired positions in World NED frame.
- Parameters:
strings (list[String], optional) -- List of strings to plot
positions (list[Vector3r]) -- List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings' list
scale (float, optional) -- Font scale of transform name
color_rgba (list, optional) -- desired RGBA values from 0.0 to 1.0
duration (float, optional) -- Duration (seconds) to plot for
- simPlotTransforms(poses, scale=5.0, thickness=5.0, duration=-1.0, is_persistent=False)
Plots a list of transforms in World NED frame.
- Parameters:
poses (list[Pose]) -- List of Pose objects representing the transforms to plot
scale (float, optional) -- Length of transforms' axes
thickness (float, optional) -- Thickness of transforms' axes
duration (float, optional) -- Duration (seconds) to plot for
is_persistent (bool, optional) -- If set to True, the desired object will be plotted for infinite time.
- simPlotTransformsWithNames(poses, names, tf_scale=5.0, tf_thickness=5.0, text_scale=10.0, text_color_rgba=[1.0, 0.0, 0.0, 1.0], duration=-1.0)
Plots a list of transforms with their names in World NED frame.
- Parameters:
poses (list[Pose]) -- List of Pose objects representing the transforms to plot
names (list[string]) -- List of strings with one-to-one correspondence to list of poses
tf_scale (float, optional) -- Length of transforms' axes
tf_thickness (float, optional) -- Thickness of transforms' axes
text_scale (float, optional) -- Font scale of transform name
text_color_rgba (list, optional) -- desired RGBA values from 0.0 to 1.0 for the transform name
duration (float, optional) -- Duration (seconds) to plot for
- simPrintLogMessage(message, message_param='', severity=0)
Prints the specified message in the simulator's window.
If message_param is supplied, then it's printed next to the message and in that case if this API is called with same message value but different message_param again then previous line is overwritten with new line (instead of API creating new line on display).
For example, simPrintLogMessage("Iteration: ", to_string(i)) keeps updating same line on display when API is called with different values of i. The valid values of severity parameter is 0 to 3 inclusive that corresponds to different colors.
- Parameters:
message (str) -- Message to be printed
message_param (str, optional) -- Parameter to be printed next to the message
severity (int, optional) -- Range 0-3, inclusive, corresponding to the severity of the message
- simProjectToFreeSpace(position, mindist)
Project a given point into free space using the SDF, with a specified minimum clearance from existing objects. Returns the same point if the point is already free, else follows the SDF gradient to find a free point that satisfies the minimum distance constraint.
- Parameters:
position (Vector3r) -- Global position to project (m)
mindist (float) -- Minimum distance from objects to satisfy when finding the free point
- Returns:
Projected position in free space
- Return type:
free_pt (Vector3r)
- simRunConsoleCommand(command)
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 airgen needed!
- Parameters:
command ([string]) -- Desired Unreal Engine Console command to run
- Returns:
Success
- Return type:
[bool]
- simSaveSDF(filepath)
Save the constructed signed distance field to a file.
- Parameters:
filepath (str) -- Filename to save the SDF to
- simSetCameraFov(camera_name, fov_degrees, vehicle_name='', external=False)
Control the field of view of a selected camera
- Parameters:
camera_name (str) -- Name of the camera to be controlled
fov_degrees (float) -- Value of field of view in degrees
vehicle_name (str, optional) -- Name of vehicle which the camera corresponds to
external (bool, optional) -- Whether the camera is an External Camera
- simSetCameraPose(camera_name, pose, vehicle_name='', external=False)
Control the pose of a selected camera
- Parameters:
camera_name (str) -- Name of the camera to be controlled
pose (Pose) -- Pose representing the desired position and orientation of the camera
vehicle_name (str, optional) -- Name of vehicle which the camera corresponds to
external (bool, optional) -- Whether the camera is an External Camera
- simSetDetectionFilterRadius(camera_name, image_type, radius_cm, vehicle_name='', external=False)
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)
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)
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)
- simSetFocalLength(focal_length, camera_name, vehicle_name='', external=False)
- simSetFocusAperture(focus_aperture, camera_name, vehicle_name='', external=False)
- simSetFocusDistance(focus_distance, camera_name, vehicle_name='', external=False)
- simSetGeoReference(geopoint)
Set the geo reference of the scene (only valid for Cesium)
- Parameters:
geopoint (GeoPoint) -- Desired GeoPoint of the scene
- simSetKinematics(state, ignore_collision, vehicle_name='')
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
- simSetLightIntensity(light_name, intensity)
Change intensity of named light
- Parameters:
light_name (str) -- Name of light to change
intensity (float) -- New intensity value
- Returns:
True if successful, otherwise False
- Return type:
bool
- simSetObjectGeoPose(object_name, geopose, teleport=True)
Set the pose of the object(actor) in the environment
The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour. See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter
- Parameters:
object_name (str) -- Name of the object(actor) to move
pose (Pose) -- Desired Pose of the object
teleport (bool, optional) -- Whether to move the object immediately without affecting their velocity
- Returns:
If the move was successful
- Return type:
bool
- simSetObjectMaterial(object_name, material_name, component_id=0)
Runtime Swap Texture API :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:
bool
- simSetObjectMaterialFromTexture(object_name, texture_path, component_id=0)
Runtime Swap Texture API :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:
bool
- simSetObjectPose(object_name, pose, teleport=True)
Set the pose of the object(actor) in the environment
The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour. See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter
- Parameters:
object_name (str) -- Name of the object(actor) to move
pose (Pose) -- Desired Pose of the object
teleport (bool, optional) -- Whether to move the object immediately without affecting their velocity
- Returns:
If the move was successful
- Return type:
bool
- simSetObjectScale(object_name, scale_vector)
Sets scale of an object in the world
- Parameters:
object_name (str) -- Object to set the scale of
scale_vector (airgen.Vector3r) -- Desired scale of object
- Returns:
True if scale change was successful
- Return type:
bool
- simSetPresetFilmbackSettings(preset_filmback_settings, camera_name, vehicle_name='', external=False)
- simSetPresetLensSettings(preset_lens_settings, camera_name, vehicle_name='', external=False)
- Parameters:
camera_name (str)
vehicle_name (str)
- simSetSegmentationInstanceID(mesh_name, instance_id, is_name_regex=False)
Set segmentation ID for specific instances
- Parameters:
mesh_name (str) -- Name of the mesh to set the ID of (supports regex)
instance_id (int) -- start of instance ID to be set, range 0-255. Gets incremented each time for each instance (mesh)
is_name_regex (bool, optional) -- Whether the mesh name is a regex
- Returns:
number of instances (meshes) matched with mesh_id updated
- Return type:
int
- simSetSegmentationObjectID(mesh_name, object_id, is_name_regex=False)
Set segmentation ID for specific objects
- 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.
is_name_regex (bool, optional) -- Whether the mesh name is a regex. If True, all meshes matching the regex will be set to the same ID
- Returns:
If the mesh was found
- Return type:
bool
- simSetTimeOfDay(is_enabled, start_datetime='', is_start_datetime_dst=False, celestial_clock_speed=1, update_interval_secs=60, move_sun=True)
Control the position of Sun in the environment
Sun's position is computed using the coordinates specified in OriginGeopoint in settings for the date-time specified in the argument, else if the string is empty, current date & time is used
- Parameters:
is_enabled (bool) -- True to enable time-of-day effect, False to reset the position to original
start_datetime (str, optional) -- Date & Time in %Y-%m-%d %H:%M:%S format, e.g. 2018-02-12 15:20:00
is_start_datetime_dst (bool, optional) -- True to adjust for Daylight Savings Time
celestial_clock_speed (float, optional) -- Run celestial clock faster or slower than simulation clock E.g. Value 100 means for every 1 second of simulation clock, Sun's position is advanced by 100 seconds so Sun will move in sky much faster
update_interval_secs (float, optional) -- Interval to update the Sun's position
move_sun (bool, optional) -- Whether or not to move the Sun
- simSetTraceLine(color_rgba, thickness=1.0, vehicle_name='')
Modify the color and thickness of the line when Tracing is enabled
Tracing can be enabled by pressing T in the Editor or setting EnableTrace to True in the Vehicle Settings
- Parameters:
color_rgba (list) -- desired RGBA values from 0.0 to 1.0
thickness (float, optional) -- Thickness of the line
vehicle_name (string, optional) -- Name of the vehicle to set Trace line values for
- simSetVehicleGeoPose(geopose, ignore_collision, vehicle_name='')
Set the pose of the vehicle
If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values
- Parameters:
pose (Pose) -- Desired Pose pf the vehicle
ignore_collision (bool) -- Whether to ignore any collision or not
vehicle_name (str, optional) -- Name of the vehicle to move
- simSetVehiclePose(pose, ignore_collision, vehicle_name='')
Set the pose of the vehicle
If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values
- Parameters:
pose (Pose) -- Desired Pose pf the vehicle
ignore_collision (bool) -- Whether to ignore any collision or not
vehicle_name (str, optional) -- Name of the vehicle to move
- simSetWeatherParameter(param, val)
Enable various weather effects
- Parameters:
param (WeatherParameter) -- Weather effect to be enabled
val (float) -- Intensity of the effect, Range 0-1
- simSetWind(wind)
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)
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 (airgen.Pose) -- Desired pose of object
scale (airgen.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:
str
- simSwapTextures(tags, tex_id=0, component_id=0, material_id=0)
Runtime Swap Texture API
- Parameters:
tags (str) -- string of "," or ", " delimited tags to identify on which actors to perform the swap
tex_id (int, optional) --
indexes the array of textures assigned to each actor undergoing a swap
If out-of-bounds for some object's texture set, it will be taken modulo the number of textures that were available
component_id (int, optional)
material_id (int, optional)
- Returns:
List of objects which matched the provided tags and had the texture swap perfomed
- Return type:
list[str]
- simTestLineOfSightBetweenPoints(point1, point2)
Returns whether the target point is visible from the perspective of the source point
- Parameters:
point1 (GeoPoint) -- source point
point2 (GeoPoint) -- target point
- Returns:
Success
- Return type:
[bool]
- simTestLineOfSightToPoint(point, vehicle_name='')
Returns whether the target point is visible from the perspective of the inputted vehicle
- Parameters:
point (GeoPoint) -- target point
vehicle_name (str, optional) -- Name of vehicle
- Returns:
Success
- Return type:
[bool]
- startRecording()
Start Recording
Recording will be done according to the settings
- stopRecording()
Stop Recording