api_overview.md

API overview

We added some new APIs (marked with 💚) to AirSim for the NeurIPS competition binaries.

Loading Unreal Engine environments

• simLoadLevel(level_name) 💚
  Possible values for level_name are:
  • Soccer_Field_Easy
  • Soccer_Field_Medium
  • ZhangJiaJie_Medium
  • Building99_Hard
  • Qualification_Tier_1
  • Qualification_Tier_2
  • Qualification_Tier_3
  • Final_Tier_1
  • Final_Tier_2
  • Final_Tier_3

Note that any race tier can be run for any level, irrespective of the Tier_N suffix. (Historic note: The names along with their suffixes are ported from Game of Drones)

• UI Menu
  • Press F10 to toggle the level menu
  • Click your desired level. (Note: the UI lists all the pakfiles in the ADRL/ADRL/Content/Paks directory.)

Race APIs:

• Start a race: simStartRace(tier=1/2/3) 💚

• Reset race: simResetRace() 💚

• Check if racer is disqualified: simIsRacerDisqualified() 💚

• Get index of last gate passed: simGetLastGatePassed() 💚

• Disable generation of logfiles by race APIs: simDisableRaceLog 💚

Lower level control APIs:

• FPV like Angle rate setpoint APIs:

  • moveByAngleRatesThrottleAsync 💚
  • moveByAngleRatesZAsync 💚 (stabilizes altitude)

• Angle setpoint APIs:

  • moveByRollPitchYawThrottleAsync 💚
  • moveByRollPitchYawZAsync 💚 (stabilizes altitude)

• RollPitchYawrate setpoint APIs:

  • moveByRollPitchYawrateThrottleAsync 💚
  • moveByRollPitchYawrateZAsync 💚 (stabilizes altitude)

Medium level control APIs:

• Velocity setpoints

  • moveByVelocityAsync
  • moveByVelocityZAsync (stabilizes altitude)

• Position setpoints

  • moveToPosition
  • moveOnPath
  • moveToZAsync

High level control APIs:

• Minimum jerk trajectory planning (using ethz-asl/mav_trajectory_generation), and trajectory tracking (using a pure pursuit like controller minimizing position and velocity errors), with position setpoints. Optionally use the *lookahead* parameters to start new trajectory from a point sampled n seconds ahead for trajectory being tracked currently.

  • moveOnSplineAsync 💚

• Minimum jerk trajectory planning (using ethz-asl/mav_trajectory_generation), and trajectory tracking (using a pure pursuit like controller minimizing position and velocity errors), with position setpoints and corresponding velocity constraints. Useful for making a drone go through a gate waypoint, while obeying speed and direction constraints. Optionally use the *lookahead* parameters to start new trajectory from a point sampled n seconds ahead for trajectory being tracked currently.

  • moveOnSplineVelConstraintsAsync 💚

• Clear and stop following current trajectory.

  • clearTrajectory 💚

Gain setter APIs:

• setAngleRateControllerGains 💚
• setAngleLevelControllerGains 💚
• setVelocityControllerGains 💚
• setPositionControllerGains 💚
• setTrajectoryTrackerGains 💚

APIs to help generate gate detection datasets:

• Object pose setter and getter:

  • simSetObjectPose
  • simGetObjectPose

• Object scale setter and getter:

  • simSetObjectScale 💚
  • simGetObjectScale 💚

• Object segmentation ID setter and getter:

  • simGetSegmentationObjectID
  • simSetSegmentationObjectID

• Listing all the objects in the scene:

  • simListSceneObjects 💚

• Gate specific APIs:

  • simGetNominalGateInnerDimensions 💚
  • simGetNominalGateOuterDimensions 💚