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AirGenCar

Inherits from: WheeledRobot A wheeled robot implementation for the AirGen simulator. This class provides an interface to control a simulated car in the AirGen environment. It inherits from WheeledRobot and implements the necessary methods for movement, sensor data collection, and state management. The AirGenCar connects to the AirGen simulator and provides methods to:
  • Control the car’s movement through velocity commands
  • Get sensor data like camera images
  • Track and manage the car’s state
  • Reset and undo actions
To access the underlying AirGen API, use the AirGenCar.client field.

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AirGenCar

AirGenCar()
Initialize the AirGenCar agent. Connects to the AirGen simulator, confirms the connection, enables API control, and initializes state tracking.

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reset

AirGenCar.reset()

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setCarControls

AirGenCar.setCarControls(steering: float, throttle: float, brake: float)
Control the car using throttle, steering, brake
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Arguments
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steering (float)
required
-1 to 1
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throttle (float)
required
0 to 1
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brake (float)
required
0 to 1
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Returns

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setCarTargetSpeed

AirGenCar.setCarTargetSpeed(velocity: float)
Set the target speed for the car
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Arguments
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velocity (float)
required
desired speed of the car
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Returns

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rotate

AirGenCar.rotate(rate: float, duration: Union[float, None])
Rotate the car in place by applying handbrake and steering
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Arguments
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rate (float)
required
Throttle rate to apply during rotation. Positive rotates right, negative rotates left
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duration (optional, Union[float, None])
required
How long to rotate in seconds
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Returns

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getCarState

AirGenCar.getCarState()
Get the current state of the car

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getCarControls

AirGenCar.getCarControls()
Get the current control values of the car

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getPosition

AirGenCar.getPosition()
Get the current position of the car with respect to the world coordinate.

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getOrientation

AirGenCar.getOrientation()
Return the current orientation of the car in radians

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getImage

AirGenCar.getImage(camera_name: str, image_type: str)
Return the image of camera (camera_name) with image type (image_type)
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Arguments
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camera_name (str)
required
name of the camera, one of front_center or bottom_center
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image_type (str)
required
supported image types,
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Returns
Imagerequested image

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getVelocity

AirGenCar.getVelocity()
Get the velocity of the car

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moveByVelocity (inherited)

AirGenCar.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: float | None)
Move the robot by setting linear and angular velocity.
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Arguments
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linear_velocity (Velocity)
required
VelocityLinear velocity object containing x_vel component
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angular_velocity (Velocity)
required
VelocityAngular velocity object containing z_vel component
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duration (float | None), optional
defaults to None. Optional duration in seconds to move for before stopping. Defaults to None.
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Returns