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Wheeled robots are driven through airgen.CarClient. Commands revolve around throttle, steering, braking, and optional cruise control.

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setCarControls

Directly manipulate throttle, steering, and brakes via the CarControls struct. 
import airgen
from airgen.types import CarControls

controls = CarControls()
controls.throttle = 0.4
controls.steering = 0.15  # turn right

client = airgen.CarClient()
client.enableApiControl(True)
client.setCarControls(controls)
Reset the car by sending a fresh CarControls() object with all fields zeroed.

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enableCarSpeedControl / setCarTargetSpeed

Let the simulator maintain a requested cruising speed while you adjust steering. 
client.enableCarSpeedControl(True)
client.setCarTargetSpeed(6.0)  # meters per second

controls = CarControls()
controls.steering = -0.1  # gentle left turn
client.setCarControls(controls)

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moveOnPath

For waypoint-based driving, delegate to the built-in path follower. It accepts the same Vector3r waypoints used by drones. 
from airgen.types import Vector3r

road_path = [
    Vector3r(0.0, 0.0, 0.0),
    Vector3r(15.0, 2.0, 0.0),
    Vector3r(30.0, 2.5, 0.0),
]

client.moveOnPath(
    path=road_path,
    velocity=8.0,
    lookahead=-1,
    adaptive_lookahead=1,
)