> ## Documentation Index > Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt > Use this file to discover all available pages before exploring further. # RobotClient ## \_\_init\_\_ Initializes the RobotClient IP address of the server, defaults to localhost Port number of the server, defaults to 41451 Timeout value for the connection, defaults to 3600 Whether to run the client in background, defaults to False. When true, this client does not print info unless necessary. Unless otherwise noted, methods accept an optional `robot_name` argument. If left blank, AirGen targets the first robot defined in the session settings (alphabetical order). ## reset Reset the robot to its original starting state Note that you must call `enableApiControl` and `armDisarm` again after the call to reset ## ping If connection is established then this call will return true otherwise it will be blocked until timeout bool ## getClientVersion No description provided! ## getServerVersion No description provided! ## getMinRequiredServerVersion No description provided! ## getMinRequiredClientVersion No description provided! ## enableApiControl Enables or disables API control for robot corresponding to robot\_name True to enable, False to disable API control Name of the robot to send this command to ## isApiControlEnabled 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. Name of the robot If API control is enabled ## armDisarm Arms or disarms robot True to arm, False to disarm the robot Name of the robot to send this command to Success ## simPause Pauses simulation True to pause the simulation, False to release ## simIsPause Returns true if the simulation is paused If the simulation is paused ## simContinueForTime Continue the simulation for the specified number of seconds Time to run the simulation for ## simContinueForFrames Continue (or resume if paused) the simulation for the specified number of frames, after which the simulation will be paused. Frames to run the simulation for ## getHomeGeoPoint Get the Home location of the robot Name of robot to get home location of Home location of the robot ## confirmConnection Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection. ## simSwapTextures Runtime Swap Texture API string of "," or ", " delimited tags to identify on which actors to perform the swap indexes the array of textures assigned to each actor undergoing a swap component\_id material\_id List of objects which matched the provided tags and had the texture swap perfomed ## simSetObjectMaterial Runtime Swap Texture API name of object to set material for name of material to set for object True if material was set ## simSetObjectMaterialFromTexture Runtime Swap Texture API name of object to set material for path to texture to set for object True if material was set ## simSetObjectMaterialFromTextureURL Runtime Swap Texture API name of object to set material for url for texture to set for object True if material was set ## simSetTimeOfDay 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 True to enable time-of-day effect, False to reset the position to original Date & Time in %Y-%m-%d %H:%M:%S format, e.g. `2018-02-12 15:20:00` True to adjust for Daylight Savings Time Run celestial clock faster or slower than simulation clock Interval to update the Sun's position Whether or not to move the Sun ## simEnableWeather Enable/Disable Weather effects. True to enable, False to disable ## simResetToAuthoredWeather Reset all weather parameters to their original values as defined during scene authoring. ## simSetWeatherParameter Set intensity for various weather effects The weather effect to control. Intensity of the effect, Range 0-1 ## simGetImage 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 Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used [ImageType](/simulation/airgen/reference/datatypes#imagetype): Type of image required Name of the robot with the camera Whether the camera is an External Camera Whether to capture 3D images (default: False). Whether to capture cubemap images otherwise equirectangular (default: False). string literal of compressed png image ## getImages Get multiple images list\[[ImageType](/simulation/airgen/reference/datatypes#imagetype)]: Images required Name of robot associated with the camera Whether to capture 3D images (default: False). Whether to capture cubemap images otherwise equirectangular (default: False). list\[ImageResponse] ## simGetImages Get multiple images list\[[ImageRequest](/simulation/airgen/reference/datatypes#imagerequest)]: Images required Name of robot associated with the camera Whether the camera is an External Camera Whether to capture 3D images (default: False). Whether to capture cubemap images otherwise equirectangular (default: False). list\[[ImageResponse](/simulation/airgen/reference/datatypes#imageresponse)] ## simGetImagesAlongTrajectory Get images along a trajectory (specified by position and pose) when A list of poses of the robot, at which images are to be requested list\[[ImageRequest](/simulation/airgen/reference/datatypes#imagerequest)]: Images required Name of robot associated with the camera Whether the camera is an External Camera, defaults to False Whether to capture 3d images (default: False). Whether to capture cubemap images otherwise equirectangular (default: False). list\[ImageResponse] ## simGetPresetLensSettings Get the preset lens settings for the camera camera name vechile name. Defaults to "". Whether the camera is an External Camera. Defaults to False. *description* ## simGetLensSettings Get the lens settings for the camera camera name vechile name. Defaults to "". Whether the camera is an External Camera. Defaults to False. ## simSetPresetLensSettings No description provided! ## simGetPresetFilmbackSettings No description provided! ## simSetPresetFilmbackSettings No description provided! ## simGetFilmbackSettings No description provided! ## simSetFilmbackSettings No description provided! ## simGetFocalLength No description provided! ## simSetFocalLength No description provided! ## simEnableManualFocus No description provided! ## simGetFocusDistance No description provided! ## simSetFocusDistance No description provided! ## simGetFocusAperture No description provided! ## simSetFocusAperture No description provided! ## simEnableFocusPlane No description provided! ## simGetCurrentFieldOfView No description provided! ## simTestLineOfSightToPoint Returns whether the target point is visible from the perspective of the inputted robot target point Name of robot Success ## simTestLineOfSightBetweenPoints Returns whether the target point is visible from the perspective of the source point source point target point Success ## simGetWorldExtents Returns a list of GeoPoints representing the minimum and maximum extents of the world list\[GeoPoint] ## simRunConsoleCommand 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! Desired Unreal Engine Console command to run Success ## simGetMeshPositionVertexBuffers Returns the static meshes that make up the scene list\[MeshPositionVertexBuffersResponse] ## simGetCollisionInfo No description provided! Name of the Robot to get the info of. This call will also reset the collision info (state of the robot) to False. Data structure containing collision details for the specified robot. ## simSetRobotPose Set the pose of the robot Note: When world\_space is False (default), the pose is specified relative to the robot's local coordinate frame, established at its initial position. Desired Pose of the robot. Whether to ignore collision at the target pose. Whether to sweep for collisions from the current pose to the target pose. Name of the robot. Amount to shrink the robot's collision bounds when ignore\_collision is False. Useful for fine-tuning collision detection and avoiding false positives at the edges. Whether the input pose is in world coordinate frame. Whether to set the robot's altitude to ground level while setting its position. From what distance above the Robot's current altitude do we start looking for the ground (default is 13 KM). How much distance below the Robot's current altitude do we stop looking for the ground (default is 13 KM). Timeout to find ground location (if on\_ground is True). A future object that resolves to a bool, indicating whether the operation succeeded (True) or failed (False). .join() to wait until the operation completes. ## simSetRobotGeoPose Set the Geodetic pose of the robot Desired Geodetic Pose of the robot Whether to ignore collision at the target pose Whether to sweep for collisions from the current pose to the target pose Name of the robot Amount to shrink the robot's collision bounds when ignore\_collision is False. Useful for fine-tuning collision detection and avoiding false positives at the edges. Whether to set the robot's altitude to ground level while setting its position From what distance above the Robot's current altitude do we start looking for the ground (default is 13 KM) How much distance below the Robot's current altitude do we stop looking for the ground (default is 13 KM) Timeout to find ground location (if on\_ground is True) A future object that resolves to a bool, indicating whether the operation succeeded (True) or failed (False). .join() to wait until the operation completes. ## simSetGeoReference Updates the geo-reference of the simulation world (relevant for Georeferenced scenes only). Also updates the home geo-point of all robots in the simulation to match the new geo-reference. Desired Georeference ## simGetGeoReference Gets the current geo-reference of the simulation world (relevant for Georeferenced scenes only) (GeoPoint): Georeference point ## simGetRobotPose Returns the Pose of the robot Note: When world\_space is False (default), the returned pose is relative to the robot's local coordinate frame, established at its initial position. Whether to return the pose in world coordinate frame Name of the robot to get the Pose of pose (position and orientation) of the robot ## simSetTraceLine 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 Settings for the robot desired RGBA values from 0.0 to 1.0 Thickness of the line Name of the robot to set Trace line values for ## simGetObjectPose The position inside the returned Pose is in the world frame Object to get the Pose of pose (position and orientation) of the object ## simSetObjectPose 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](https://www.unrealengine.com/en-US/blog/moving-physical-objects) for details on how to set Mobility and the effect of Teleport parameter Name of the object(actor) to move Desired Pose of the object Whether to move the object immediately without affecting their velocity If the move was successful ## simSetObjectGeoPose 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](https://www.unrealengine.com/en-US/blog/moving-physical-objects) for details on how to set Mobility and the effect of Teleport parameter Name of the object(actor) to move Desired Pose of the object Whether to move the object immediately without affecting their velocity If the move was successful ## simGetObjectScale Gets scale of an object in the world Object to get the scale of Scale ## simSetObjectScale Sets scale of an object in the world Object to set the scale of Desired scale of object True if scale change was successful ## simGetObjectDimensions Gets bounds of an object in the world Object to get the bounds of Extents in X, Y, Z ## simGetObjectCenter Gets the center of an object in the world Object to get the center of Center position ## simListSceneObjects Lists the objects present in the simulation environment Note: Default behaviour is to list all objects, regex can be used to return smaller list of matching objects. Will return an empty list, if name\_regex is empty. String to match object names against, e.g. "Cylinder.\*" List containing all the object names matching the regex ## simListSceneObjectsByTag Lists the objects present in the environment matching the input tag regex Note: Default behaviour is to list all objects with atleast one tag, regex can be used to return a specific list of objects with matching tags. Will return an empty list, if tag\_regex is empty. Tag to match object tags against, e.g. "ShinyRedBall" or ".\*Ball" or ".*Red.*" List containing names of all objects with matching tags ## simLoadLevel Loads a level specified by its name Name of the level to load True if the level was successfully loaded ## simListAssets Retrieves a list of asset names from the Asset Registry, optionally filtered by a regex pattern. Note: Default behaviour is to list all assets, regex can be used to return smaller list of matching assets. Will return an empty list, if filter is empty. Regex string to match asset names against, e.g. "Cylinder.\*" Names of all the assets ## simSpawnObject Spawns an object in the world using an existing asset Desired name of new object Name of asset(mesh) in the project database List of tags to assign the object Desired pose of object in world space Desired scale of object Whether to enable physics for the object (default is False) Name of spawned object if Success, empty string on Failure ## simSpawnObjectFromPath Spawns an object in the sim using a glTF/glb file path Desired name of new object Path to the desired glTF or glb asset List of tags to assign the object Desired pose of object in world space Desired scale of object Whether the object should be unlit (default is False) Whether to enable physics for the object (default is False) Whether to use the mesh polygons for collision detection (default is False) Whether the object should have navigation enabled (default is False) Name of spawned object if Success, empty string on Failure ## simSpawnObjectFromURL Spawns an object in the sim using a glb asset url Desired name of new object URL address of the desired glb asset List of tags to assign the object Desired pose of object in world space Desired scale of object Whether the object should be unlit (default is False) Whether to enable physics for the object (default is False) Whether to use the mesh polygons for collision detection (default is False) Whether the object should have navigation enabled (default is False) Name of spawned object if Success, empty string on Failure ## simSpawnLight Spawns a light in the world with the specified properties Desired name of the new light object Light properties to set (see LightProperties) Rendering mobility type (default is Dynamic\_Stationary, see RenderingMobility) List of tags to assign the object Desired pose of light in world space Name of spawned light if Success, empty string on Failure ## simSetLightProperties Change properties of named light Name of light to change New LightProperties to apply to the light True if successful, otherwise False ## simSetLightEnabled Enable or disable the specified light Name of light to enable/disable True to enable, False to disable True if successful, otherwise False ## simSetLightIntensity Change ONLY the intensity value of the named light Name of light to change New intensity value Intensity unit. Defaults to LightIntensityUnit.NoChange. Scale factor for indirect lighting contribution. Defaults to -1.0. True if successful, otherwise False ## simDestroyObject Removes selected object from the world Name of object to be removed True if object is queued up for removal ## simSetSegmentationObjectID Set segmentation ID for specific objects Name of the mesh to set the ID of (supports regex) Object ID to be set, range 0-255. Whether the mesh name is a regex. If True, all meshes matching the regex will be set to the same ID If the mesh was found ## simSetSegmentationInstanceID Set segmentation ID for specific instances Name of the mesh to set the ID of (supports regex) start of instance ID to be set, range 0-255. Gets incremented each time for each instance (mesh) Whether the mesh name is a regex number of instances (meshes) matched with mesh\_id updated ## simGetSegmentationObjectID Returns Object ID for the given mesh name (case-sensitive) Name of the mesh to get the ID of Object ID of the mesh ## simAddDetectionFilterMeshName Add mesh name to detect in wild card format For example: simAddDetectionFilterMeshName("Car\_*") will detect all instance named "Car\_*" Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used [ImageType](/simulation/airgen/reference/datatypes#imagetype): Type of image required mesh name in wild card format Robot which the camera is associated with Whether the camera is an External Camera ## simSetDetectionFilterRadius Set detection radius for all cameras Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used [ImageType](/simulation/airgen/reference/datatypes#imagetype): Type of image required Radius in \[cm] Robot which the camera is associated with Whether the camera is an External Camera ## simClearDetectionMeshNames Clear all mesh names from detection filter Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used [ImageType](/simulation/airgen/reference/datatypes#imagetype): Type of image required Robot which the camera is associated with Whether the camera is an External Camera ## simGetDetections Get current detections Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used [ImageType](/simulation/airgen/reference/datatypes#imagetype): Type of image required Robot which the camera is associated with Whether the camera is an External Camera List of detections ## simPrintLogMessage 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. Message to be printed Parameter to be printed next to the message Range 0-3, inclusive, corresponding to the severity of the message ## simGetCameraInfo Get details about the camera Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used Robot which the camera is associated with Whether the camera is an External Camera camera info ## simGetDistortionParams Get camera distortion parameters Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used Robot which the camera is associated with Whether the camera is an External Camera (float): List of distortion parameter values corresponding to K1, K2, K3, P1, P2 respectively. ## simSetDistortionParams Set camera distortion parameters Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used Dictionary of distortion param names and corresponding values Robot which the camera is associated with Whether the camera is an External Camera ## simSetDistortionParam Set single camera distortion parameter Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used Name of distortion parameter Value of distortion parameter Robot which the camera is associated with Whether the camera is an External Camera ## simSetCameraPose * Control the pose of a selected camera Name of the camera to be controlled Pose representing the desired position and orientation of the camera Name of robot which the camera corresponds to Whether the camera is an External Camera ## simSetCameraFov * Control the field of view of a selected camera Name of the camera to be controlled Value of field of view in degrees Name of robot which the camera corresponds to Whether the camera is an External Camera ## simCameraLookAt * Control the pose of a selected camera Name of the camera to be controlled Pose representing the desired position the camera has to observe Name of robot which the camera corresponds to Whether the camera is an External Camera ## simGetGroundTruthKinematics Get Ground truth kinematics of the robot The position inside the returned KinematicsState is in the frame of the robot's starting point Name of the robot Ground truth of the robot ## simSetKinematics Set the kinematics state of the robot If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values Desired Kinematics State Whether to ignore any collision or not Name of the robot ## simGetGroundTruthEnvironment Get ground truth environment state The position inside the returned EnvironmentState is in the frame of the robot's starting point Name of the robot Ground truth environment state ## getImuData No description provided! Name of IMU to get data from, specified in settings.json Name of robot to which the sensor corresponds to IMU data ## getBarometerData No description provided! Name of Barometer to get data from, specified in settings.json Name of robot to which the sensor corresponds to Barometer data ## getMagnetometerData No description provided! Name of Magnetometer to get data from, specified in settings.json Name of robot to which the sensor corresponds to Magnetometer data ## getGpsData No description provided! Name of GPS to get data from, specified in settings.json Name of robot to which the sensor corresponds to GPS data ## getDistanceSensorData No description provided! Name of Distance Sensor to get data from, specified in settings.json Name of robot to which the sensor corresponds to Distance sensor data ## getLidarData No description provided! Name of Lidar to get data from, specified in settings.json Name of robot to which the sensor corresponds to LiDAR data ## simGetLidarSegmentation NOTE: Deprecated API, use `getLidarData()` API instead Returns Segmentation ID of each point's collided object in the last Lidar update Name of Lidar sensor Name of the robot wth the sensor Segmentation IDs of the objects ## simFlushPersistentMarkers Clear any persistent markers - those plotted with setting `is_persistent=True` in the APIs below ## simPlotPoints Plot a list of 3D points in World NED frame List of Vector3r objects desired RGBA values from 0.0 to 1.0 Size of plotted point Duration (seconds) to plot for If set to True, the desired object will be plotted for infinite time. ## simPlotLineStrip 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] List of 3D locations of line start and end points, specified as Vector3r objects desired RGBA values from 0.0 to 1.0 Thickness of line Duration (seconds) to plot for If set to True, the desired object will be plotted for infinite time. ## simPlotLineList 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] List of 3D locations of line start and end points, specified as Vector3r objects. Must be even desired RGBA values from 0.0 to 1.0 Thickness of line Duration (seconds) to plot for If set to True, the desired object will be plotted for infinite time. ## simPlotArrows 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] List of 3D start positions of arrow start positions, specified as Vector3r objects List of 3D end positions of arrow start positions, specified as Vector3r objects desired RGBA values from 0.0 to 1.0 Thickness of line Size of arrow head Duration (seconds) to plot for If set to True, the desired object will be plotted for infinite time. ## simPlotStrings Plots a list of strings at desired positions in World NED frame. List of strings to plot List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings' list Font scale of transform name desired RGBA values from 0.0 to 1.0 Duration (seconds) to plot for ## simPlotTransforms Plots a list of transforms in World NED frame. List of Pose objects representing the transforms to plot Length of transforms' axes Thickness of transforms' axes Duration (seconds) to plot for If set to True, the desired object will be plotted for infinite time. ## simPlotTransformsWithNames Plots a list of transforms with their names in World NED frame. List of Pose objects representing the transforms to plot List of strings with one-to-one correspondence to list of poses Length of transforms' axes Thickness of transforms' axes Font scale of transform name desired RGBA values from 0.0 to 1.0 for the transform name Duration (seconds) to plot for ## startRecording Start Recording Recording will be done according to the settings ## stopRecording Stop Recording ## isRecording Whether Recording is running or not True if Recording, else False ## simSetWind Set simulated wind, in World frame, NED direction, m/s Wind, in World frame, NED direction, in m/s ## simCreateVoxelGrid Construct and save a binvox-formatted voxel grid of environment Position around which voxel grid is centered in m Resolution of voxel grid in m Name of output file to save voxel grid as True if output written to file successfully, else False ## simBuildSDF 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. Global position around which field is centered in m Resolution of distance field in m ## simCheckOccupancy Check and return occupancy of a point. Requires signed distance field to be built beforehand. Global position at which occupancy is to be checked (m) ## simGetSignedDistance 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. Global position at which distance is to be computed (m) (float): Signed distance at the position ## simGetSignedDistances 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. List of global positions at which distance is to be computed (m) (list\[float]): Signed distances at the positions ## simGetSDFGradient 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. Global position at which gradient is to be computed (m) (Vector3r): SDF gradient at the position ## simCheckInVolume Check if a point is inside a volume. Global position at which volume is to be checked (m) Name of the volume object ## simProjectToFreeSpace 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. Global position to project (m) Minimum distance from objects to satisfy when finding the free point (Vector3r): Projected position in free space ## simSaveSDF Save the constructed signed distance field to a file. Filename to save the SDF to ## simLoadSDF Load a saved signed distance field. Filename to load the SDF from ## simGetRandomFreePoint Return a random free (unoccupied) point (local space) within a radius around the robot. Radius around the robot to search for a free point in m Name of the robot /None: Free/unoccupied point (local NED) coordinates if successful, else None ## simPlanPathToRandomFreePoint Plan a collision-free path to a random point within a radius around the robot and return the intermediate waypoints (local space). Radius around the robot to search for a free point (meters) Returns a smooth spline if True, else returns a list of coarse waypoints Draws the path in the simulation environment if True Name of the robot List of waypoints (local NED) if successful, else empty list ## simPlanPathToRandomizeGoal Plans a collision-free path from the specified start position to a randomly selected free point within a given radius around the goal position. The function attempts up to `num_trials` random samples to find a valid, collision-free goal, and returns the intermediate waypoints (local space) of the planned path. Start position. Center position around which to randomize the goal. Radius (in meters) around the goal to search for a free point. Number of random samples to attempt for finding a free goal point. If True, returns a smooth spline path; otherwise, returns a list of coarse waypoints. Defaults to False. If True, visualizes the path in the environment. Defaults to False. Name of the robot. Defaults to "". If True, the start position is in the robot's local frame; otherwise, in the world/global frame. Defaults to True. If True, the goal position is in the robot's local frame; otherwise, in the world/global frame. Defaults to True. List of waypoints (local NED) representing the planned path if successful; otherwise, an empty list. ## simPlanPath Plans a collision-free path between the specified start and goal points, returning the intermediate waypoints (local space). Start position Goal position If True, returns a smooth spline; otherwise, returns a list of coarse waypoints. Defaults to False. If True, draws the path. Defaults to False. Name of the robot. Defaults to "". If True, start position is in the robot's local frame; if False, in world/global frame. Defaults to True. If True, goal position is in the robot's local frame; if False, in world/global frame. Defaults to True. List of waypoints (local NED) if successful; otherwise, an empty list. ## simPlanPathGeo Plans a collision-free path between the specified start and goal geodetic locations (LLA), returning the intermediate waypoints (local NED). Start Geodetic Location (LLA) Goal Geodetic Location (LLA) If True, returns a smooth spline; otherwise, returns a list of coarse waypoints. Defaults to False. If True, draws the path. Defaults to False. Name of the robot. Defaults to "". List of waypoints (local NED) if successful; otherwise, an empty list. ## getNavMeshInfo Get NavMesh information, as an array of XYZ center, min and max values in global NED coordinates Name of the robot List of values if successful, else empty list ## isPointInCollision Get Collision information about a point. Returns True if point is in collision, else False Point to be checked in World coordinates True if point is in collision, else False ## isAnyPointInCollisionBatch Get Collision information about an array of points. Returns True if any of the points is in collision, else False List of points to be checked in World coordinates True if any of the points is in collision, else False ## simAddRobot Add a robot to the simulation with the specified name, type, model, and initial pose. Unique name for the robot (e.g., "Drone5"). Type of robot to add (e.g., "simpleflight", "cvmover"). Model name of the robot (e.g., "astro", "ghostv60"). The initial pose (position and orientation) of the robot in world coordinates. If > 0, overrides the robot's default collision radius (meters). Defaults to -1 (no override). If > 0, overrides the robot's default collision height (meters). Defaults to -1 (no override). True if the robot was added successfully, False otherwise. ## listRobots Lists the names of all the robots in the simulation world List containing names of all the robots ## getSettingsString Fetch the settings text being used by airgen Settings text in JSON format ## simCreateWaypoint Creates a waypoint using the robot transform. The created waypoint will be associated with the specified waypoints-context. If context isn't specified, it'll default to the last-used context. If there's no context present and context isn't specified, a context named 'defaultWaypoints' will be auto created. Name of the robot Name of the associated waypoints-context ## simCreateWaypointFromPose Creates a waypoint using the robot transform. The created waypoint will be associated with the specified waypoints-context. If context isn't specified, it'll default to the last-used context. If there's no context present and context isn't specified, a context named 'defaultWaypoints' will be auto created. Name of the robot Name of the associated waypoints-context ## simDeleteWaypoints Deletes waypoints for a specified context If 'only\_recent' is True, it'll delete the youngest waypoint of the specified waypoints-context. If 'only\_recent' is False, it'll delete all waypoints for the specified context. If context isn't specified, it'll default to the last-used context. If context isn't specified and there's no last-used context, it'll throw an error. Name of the associated waypoints-context Whether to delete only the youngest waypoint or all of them, for a context If this is False, the context and all its associated waypoints will be deleted ## simDeleteAllWaypoints Deletes all waypoints and all waypoint-contexts ## simGetWaypointDataAsCsv Get the waypoints data of a waypoints-context as a CSV formatted string. If context isn't specified, it'll default to the last-used context. If context isn't specified and there's no last-used context, it'll throw an error. Name of the waypoints-context (str): Waypoint data as a CSV formatted string ## simGetWaypointDataAsJson Get the waypoints data of a waypoints-context as a JSON string. If context isn't specified, it'll default to the last-used context. If context isn't specified and there's no last-used context, it'll throw an error. Name of the waypoints-context (str): Waypoint data as a JSON formatted string ## simSetWaypointColor Changes the color of a given waypoint. If context isn't specified, it'll default to the last-used context. If context isn't specified and there's no last-used context, it'll throw an error. desired RGB values from 0.0 to 1.0. e.g. \[1, 1, 1] The index of the Waypoint. The index of the first waypoint is 0. Name of the waypoints-context. (bool): True if the color change was a success, false otherwise. ## simResetWaypointColor Resets the color of a given waypoint to the original. If context isn't specified, it'll default to the last-used context. If context isn't specified and there's no last-used context, it'll throw an error. The index of the Waypoint. The index of the first waypoint is 0. Name of the waypoints-context. (bool): True if the color reset was a success, false otherwise. ## cancelLastTask Cancel previous Async task Name of the robot ## simSetGroundTraceParams Sets the various Ground Trace parameters. This affects the "reset" behavior, and the "simAddRobot" behavior. Enable or Disable Ground Trace. From what distance above the robot's current altitude do we start looking for the ground (default is 13 KM) How much distance below the robot's current altitude do we stop looking for the ground (default is 13 KM) ## simGetAllPhysicsControlNames Retrieves the names of all the available physics controls for a robot. Name of the robot. List of strings representing the names of Physics Controls. ## simSetPhysicsControlTargetPose Sets the target pose for a specific physics control of a robot. Name of the Physics Control. Target Pose. If this is non-zero, the target velocity will be calculated using the current target position. But if this is zero, the target velocity will be set to zero. Name of the robot. ## simSetPhysicsControlTargetPoses Sets the target poses for multiple physics controls of a robot. The length of 'poses' and 'names' must be the same. List of Physics Control names. List of Target Poses. If this is non-zero, the target velocity will be calculated using the current target position. But if this is zero, the target velocity will be set to zero. Name of the robot. ## simSetPhysicsControlMultiplier Multiplies a physics control's properties with the input scaling factors Name of the physics control Scaling factor for linear strength (default: Vector3r(1, 1, 1)). Scaling factor for linear damping ratio (default: Vector3r(1, 1, 1)). Scaling factor for linear extra damping (default: Vector3r(1, 1, 1)). Scaling factor for maximum force (default: Vector3r(1, 1, 1)). Scaling factor for angular strength (default: 1.0). Scaling factor for angular damping ratio (default: 1.0). Scaling factor for angular extra damping (default: 1.0). Scaling factor for maximum torque (default: 1.0). Name of the robot ## simSetHero Sets the specified robot as the 'hero' in the simulation. Name of the robot to set as hero. If not specified, the default robot is used. ## simApplyGravityScaling Applies a scaling factor to the gravity in the simulation. The scaling factor to apply to gravity.