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An AirGen session is described by one config file: which robot, which scene, what the cameras look like, and what the world conditions are. The CLI writes a working config when you start a session — you edit it when you need something the picker doesn’t offer.

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Robot and scene

id values come from the catalogs in Robots and Scenes. name is what you address the vehicle by from Python.
Poses are in the NED frame — X north, Y east, Z down. A negative Z is above the ground. This is an aviation convention and it is a common source of confusion if you are coming from Isaac, which is Z-up.
Orientation is either orientation_rpy_deg (roll, pitch, yaw in degrees) or rotation_wxyz (quaternion). Set one, not both.

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Cameras

Each camera can carry several streams, so one physical viewpoint yields RGB and depth together.

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Noise overlay

Cameras support a noise overlay for testing perception against degraded video — sensor grain, horizontal wave distortion, and scan-line artifacts:
Every field is optional; the ones you omit keep the engine default.

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World conditions

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Geographic origin

Anchor the world origin to real coordinates so GPS output matches a real site:

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Time of day

Sun position is driven by a wall-clock datetime:
celestial_clock_speed multiplies how fast the sun moves — raise it to sweep a whole day of lighting in a short run.

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Viewport

Accepted values: Fpv, GroundObserver, FlyWithMe, Manual, SpringArmChase, Backup, NoDisplay, Front. This controls only what the streamed viewport shows — it has no effect on the robot or on getImage() output.
The config is validated strictly: an unknown key is an error rather than a silently ignored line, so a typo fails the session start instead of quietly doing nothing.

Related topics

Common FAQsSession Config OverviewVR Teleop GuideEnvironment ConfigWorkflow Config