Args: vehicle_name (str, optional): Vehicle to get the state of Returns: MultirotorState:

Used to obtain the current state of all a multirotor's rotors. The state includes the speeds, thrusts and torques for all rotors.

Fetch the settings text being used by AirSim Returns: str: Settings text in JSON format

Return vehicle to Home i.e. Launch location Args: timeout_sec (int, optional): Timeout for the vehicle to reach desired

Returns true if API control is established. If false (which is default) then API calls would be ignored. After a successful call to

Whether Recording is running or not Returns: bool: True if Recording, else False

Land the vehicle Args: timeout_sec (int, optional): Timeout for the vehicle to land vehicle_name (str, optio

Lists the names of current vehicles Returns: list[str]: List containing names of all vehicles

- Desired throttle is between 0.0 to 1.0 - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame

- z is given in local NED frame of the vehicle. - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the bod

- Read current RC state and use it to control the vehicles. Parameters sets up the constraints on velocity and minimum altitude whil

- Directly control the motors using PWM values Args: front_right_pwm (float): PWM value for the front right motor (betwe

- Desired throttle is between 0.0 to 1.0 - Roll angle, pitch angle, and yaw angle are given in **radians**, in the body frame.

- z is given in local NED frame of the vehicle. - Roll angle, pitch angle, and yaw angle set points are given in **radians**, in the

- Desired throttle is between 0.0 to 1.0 - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body fra

- z is given in local NED frame of the vehicle. - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the b

Args: vx (float): desired velocity in the X axis of the vehicle's local NED frame vy (float): desired velocity in the

Read a pfm file

Read a pfm file

Reset the vehicle to its original starting state Note that you must call `enableApiControl` and `armDisarm` again after the call to

- Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottl

- Modifying these gains will have an affect on *ALL* move*() APIs. This is because any velocity setpoint is converted to an angle

Control the car using throttle, steering, brake, etc. Args: controls (CarControls): Struct containing control values

Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains

- Sets velocity controller gains for moveByVelocityAsync(). - This function should only be called if the default velocity control PID

Add mesh name to detect in wild card format For example: simAddDetectionFilterMeshName("Car_*") will detect all instance named "Car_

Create vehicle at runtime Args: vehicle_name (str): Name of the vehicle being created vehicle_type (str): Ty

Clear all mesh names from detection filter Args: camera_name (str): Name of the camera, for backwards compatibility, ID

Continue (or resume if paused) the simulation for the specified number of frames, after which the simulation will be paused. Args:

Continue the simulation for the specified number of seconds Args: seconds (float): Time to run the simulation for

Construct and save a binvox-formatted voxel grid of environment Args: position (Vector3r): Position around which voxel g

Removes selected object from the world Args: object_name (str): Name of object to be removed Returns:

Enable Weather effects. Needs to be called before using `simSetWeatherParameter` API Args: enable (bool): True to enable

Clear any persistent markers - those plotted with setting `is_persistent=True` in the APIs below

Get details about the camera Args: camera_name (str): Name of the camera, for backwards compatibility, ID numbers such a

Get current detections Args: camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,

Get camera distortion parameters Args: camera_name (str): Name of the camera, for backwards compatibility, ID numbers su

Get ground truth environment state Args: vehicle_name (str, optional): Name of the vehicle Returns:

Get Ground truth kinematics of the vehicle Args: vehicle_name (str, optional): Name of the vehicle Returns:

Get a single image Returns bytes of png format image which can be dumped into abinary file to create .png image `string_to_u

NOTE: Deprecated API, use `getLidarData()` API instead Returns Segmentation ID of each point's collided object in the last Lidar upda

Returns the static meshes that make up the scene See https://microsoft.github.io/AirSim/meshes/ for details and how to use this

Args: object_name (str): Object to get the Pose of Returns: Pose:

Gets scale of an object in the world Args: object_name (str): Object to get the scale of Returns: a

Returns Object ID for the given mesh name Mapping of Object IDs to RGB values can be seen at https://microsoft.github.io/AirSim/seg_

Returns a list of GeoPoints representing the minimum and maximum extents of the world Returns: list[GeoPoint]

Returns true if the simulation is paused Returns: bool: If the simulation is paused

Lists the objects present in the environment Default behaviour is to list all objects, regex can be used to return smaller list of m

Loads a level specified by its name Args: level_name (str): Name of the level to load Returns: bool

Pauses simulation Args: is_paused (bool): True to pause the simulation, False to release

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_star

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]

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]

Plot a list of 3D points in World NED frame Args: points (list[Vector3r]): List of Vector3r objects color_rg

Plots a list of strings at desired positions in World NED frame. Args: strings (list[String], optional): List of strings

Plots a list of transforms in World NED frame. Args: poses (list[Pose]): List of Pose objects representing the transform

Plots a list of transforms with their names in World NED frame. Args: poses (list[Pose]): List of Pose objects represent

Prints the specified message in the simulator's window. If message_param is supplied, then it's printed next to the message and in t

Allows the client to execute a command in Unreal's native console, via an API. Affords access to the countless built-in commands such

- Control the field of view of a selected camera Args: camera_name (str): Name of the camera to be controlled

- Control the pose of a selected camera Args: camera_name (str): Name of the camera to be controlled pose (P

Set detection radius for all cameras Args: camera_name (str): Name of the camera, for backwards compatibility, ID number

Set camera distortion parameters Args: camera_name (str): Name of the camera, for backwards compatibility, ID numbers su

Set the pose of the object(actor) in the environment The specified actor must have Mobility set to movable, otherwise there will be

Sets scale of an object in the world Args: object_name (str): Object to set the scale of scale_vector (airsi

Set segmentation ID for specific objects See https://microsoft.github.io/AirSim/image_apis/#segmentation for details Args:

Control the position of Sun in the environment Sun's position is computed using the coordinates specified in `OriginGeopoint` in set

Modify the color and thickness of the line when Tracing is enabled Tracing can be enabled by pressing T in the Editor or setting `En

Enable various weather effects Args: param (WeatherParameter): Weather effect to be enabled val (float): Int

Set simulated wind, in World frame, NED direction, m/s Args: wind (Vector3r): Wind, in World frame, NED direction, in m/

Spawned selected object in the world Args: object_name (str): Desired name of new object asset_name (str): Na

Runtime Swap Texture API See https://microsoft.github.io/AirSim/retexturing/ for details Args: tags (str): stri

Returns whether the target point is visible from the perspective of the source point Args: point1 (GeoPoint): source poi

Returns whether the target point is visible from the perspective of the inputted vehicle Args: point (GeoPoint): target

Start Recording Recording will be done according to the settings

Stop Recording

Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used Args: timeout_sec (int, optional)