Airsim Walkthrough

Documentation for using Microsoft Airsim in a Jupyter notebook

# logging.basicConfig(format='%(asctime)-8s,%(msecs)-3d %(levelname)5s [%(filename)10s:%(lineno)3d] %(message)s',
#                     datefmt='%H:%M:%S',
#                     level=logging.INFO)  # Todo add this to params
# logger = logging.getLogger(__name__)

from UAV.utils.display import *
from UAV.utils.sim_linux import *
from UAV.airsim.client import *
# import UAV.utils.sim_linux as sim

Airsim Connection

RunSim

 RunSim (name:str='Coastline', resx:int=800, resy:int=600,
         windowed:str|None='windowed',
         settings:str|pathlib.Path|None=None)

Run the Airsim simulator

	Type	Default	Details
name	str	Coastline	name of the simulator environment
resx	int	800	window size x
resy	int	600	window size y
windowed	str \| None	windowed	windowed or fullscreen
settings	str \| Path \| None	None	settings file

rs = RunSim("AirSimNH", settings="config/airsim_settings_high_res.json")

ERROR|10.762| uav.RunSim      | sim_linux.: 73 | MainThread | MainProces | Settings file config/settings_high_res.json not found.
INFO |10.763| uav.RunSim      | sim_linux.: 75 | MainThread | MainProces | Settings file None found.

Airsim AirSimNH already running.

AirSimClient

 AirSimClient (ip='', port:int=41451, timeout_value=3600)

Multirotor Client for the Airsim simulator with higher level procedures

	Type	Default	Details
ip	str		rpc connection address
port	int	41451	rpc connection port
timeout_value	int	3600	timeout for client ping in seconds

asc = AirSimClient()

Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)

Simulator assets

assets can be listed with rs.client.simListAssets() and placed within the environment with rs.place_asset(x,y,z,asset_name)

VehicleClient.simListAssets

 VehicleClient.simListAssets ()

Lists all the assets present in the Asset Registry

Returns: list[str]: Names of all the assets

assets = asc.simListAssets()
print(f"Assets: {assets}")

Assets: ['Sphere', 'Cone', 'Cylinder', 'SM_SkySphere', 'Garage_Door_01offset', 'Garage_Mech_01', 'Garage_Door_02offset', 'Garage_Half_Mech_01', 'Inner_Door_01', 'Hinge_01', 'Outer_Door_01', 'Fan_Blades_01', 'Fan_Base_01', 'Outer_Wall_Quart_Win_06', 'Veranda_01', 'Street_Sign_02', 'Street_Sign_01', 'Stop_Sign_02', 'Stop_Sign_01', 'Rock_01', 'Power_Line_Connector_01', 'Power_Line_Complete_01', 'Power_Line_Cable_Single_01', 'Power_Line_Cable_01_Spline', 'Power_Line_01', 'Path_01', 'Monument_01', 'Garden_Tressel_02', 'Garden_Tressel_01', 'Garden_Rocks_01', 'Garden_Chair_01', 'Fence_01', 'Drain_Pipe_02', 'Drain_Pipe_01', 'Car_01', 'bin_02', 'bin_01', 'Bench_01', 'Basketball_Hoop_01', 'Skateboard_01', 'Plug_Socket_01', 'Picture_Frame_01', 'Paint_Can_01', 'Mug_01', 'Light_Switch_01', 'Fridge_Alphabet_01', 'extractor_01', 'Dufflebag_01', 'Drinks_Can_07', 'Drinks_Can_06', 'Drinks_Can_05', 'Drinks_Can_04', 'Drinks_Can_03', 'Drinks_Can_01', 'Curtain_03', 'Curtain_02', 'Curtain_01', 'Book_01', 'Toilet_01', 'table_01', 'Sofa_02', 'Sofa_01', 'small_table_03', 'small_table_02', 'small_table_01', 'Sink_01', 'Shutters_01', 'Shelf_01', 'Pool_Table_01', 'Office_Desk_01', 'Kitchen_Unit_Sink_01', 'Kitchen_Unit_Corner_01', 'Kitchen_Unit_02', 'Kitchen_Unit_01', 'Kitchen_Splash_Tile_01', 'Kitchen_Cupboard_Fan_01', 'Kitchen_Cupboard_02', 'Fireplace_01', 'coffee_table_02', 'coffee_table_01', 'Chair_01', 'Bookcase_02', 'Bookcase_01', 'Bed_Double_02', 'Bed_Double_01', 'Tree_01', 'Oak_03', 'Leaves_01', 'Hedge_03', 'Hedge_02', 'Hedge_01', 'Grass_Large_01', 'Grass_01', 'Fir_01', 'Daisys_01', 'Birch_01', 'Tft_01', 'Tablet_01', 'Oven_01', 'Mouse_01', 'Lcd_01', 'Laptop_01', 'Lamp_01', 'Keyboard_01', 'Headphones_01', 'Gamepad_01', 'Fridge_01', 'fan_01', 'Desktop_01', 'BRPlayer_01', 'Wall_Low_Quart_01', 'Wall_Low_Half_01', 'Wall_Low_End_01', 'Wall_Low_8th_01', 'Wall_Low_01', 'Swimming_Pool_Steps_02', 'Swimming_Pool_Steps_01', 'Swimming_Pool_Floor_01', 'Swimming_Pool_Edge_01', 'Swimming_Pool_Curve_01', 'Stairs_Beam_Quart_01', 'Staircase_Extra_Banister_01', 'Staircase_03', 'Staircase_02', 'Staircase_01', 'Banister_Roof_Angle_01', 'Banister_End_01', 'Banister_01', 'Roof_Flat_Open_Apex_01', 'Roof_Flat_Open_01', 'Roof_Flat_01', 'Roof_Quart_Open_03', 'Roof_Quart_Open_01', 'Roof_Quart_Corner_01', 'Roof_Open_01', 'Roof_Middle_Half_Half_01', 'Roof_Middle_Half_01', 'Roof_Middle_Apex_02', 'Roof_Middle_Apex_01', 'Roof_Middle_01', 'Roof_Half_01', 'Roof_End_Thin_01', 'Roof_Edge_Half_Middle_01', 'Roof_Edge_End_02', 'Roof_Edge_End_01', 'Roof_Corner_02', 'Roof_Corner_01', 'Roof_Apex_Fill_01', 'Roof_01', 'Outer_Wall_Quart_Roof_02', 'Outer_Wall_Quart_Roof_01', 'Road_Drive_Opening_03New', 'Road_Drive_Opening_02New', 'Road_Corner_01', 'Road_4Way_01NEW', 'Road_3Way_01New', 'Road_01New', 'Porch_Pillar_01', 'Porch_Middle_01', 'Porch_Corner_01', 'Porch_Banister_Quart_01', 'Porch_Banister_8th_01', 'Outdoor_Steps_01', 'Structural_Support_01', 'Outer_Wall_Quart_Win_05', 'Outer_Wall_Quart_Win_04', 'Outer_Wall_Quart_Win_03', 'Outer_Wall_Quart_Win_02', 'Outer_Wall_quart_Win_01', 'Outer_Wall_Quart_Garage_01', 'Outer_Wall_Quart_Door_03', 'Outer_Wall_quart_door_02', 'Outer_Wall_Quart_Door_01', 'Outer_Wall_Quart_01', 'Outer_Wall_Half_Win_02', 'Outer_Wall_Half_Win_01', 'Outer_Wall_Half_Garage_02', 'Outer_Wall_Half_Garage_01', 'Outer_Wall_Half_Door_01', 'Outer_Wall_Half_Apex_01', 'Outer_Wall_Half_01', 'Outer_Wall_8th_Win_01', 'Outer_Wall_8th_Door_01', 'Outer_Wall_8th_01', 'Outer_Wall_16th_01', 'Outer_Wall_01', 'House_Base_Quart_01', 'Cladding_Edge_01', '9', '7', '6', '5', '3', '2', '1', 'Inner_Wall_Roof_01', 'Inner_Wall_Quart_plus_8th_01', 'Inner_Wall_Quart_Door_01', 'Inner_Wall_Quart_Arch_01', 'Inner_Wall_Quart_01', 'Inner_Wall_Half_Door_01', 'Inner_Wall_Half_Arch_01', 'Inner_Wall_Half_01', 'Inner_Wall_Close_Gap_01', 'Inner_Wall_8th_Door_01', 'Inner_Wall_8th_Arch_01', 'Inner_Wall_8th_01', 'Inner_Wall_16th_01', 'Outer_Wall_Quart_Floor_01', 'Outer_Wall_Quart_Base_01', 'Floor_Quart_01', 'Floor_Half_Stairs_01', 'Floor_Half_Half_01', 'Floor_Half_Basic_01', 'Floor_Half_01', 'Floor_Basic_01', 'Floor_8th__01', 'Floor_01', 'Driveway_Quart_01', 'Driveway_Half_01', 'Driveway_Edge_01', 'Driveway_8th_01', 'driveway_16th_Curve_02', 'driveway_16th_Curve_01', 'Driveway_16th_01', 'Driveway_01', 'Chimney_Top_01', 'Chimney_Roof_01', 'Chimney_Mid_01', 'Chimney_Base_02', 'Chimney_Base_01', 'Cube', 'Schoolbus_Small_FixedTransforms', 'boxtruck_WithHeadlights_boxtruck_fixedtransforms_LOD0', 'Vehicle_Police_ISM', 'Ambulance_Truck_FixedTransforms', 'BicycleMan', '009_SUV_ISM_NewMat', 'Saloon_ISM_NewMat', '006_Hatchback_ISM_NewMat', 'Plane', 'S_1_Unit_Plane', 'right_OculusTouch_v3Controller', 'left_OculusTouch_v3Controller', 'right_ValveIndexController', 'left_ValveIndexController', 'GoogleDaydreamController', 'HTCViveController', 'right_OculusTouchController', 'left_OculusTouchController', 'right_MicrosoftMixedRealityController', 'left_MicrosoftMixedRealityController', 'right_OculusTouch_v2Controller', 'left_OculusTouch_v2Controller', 'OculusGoController', 'MapleLeaf01', 'Quadrotor1', 'Propeller', 'BaseAnimalBP', 'Medium_House_Prefab_01', 'Car_Porch_Prefab_01', 'Small_House_Prefab_01', 'Garage_Door_BP2', 'Inner_Door_Swing_01', 'Outer_Door_Swing_01', 'Garage_Door_Half_BP', 'Outer_Door_BP', 'Stairs_Prefab_01', 'BP_Fan_01', 'DeerBothBP', 'RaccoonBP', 'AnimalAIController', 'DmgTypeBP_Environmental', 'BP_Sky_Sphere', 'MenuActor', 'BP_CameraDirector', 'BP_PIPCamera', 'BP_ComputerVisionPawn', 'BP_FlyingPawn', 'WeatherActor', 'SuvFrontWheel', 'SuvBackWheel', 'SuvCarPawn']

AirSimClient.place_object

 AirSimClient.place_object (name:str, x:float, y:float, z:float,
                            scale:float=1.0, physics_enabled:bool=False)

Place an object in the simulator First check to see if the asset it is based on exists

	Type	Default	Details
name	str		asset name
x	float		position x
y	float		position y
z	float		position z
scale	float	1.0	scale
physics_enabled	bool	False	physics enabled

asc.place_object("Sofa_02", 5.0, 0.0, -1.0, scale=0.5 )

The sofa can be seen at the location with rs.client.simGetObjectPose("Sofa_02") The sofa can be moved with rs.move_asset(x,y,z,asset_name)

VehicleClient.simGetObjectPose

 VehicleClient.simGetObjectPose (object_name)

The position inside the returned Pose is in the world frame

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

Returns: Pose:

asc.simGetObjectPose("Sofa_02")

<Pose> {   'orientation': <Quaternionr> {   'w_val': nan,
    'x_val': nan,
    'y_val': nan,
    'z_val': nan},
    'position': <Vector3r> {   'x_val': nan,
    'y_val': nan,
    'z_val': nan}}

AirSimClient.get_image

 AirSimClient.get_image (camera_name:str='0', rgb2bgr:bool=False)

Get an image from camera camera_name

	Type	Default	Details
camera_name	str	0	camera name
rgb2bgr	bool	False	convert to bgr
Returns	ndarray		image

Show the image with show_image(img) here we can see the camera placed at the takeoff point looking at the sofa

Todo not sure why we have to rgd2bgr it

img = asc.get_image(rgb2bgr=True)
ax = show_image(img)

img = asc.get_image("center", rgb2bgr=True)
ax = show_image(img)

cams = ["high_res", "front_center", "front_right", "front_left", "bottom_center", "back_center"]
imgs = asc.get_images(cams, rgb2bgr=True)

from matplotlib import pyplot as plt

_,axs = plt.subplots(3,2,figsize=(12,10))
for i,ax in enumerate(axs.flatten()): show_image(imgs[i], ax=ax, title=f' {cams[i]}')

rs.exit()

Run a loop grabbing the camera

rs = RunSim("AirSimNH", settings="config/settings_high_res.json")

asc = AirSimClient()

framecounter = 1
cam_num = 0
cams = ["high_res", "front_center", "front_right", "front_left", "bottom_center", "back_center"]
with VideoWriter("images/airsim_test.mp4", 5.0) as video:
    while(True):
        framecounter += 1
        
        img = asc.get_image(cams[cam_num], rgb2bgr=False)
        puttext(img, f"Frame: {framecounter}")
        img_bgr = resize(img, width=500)
        cv2.imshow("Camera", img)
        
        video.add(img_bgr)
        k = cv2.waitKey(10)
        if k == ord('q') or k == ord('Q') or k == 27:
            break
        
        if k == ord('c') or k == ord('C'):
            cam_num += 1
            if cam_num >= len(cams):
                cam_num = 0
            print(f"Camera: {cams[cam_num]}")
        if framecounter > 50:
            break
    cv2.destroyAllWindows()
    rs.exit()
video.show(width=500)