Final Round Binaries - Windows

Release notes:

Environment Pak Files

• Added Final round pakfiles.
  Tier 1 and 2 race tracks are in the soccer field environment, both in Final_Tiers_1_and_2.pak.
  Tier 3 is in the ZhangJiaJie environment in Final_Tier_3.pak.

airsimneurips

• v1.2.0
• Documentation

Final round Submission and Leaderboard:

• See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing#submitting-results-and-leaderboard---final-round
• Use same page to make a submission: https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/upload.html
• Final leaderboard is at: https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/leaderboard_final.html

New APIs

• simIsRacerDisqualified
• simGetLastGatePassed

Final Round Binaries - Linux

Release notes:

Environment Pak Files

• Added Final round pakfiles.
  Tier 1 and 2 race tracks are in the soccer field environment, both in Final_Tier_1_and_2.pak.
  Tier 3 is in the ZhangJiaJie environment in Final_Tier_3.pak.

airsimneurips

• v1.2.0
• Documentation

Final round Submission and Leaderboard:

• See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing#submitting-results-and-leaderboard---final-round
• Use same page to make a submission: https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/upload.html
• Final leaderboard is at: https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/leaderboard_final.html

New APIs

• simIsRacerDisqualified
• simGetLastGatePassed

Neurips Qualification Binaries - Windows

Release notes:

Environment Pak Files

• Added Qualifier pakfiles. Tier 1 and 3 are in the soccer field environment, in the same pak file.
  Tier 2 track is in the ZhangJiaJie environment in a different pakfile.

airsimneurips

• v1.1.0
• Documentation

Neurips Qualification Binaries - Linux

Release notes:

Environment Pak Files

• Added Qualifier pakfiles. Tier 1 and 3 are in the soccer field environment, in the same pak file.
  Tier 2 track is in the ZhangJiaJie environment in a different pakfile.

airsimneurips

• v1.1.0
• Documentation

Neurips Training Binaries - Linux

Release notes:

• We are introducing a validation submission pipeline so that participants can see how they are performing w.r.t. others, and for us to get feedback on how easy or hard the race tracks are currently.
• Please note that this leaderboard is not for the qualification rounds. This is effectively a dry run for you to gauge your performance and for us to gather feedback. The qualification binaries with new race tracks will be released next month.
• Website updates:
  • https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/ lists all relevant pages
  • API doc page
  • Upload validation log files
  • Validation Leaderboard

Environment Pak Files

• LoadLevel() is neater in that drones don't fall from the sky.
• Fixed disqualify bug - #43
• Optimized performance of ZhangJiaJie and Building 99 environments

airsimneurips

• v1.1.0
• Documentation

APIs

• New APIs

  • Sim / Race APIs:

    • simDisableRaceLog() - #46
    • simGetNominalGateInnerDimensions() - #28
    • simGetNominalGateOuterDimensions() - #28

  • Set controller gain APIs:

    • setVelocityControllerGains()
    • setAngleLevelControllerGains()
    • setAngleRateControllerGains()
    • setPositionControllerGains()
    • clearTrajectory()

• Changes in existing APIs:

  • setTrajectoryTrackerGains():
    Earlier, the signature was setTrajectoryTrackerGains(gains, vehicle_name=''), where gains was a list of floats, obtained by calling TrajectoryTrackerGains().to_list().
    Now, you just need to pass a TrajectoryTrackerGains object, akin to the above set*ControllerGains() APIs:
    setTrajectoryTrackerGains(gains=<airsimneurips.types.TrajectoryTrackerGains instance>, vehicle_name='')
  • moveOnSpline() and moveOnSplineVelConstraintsAsync() have a bug fix, some new features, and some param name changes
    • Fixed a bug which was causing moveOnSpline*() APIs to fail randomly while replanning with multiple waypoints.
    • Plan from lookahead point - see replan_from_lookahead(bool) and replan_lookahead_sec(float) params.
    • Trajectory visualization
      • works for multiple drones (viz_traj bool param)
      • plots requested waypoints automatically (no need for extraneous plot_transform() calls.
      • supports user-defined color with the new viz_traj_color_rgba param, which takes a list of four floats to specify RGBA.
    • Trajectory stitching constraints:
      • Stitch trajectories with acceleration using new add_acceleration_constraint bool param.
      • add_curr_odom_position_constraint has been renamed to add_position_constraint(bool).
      • add_curr_odom_velocity_constraint has been renamed to add_velocity_constraint(bool)
    • path param has been renamed to waypoints param

Neurips Training Binaries - Windows

Release notes:

• We are introducing a validation submission pipeline so that participants can see how they are performing w.r.t. others, and for us to get feedback on how easy or hard the race tracks are currently.
• Please note that this leaderboard is not for the qualification rounds. This is effectively a dry run for you to gauge your performance and for us to gather feedback. The qualification binaries with new race tracks will be released next month.
• Website updates:
  • https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/ lists all relevant pages
  • API doc page
  • Upload validation log files
  • Validation Leaderboard

Environment Pak Files

• LoadLevel() is neater in that drones don't fall from the sky.
• Fixed disqualify bug - #43
• Optimized performance of ZhangJiaJie and Building 99 environments

airsimneurips

• v1.1.0
• Documentation

APIs

• New APIs

  • Sim / Race APIs:

    • simDisableRaceLog() - #46
    • simGetNominalGateInnerDimensions() - #28
    • simGetNominalGateOuterDimensions() - #28

  • Set controller gain APIs:

    • setVelocityControllerGains()
    • setAngleLevelControllerGains()
    • setAngleRateControllerGains()
    • setPositionControllerGains()
    • clearTrajectory()

• Changes in existing APIs:

  • setTrajectoryTrackerGains():
    Earlier, the signature was setTrajectoryTrackerGains(gains, vehicle_name=''), where gains was a list of floats, obtained by calling TrajectoryTrackerGains().to_list().
    Now, you just need to pass a TrajectoryTrackerGains object, akin to the above set*ControllerGains() APIs:
    setTrajectoryTrackerGains(gains=<airsimneurips.types.TrajectoryTrackerGains instance>, vehicle_name='')
  • moveOnSpline() and moveOnSplineVelConstraintsAsync() have a bug fix, some new features, and some param name changes
    • Fixed a bug which was causing moveOnSpline*() APIs to fail randomly while replanning with multiple waypoints.
    • Plan from lookahead point - see replan_from_lookahead(bool) and replan_lookahead_sec(float) params.
    • Trajectory visualization
      • works for multiple drones (viz_traj bool param)
      • plots requested waypoints automatically (no need for extraneous plot_transform() calls.
      • supports user-defined color with the new viz_traj_color_rgba param, which takes a list of four floats to specify RGBA.
    • Trajectory stitching constraints:
      • Stitch trajectories with acceleration using new add_acceleration_constraint bool param.
      • add_curr_odom_position_constraint has been renamed to add_position_constraint(bool).
      • add_curr_odom_velocity_constraint has been renamed to add_velocity_constraint(bool)
    • path param has been renamed to waypoints param

Neurips Binaries - Windows

Release notes:

Environment Pak Files

• Environments contain the same levels as the previous release, but now include the necessary fabric to create and perform races

APIs

• simStartRace() - Starts a race event when applicable
• simResetRace() - Resets all elements of current race (gates passed, penalties, and time is cleared, racers are returned to start position)
• simGetObjectScale(object_name) - Get 3D scale Vector3r of specified object
• simSetObjectScale(object_name, scale_vector) - Set the scale of the specified object using a Vector3r input

airsimneurips

• v0.1.0
• Documentation

Neurips Binaries - Linux

Release notes:

Environment Pak Files

• Environments contain the same levels as the previous release, but now include the necessary fabric to create and perform races

APIs

• simStartRace() - Starts a race event when applicable
• simResetRace() - Resets all elements of current race (gates passed, penalties, and time is cleared, racers are returned to start position)
• simGetObjectScale(object_name) - Get 3D scale Vector3r of specified object
• simSetObjectScale(object_name, scale_vector) - Set the scale of the specified object using a Vector3r input

airsimneurips

• v0.1.0
• Documentation

Neurips Binaries - Linux

Release notes:

Environment Pak Files

• Same as v0.0-linux

airsimneurips

• v0.0.14
• Documentation

Bug fixes:

• Fixed a bug in moveByAngleRatesZAsync and moveByRollPitchYawrateZAsync, which was causing the sent commands to latch on indefinitely, instead of being timed out after duration (function parameter) seconds had elapsed.

Neurips Binaries - Windows

Release notes:

Environment Pak Files

• Same as v0.0-windows

airsimneurips

• v0.0.14
• Documentation

Bug fixes:

• Fixed a bug in moveByAngleRatesZAsync and moveByRollPitchYawrateZAsync, which was causing the sent commands to latch on indefinitely, instead of being timed out after duration (function parameter) seconds had elapsed.