inertialsim.examples.tartanair

Utilities for working with TartanAir datasets.

See: https://tartanair.org/

Classes:

Name	Description
ImuData	TartainAir IMU data.
PoseData	TartainAir IMU pose data.

Functions:

Name	Description
load	Load TartanAir flight simulation data.

ImuData

TartainAir IMU data.

IMU data from a TartanAir Environment and Trajectory.

Attributes:

Name	Type	Description
time	NDArray
angular_rate	NDArray
specific_force	NDArray

time instance-attribute

time: NDArray

angular_rate instance-attribute

angular_rate: NDArray

specific_force instance-attribute

specific_force: NDArray

PoseData

TartainAir IMU pose data.

IMU pose from a TartanAir Environment and Trajectory.

Attributes:

Name	Type	Description
time	NDArray
attitude	NDArray
position	NDArray
velocity	NDArray

time instance-attribute

time: NDArray

attitude instance-attribute

attitude: NDArray

position instance-attribute

position: NDArray

velocity instance-attribute

velocity: NDArray

load

load(
    directory: Path | str,
    environment: str,
    difficulty: str,
    trajectory: int,
) -> tuple[ImuData, PoseData]

Load TartanAir flight simulation data.

Data is available from the TartanAir site (see link in module documentation). Data is organized by environment, difficulty, and trajectory. Only IMU and associated pose data is supported here.

Parameters:

Name	Type	Description	Default
directory	Path | str	Top level directory with TartanAir data.	required
environment	str	Environment name (e.g. "Downtown").	required
difficulty	str	One of "easy" or "hard".	required
trajectory	int	Trajectory number (e.g. 0, 1, ..., 8).	required

Returns:

Name	Type	Description
data	tuple[ImuData, PoseData]	Tuple of IMU data and pose data.