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‎docs/api_overview.md‎

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We added some new APIs (marked with 💚) to [AirSim](https://github.com/Microsoft/Airsim) for the NeurIPS competition binaries.
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#### Loading Unreal Engine environments
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- [`simLoadLevel(level_name)`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simLoadLevel) 💚
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- [`simLoadLevel(level_name)`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simLoadLevel) 💚
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Possible values for `level_name` are:
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- `Soccer_Field_Easy`
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- `Soccer_Field_Medium`
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#### Race APIs:
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- Start a race:
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[`simStartRace(tier=1/2/3)`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simStartRace) 💚
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[`simStartRace(tier=1/2/3)`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.simStartRace) 💚
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- Reset race:
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[`simResetRace()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simResetRace) 💚
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[`simResetRace()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.simResetRace) 💚
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- Check if racer is disqualified:
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[`simIsRacerDisqualified()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simIsRacerDisqualified) 💚
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[`simIsRacerDisqualified()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.simIsRacerDisqualified) 💚
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- Get index of last gate passed:
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[`simGetLastGatePassed()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetLastGatePassed) 💚
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[`simGetLastGatePassed()`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.simGetLastGatePassed) 💚
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- Disable generation of logfiles by race APIs:
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[`simDisableRaceLog`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simDisableRaceLog) 💚
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[`simDisableRaceLog`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.simDisableRaceLog) 💚
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#### Lower level control APIs:
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- FPV like Angle rate setpoint APIs:
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- [`moveByAngleRatesThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByAngleRatesThrottleAsync) 💚
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- [`moveByAngleRatesZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByAngleRatesZAsync) 💚 (stabilizes altitude)
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- [`moveByAngleRatesThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByAngleRatesThrottleAsync) 💚
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- [`moveByAngleRatesZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByAngleRatesZAsync) 💚 (stabilizes altitude)
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- Angle setpoint APIs:
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- [`moveByRollPitchYawThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawThrottleAsync) 💚
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- [`moveByRollPitchYawZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawZAsync) 💚 (stabilizes altitude)
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- [`moveByRollPitchYawThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawThrottleAsync) 💚
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- [`moveByRollPitchYawZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawZAsync) 💚 (stabilizes altitude)
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- RollPitchYawrate setpoint APIs:
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- [`moveByRollPitchYawrateThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawrateThrottleAsync) 💚
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- [`moveByRollPitchYawrateZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawrateZAsync) 💚 (stabilizes altitude)
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- [`moveByRollPitchYawrateThrottleAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawrateThrottleAsync) 💚
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- [`moveByRollPitchYawrateZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByRollPitchYawrateZAsync) 💚 (stabilizes altitude)
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#### Medium level control APIs:
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- Velocity setpoints
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- [`moveByVelocityAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByVelocityAsync)
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- [`moveByVelocityZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveByVelocityZAsync) (stabilizes altitude)
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- [`moveByVelocityAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByVelocityAsync)
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- [`moveByVelocityZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveByVelocityZAsync) (stabilizes altitude)
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- Position setpoints
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- [`moveToPosition`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveToPositionAsync)
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- [`moveOnPath`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveOnPathAsync)
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- [`moveToZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveToZAsync)
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- [`moveToPosition`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveToPositionAsync)
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- [`moveOnPath`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveOnPathAsync)
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- [`moveToZAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveToZAsync)
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#### High level control APIs:
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- Minimum jerk trajectory planning (using [ethz-asl/mav_trajectory_generation](https://github.com/ethz-asl/mav_trajectory_generation)), and trajectory tracking (using a pure pursuit like controller minimizing position and velocity errors), with position setpoints.
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Optionally use the `*lookahead*` parameters to start new trajectory from a point sampled `n` seconds ahead for trajectory being tracked currently.
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- [`moveOnSplineAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveOnSplineAsync) 💚
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- [`moveOnSplineAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveOnSplineAsync) 💚
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- Minimum jerk trajectory planning (using [ethz-asl/mav_trajectory_generation](https://github.com/ethz-asl/mav_trajectory_generation)), and trajectory tracking (using a pure pursuit like controller minimizing position and velocity errors), with position setpoints and corresponding velocity constraints. Useful for making a drone go through a gate waypoint, while obeying speed and direction constraints.
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Optionally use the `*lookahead*` parameters to start new trajectory from a point sampled `n` seconds ahead for trajectory being tracked currently.
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- [`moveOnSplineVelConstraintsAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.moveOnSplineVelConstraintsAsync) 💚
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- [`moveOnSplineVelConstraintsAsync`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.moveOnSplineVelConstraintsAsync) 💚
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- Clear and stop following current trajectory.
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- [`clearTrajectory`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.clearTrajectory) 💚
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- [`clearTrajectory`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.clearTrajectory) 💚
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#### Gain setter APIs:
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- [`setAngleRateControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.setAngleRateControllerGains) 💚
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- [`setAngleLevelControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.setAngleLevelControllerGains) 💚
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- [`setVelocityControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.setVelocityControllerGains) 💚
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- [`setPositionControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.setPositionControllerGains) 💚
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- [`setTrajectoryTrackerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.setTrajectoryTrackerGains) 💚
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- [`setAngleRateControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.setAngleRateControllerGains) 💚
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- [`setAngleLevelControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.setAngleLevelControllerGains) 💚
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- [`setVelocityControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.setVelocityControllerGains) 💚
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- [`setPositionControllerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.setPositionControllerGains) 💚
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- [`setTrajectoryTrackerGains`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.MultirotorClient.setTrajectoryTrackerGains) 💚
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#### APIs to help generate gate detection datasets:
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- Object pose setter and getter:
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- [`simSetObjectPose`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simSetObjectPose)
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- [`simGetObjectPose`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetObjectPose)
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- [`simSetObjectPose`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simSetObjectPose)
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- [`simGetObjectPose`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simGetObjectPose)
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- Object scale setter and getter:
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- [`simSetObjectScale`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simSetObjectScale) 💚
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- [`simGetObjectScale`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetObjectScale) 💚
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- [`simSetObjectScale`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simSetObjectScale) 💚
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- [`simGetObjectScale`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simGetObjectScale) 💚
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- Object segmentation ID setter and getter:
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- [`simGetSegmentationObjectID`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetSegmentationObjectID)
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- [`simSetSegmentationObjectID`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simSetSegmentationObjectID)
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- [`simGetSegmentationObjectID`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simGetSegmentationObjectID)
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- [`simSetSegmentationObjectID`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simSetSegmentationObjectID)
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- Listing all the objects in the scene:
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- [`simListSceneObjects`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simListSceneObjects) 💚
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- [`simListSceneObjects`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simListSceneObjects) 💚
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- Gate specific APIs:
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- [`simGetNominalGateInnerDimensions`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetNominalGateInnerDimensions) 💚
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- [`simGetNominalGateOuterDimensions`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/api.html#airsimdroneracinglab.client.MultirotorClient.simGetNominalGateOuterDimensions) 💚
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- [`simGetNominalGateInnerDimensions`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simGetNominalGateInnerDimensions) 💚
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- [`simGetNominalGateOuterDimensions`](https://microsoft.github.io/AirSim-Drone-Racing-Lab/autoapi/airsimdroneracinglab/client/index.html#airsimdroneracinglab.client.VehicleClient.simGetNominalGateOuterDimensions) 💚

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