inertialsim.examples.tartanair

Utilities for working with TartanAir datasets.

See: https://tartanair.org/

Classes:

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

Functions:

Name	Description
load	Load TartanAir flight simulation data.

ImuData

TartanAir IMU data.

IMU data from a TartanAir environment and trajectory.

Attributes:

Name	Type	Description
time	NDArray	Timestamps (s) from simulation.
angular_rate	NDArray	Angular rate measurements from gyroscope in rad/s.
specific_force	NDArray	Specific force measurements from accelerometer in m/s/s.

time instance-attribute

time: NDArray

angular_rate instance-attribute

angular_rate: NDArray

specific_force instance-attribute

specific_force: NDArray

PoseData

TartanAir IMU pose data.

IMU pose from a TartanAir environment and trajectory.

Attributes:

Name	Type	Description
time	NDArray	Timestamps (s) from simulation.
attitude	NDArray	Attitude as Euler angles in radians.
position	NDArray	Position in global frame (X, Y, Z) in meters.
velocity	NDArray	Velocity in global frame (X, Y, Z) in m/s.

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 at https://tartanair.org/. Data is organized by environment, difficulty level, and trajectory number. Only IMU and associated pose data is supported here.

The function loads synchronized IMU measurements (gyroscope and accelerometer) along with ground truth pose data (attitude, position, velocity).

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, pose data).