Space Teams PRO Python API for manipulating sim configs, starting sims, and implementing Python Systems.
AssetFileCategory(value: SupportsInt)
AssetType(value: SupportsInt)
Members:
UNDEFINED :
Generic :
ParamMap :
SimConfig :
EntityConfig :
SystemSource :
PlanetData :
CaptureImageProperties()
"All properties of an image to capture besides the choice of camera entity."
Entity()
Bases: ParamMap
Entity class representing an entity in a running simulation.
AddDynamicsParamsIfMissing() -> None
Adds the remainder of the dynamics params to this Entity_Base if they don't exist.
AddStateParamsIfMissing() -> None
Adds the Location, Velocity, Rotation, AngVelocity, etc params to this Entity_Base if they don't exist.
AddStaticStateParamsIfMissing() -> None
Adds the Location and Rotation params to this Entity if they don't exist.
GetBodyCenteredFrame() -> frames.Frame
Get the frame centered on this entity, with axes aligned to the resident (parent) frame of the entity.
SetPropagator(propagator: PropagatorChoice, transmit: bool = True) -> None
Set the choice of Propagator for this entity. This can be changed mid-sim.
getAcceleration() -> frames.FramedLocVelAcc
Get time-extrapolated acceleration of this entity (meters/sec ^ 2, right handed coordinates)
getAngAcceleration() -> frames.FramedAngAcc
Get time-extrapolated angular acceleration of this entity (rad/sec^2, right handed coordinates)
getAngVelocity() -> frames.FramedAngVel
Get time-extrapolated angular velocity of this entity (rad/sec, right handed coordinates) The vector direction is the axis of rotation, and the magnitude of the vector is the speed of the right-handed rotation around that axis
getInertia(inFrame: Frame) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']
Get Entity Inertia Tensor (kilograms * meters^2, 3x3 symmetric matrix, right handed coordinates). Deprecated mismatching name from C++ API.
getInertiaTensor(inFrame: Frame) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']
Get Entity Inertia Tensor (kilograms * meters^2, 3x3 symmetric matrix, right handed coordinates).
getLocVel() -> frames.FramedLocVel
Get time-extrapolated location and velocity of this entity (meters, meters/second, right handed coordinates).
getLocVelAcc() -> frames.FramedLocVelAcc
Get time-extrapolated location, velocity, and acceleration of this entity (meters, meters/second, meters/second^2, right handed coordinates).
getLocation() -> frames.FramedLoc
Get time-extrapolated location of this entity (meters, right handed coordinates)
getParentFrame() -> frames.Frame
Get the frame in which this entity’s state parameter are defined (new name for ResidentFrame)
getPhysEffects() -> dict[str, PhysEffect]
Get copy of the list of all physical effects on this entity.
getResidentFrame() -> frames.Frame
Get the frame in which this entity’s state parameter are defined.
getResidentFrameBody() -> Entity
Get the entity whose body-fixed frame is used as the frame in which this Entity_Base's state parameters are defined.
getRotation() -> frames.FramedRot
Get the orientation of this entity's body frame (right handed coordinates).
getVelocity() -> frames.FramedLocVel
Get time-extrapolated velocity of this entity (meters/second, right handed coordinates).
removePhysEffect(key: str) -> None
Removes a physical effect associated with the specified key.
setAngAcceleration(angacc: FramedAngAcc) -> None
Set Entity Angular Acceleration.
setAngVelocityD(angvel: Annotated[ArrayLike, float64, '[3, 1]'], fromFrame: Frame) -> None
(Deprecated) Set time-extrapolated angular velocity of this entity (rad/sec, right handed coordinates) The vector direction is the axis of rotation, and the magnitude of the vector is the speed of the right-handed rotation around that axis
setInertiaTensor(I_fromframe: Annotated[ArrayLike, float64, '[3, 3]'], fromFrame: Frame) -> None
Set Entity Inertia Tensor (kilograms * meters^2, 3x3 symmetric matrix, right handed coordinates).
setLocVelAcc(LocVelAcc: FramedLocVelAcc) -> None
Set Entity Location, Velocity, and Acceleration (meters, meters/second, meters/second^2, right handed coordinates).
setLocation(loc: FramedLoc) -> None
Set entity location (meters, right handed coordinates)
setLocationD(loc: Annotated[ArrayLike, float64, '[3, 1]'], fromFrame: Frame) -> None
(Deprecated) Set entity location (meters, right handed coordinates)
setLocation_ZeroVel(loc: FramedLoc) -> None
Set Entity Location (meters, right handed coordinates). Also sets velocity and acceleration to zero.
setPhysEffect(key: str, effect: PhysEffect) -> None
Create or revise a physical effect on this entity.
setResidentFrame(frame: Frame) -> None
Set the frame in which this Entity_Base's state parameters are defined, and transform state parameters to line up with the existing state.
setResidentFrame_ZeroState(frame: Frame) -> None
Set the frame in which this Entity's state parameters are defined, and set all state parameters (position and rotation) to zero in the new frame.
setRotation_DCM(rot: Annotated[ArrayLike, float64, '[3, 3]'], fromFrame: Frame) -> None
(Deprecated) Set entity rotation (passive DCM, right hand coordinate)
setRotation_ZeroVel(rot: FramedRot) -> None
Set Entity Rotation. Also sets AngVelocity and AngAcceleration to zero.
EntityConfig()
State vector of a body with respect to an observer. Note that we typically do not return a valid acceleration or angular acceleration. See: - https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/spkezr_c.html - https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/sxform_c.html - https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/xf2rav_c.html
property
¶
acc: Annotated[NDArray[float64], '[3, 1]']
Acceleration, meters/second^2 NOTE: not typically set!
property
¶
angacc: Annotated[NDArray[float64], '[3, 1]']
Angular acceleration, in radians/second^2 NOTE: not typically set!
property
¶
light_time_s: float
Light time in seconds at observation between body and observer. Definition changes depending on aberration_correction.
property
¶
rot: Annotated[NDArray[float64], '[3, 3]']
Passive rotation (transformation) DCM representing the attitude of bodyFrame wrt observerFrame
FieldEffectConfig()
Bases: ParamMap
property
writable
¶
active: bool
If Active: false, this FieldEffect will load but will not be applied.
property
writable
¶
singleton: bool
If two Singleton FieldEffects with the same Source are in a sim, they will be combined.
property
writable
¶
type: FieldEffectType
FieldEffect Type, which distinguishes between scalar, vector, matrix, or possibly other outputs.
FieldEffectType(value: SupportsInt)
Members:
Scalar : FieldEffect returns Scalar 64-bit float value.
Vector : FieldEffect returns 3D vector 64-bit float value.
Ephemeris : FieldEffect representing an Ephemeris System, which handles NAIF SPICE ephemeris queries.
Notation(value: SupportsInt)
Members:
Default : The value is represented with many meaningful digits as needed up to the given precision. Switches to scientific notation if the decimal place is not within the meaningful digits. Corresponds with std::defaultfloat https://cplusplus.com/reference/ios/defaultfloat/.
DigitsAfterDecimal : The value is represented with exactly as many digits in the decimal part as the given precision specifies. Corresponds with std::fixed https://cplusplus.com/reference/ios/fixed/.
Scientific : The value is represented with one digit before the decimal point, followed by the decimal point and as many decimal digits as the given precision. Corresponds with std::scientific https://cplusplus.com/reference/ios/scientific/.
OutputMode(value: SupportsInt)
"Camera output modes, which affect the content and pixel format of a capture's pixels, but not its geometry."
Members:
Default : What people "expect" from a typical image.
RGB_LDR_sRGB : Red-Green-Blue channels in sRGB color space, 8 bits each.
RGB_LDR : Red-Green-Blue channels in linear color space, 8 bits each.
RGB_HDR : (UNIMPLEMENTED) Red-Green-Blue channels in linear color space, 16-bit float each.
Depth_cm : Single channel, 32-bit float, linear depth in cm.
ParamMap()
AddCopiesOfAllParamsFrom(other: ParamMap) -> None
Adds a DeepCopy of all the params on another GenParamMap to this one NOTE: If there are name collisions, this will perform a Set on same- type colliding params, or throw for differing type.
AddOrSetParam(type: VarType, key: Any, value: Any) -> bool
Returns whether the parameter previously existed
AddParam(type: VarType, key: Any, value: Any) -> None
adds a new parameter at the given key on this entity. The input is in the form of std::vector. There is a static check for if this parameter is actually of a support type.
ForEachParam(operations: Callable[[str, VarType], None]) -> None
For each of the parameters in this ParamMap, supply the key and type and do "operations". Doesn’t allow access to pointer because it's non-const. The operations passed in here are a std::function, which is usually made as a lambda function.
ForEachParamMap(operations: Callable[[str, ParamMap], None]) -> None
For each of the parameters in this ParamMap, supply the key, ParamMap pointer, and type and do "operations". The operations passed in here are a std::function, which is usually made as a lambda function.
GetParam(type: VarType, key: Any) -> typing.Any
Get a copy of the value of the Parameter at the given key on this ParamMap. Usage: value = TheParamMap.GetParam(st.VarType.VarTypeOfParameter, "KeyOfParameter") value = TheParamMap.GetParam(st.VarType.VarTypeOfParameter, ["TopMapKey", "MiddleMapKey", "KeyOfParameter"]) Example: messageOnThisEntity = en1.GetParam(st.VarType.string, "Message") There is a runtime check for if this parameter is actually the type you specified it to be.
GetParamArray(type: VarType, key: Any) -> typing.Any
Get a copy of the values from the Parameter Array at the given key on this GenParamMap. This copy is in the form of a std::vector.
GetParamArraySize(key: Any) -> int
Get the number of elements in the Parameter Array at the given key on this GenParamMap. This has the advantage of not copying the array, and is faster than len(GetParamArray(...)). There is a runtime check for if this parameter is actually an array.
GetParamArrayType(key: Any) -> VarType
Returns the VarType of the parameter array at the given key.
GetParamAsString(key: Any) -> str
Get what this parameter value's ToString() function would output, without needing to specify the type of parameter value to get.
GetParamMap(keys: Any) -> ParamMap
Get pointer to the GenParamMap at this key. Duplicate of GetMap.
GetParamTime(key: Any) -> timestamp
Returns the timestamp of the edited-time of the parameter at the given key.
GetParamType(key: Any) -> VarType
Returns the VarType of the parameter at the given key.
HasParamWithValue(type: VarType, key: Any, value: Any) -> bool
Checks if this ParamMap has a parameter at the given key with the given type and if the value of that parameter matches the given value.
IfHas_GetParam(type: VarType, key: Any) -> tuple
If a parameter with this type exists at the key, return [true, value]. Otherwise, return [false, None].
IfHas_GetParamArray(type: VarType, key: Any) -> tuple
If a parameter array with this member type exists at the key, return [true, array value]. Otherwise, return [false, None].
IfHas_GetParamWithTime(type: VarType, key: Any) -> tuple
If a parameter with this type exists at the key, return [true, value, timestamp]. Otherwise, return [false, None, None].
RenameParam(key: Any, new_key: Any) -> None
Delete and readd a param with the same value, but a new key.
SetParam(type: VarType, key: Any, value: Any) -> None
Set the value of the parameter at the given key on this GenParamMap with the given value. There is a runtime check for if this parameter is actually the type you specified to it be.
SetParamArray(type: VarType, key: Any, value: list) -> None
Set the value of the parameter at the given key on this GenParamMap with the given value. The input is in the form of std::vector. There is a runtime check for if this parameter is actually the type you specified to it be. The array will resized itself as needed
ToString(notation: Notation = ..., precision: SupportsInt = 17) -> str
Returns a string of the keys/values of this ParamMap, with a certain notation and precision. Avoids newline characters. - notation: Select decimal notation - precision: Number of significant digits printed
ToStringMultiline(notation: Notation = ..., precision: SupportsInt = 17) -> str
Returns a string of the keys/values of this ParamMap, with a certain notation and precision. Avoids newline characters. - notation: Select decimal notation - precision: Number of significant digits printed
Physical Effect that can be applied to an Entity.
property
writable
¶
direction: Annotated[NDArray[float64], '[3, 1]']
Direction portion of the effect. Assumed to be a unit vector.
property
writable
¶
frame: Frame
Frame the direction of the effect is expressed in. As of v0.47.1, must be an Entity body-fixed frame or Sim Base Frame.
property
writable
¶
magnitude: float
Scalar portion of the effect. Depending on type, may multiply with direction or be used directly.
property
¶
useEndTime: bool
Use a defined end time. If this PhysEffect is removed/deleted in another way, that overrides this.
property
¶
useStartTime: bool
Use a defined start time instead of assuming this effect has always existed or acts immediately.
setQuaternion(quat: Annotated[ArrayLike, float64, '[4, 1]']) -> None
Set quaternion, for Rotation, in xyzw order
setVector(vector: Annotated[ArrayLike, float64, '[3, 1]']) -> None
Set magnitude and direction at the same time.
PhysEffectType(value: SupportsInt)
Members:
UNDEFINED :
Force :
Torque :
Impulse :
AngImpulse :
Acceleration :
AngAcceleration :
DeltaLocation :
DeltaVelocity :
DeltaRotation :
DeltaAngVelocity :
LocationOverride :
VelocityOverride :
AccelerationOverride :
RotationOverride :
AngVelocityOverride :
AngAccelerationOverride :
PhysicalCameraProperties()
"Physical properties of the camera that affect the image"
PropagationType(value: SupportsInt)
Members:
NoPropagation
ComputePosition
ComputeVelocity
ComputeAcceleration
ComputeJerk
Clientside_FreeBody
Clientside_PawnControl
PhysXInteractible
CoordinateFrame_Static
PropagatorChoice(value: SupportsInt)
Members:
No_Body
ST_Rigid_Body
SPICE
Unreal_Chaos
Unreal_Pawn
Custom
Static
property
¶
handle_id: UUID
Randomly generated for each responder, and used to find a specific one for RemoveResponder(). Not part of the identity of the responder for key matching purposes.
property
¶
independentThread: bool
Whether the responder function will run on its own independent thread, or otherwise be run on a threadpool (better performance but less safe from deadlocks).
Severity(value: SupportsInt)
SimConfig()
AddEntity(config: EntityConfig) -> None
Adds a (assumed-properly-initialized) EntityConfig to the sim config
AddFieldEffect(config: FieldEffectConfig) -> None
Adds a (assumed-properly-initialized) FieldEffectConfig to the sim config
AddSystem(config: SystemConfig) -> None
Adds a (assumed-properly-initialized) SystemConfig to the sim config
AddTaskflow(config: TaskflowConfig) -> None
Adds a (assumed-properly-initialized) TaskflowConfig to the sim config.
GetEntities() -> list[EntityConfig]
Get the EntityConfigs for all entities on this sim config, besides the SimEntity
GetFieldEffects() -> list[FieldEffectConfig]
Get the FieldEffectConfigs for all FieldEffects on this sim config
GetSimStartTime() -> timestamp
Get the time of the sim clock will read at the beginning of the sim. This value will not be applicable if UsCurrentTime = true
GetSystems() -> list[SystemConfig]
Get the SystemConfigs for all systems on this sim config
GetTaskflows() -> list[TaskflowConfig]
Get the TaskflowConfigs for all taskflows on this sim config
RemoveEntity(config: EntityConfig) -> None
Removes this referenced Entity_Base from the sim config
RemoveFieldEffect(config: FieldEffectConfig) -> None
Removes this referenced FieldEffectConfig from the sim config
RemoveSystem(config: SystemConfig) -> None
Removes this referenced SystemConfig from the sim config
RemoveTaskflow(config: TaskflowConfig) -> None
Removes this referenced Taskflow instance from the sim config.
SetSimEndTime(end_simtime: timestamp) -> None
Set the time the sim will automatically end.
SetSimEntity(new_sim_entity: EntityConfig) -> None
Set the EntityConfig for the (singleton) SimEntity.
SetSimStartTime(start_simtime: timestamp) -> None
Set the time the sim clock will read when beginning the sim. This value is not applicable if UseCurrentTime = True.
UsesCurrentTime() -> bool
True if the sim sets the time to real-world time when starting the sim.
SimState(value: SupportsInt)
Members:
Loading : Load the sim config as a starting point, independent of any other clients.
Lobby : Wait for other clients to finish connecting/loading, hang out (if applicable).
Sync : With a final client list known, enter a process where we ensure all clients are joined and warmed up before Init/Running Simstate is made available. Additionally, if a certain option is chosen, stay in SimState::Sync to enable a Sim Editing mode that hasn't run system init or update functions.
Init : In this state and future, operations that would result in a SaveSim having many differences are accepted. Without impinging on timing of updates as the Runtime state is hit, we do a final step where everything runs their init() functions, optionally with order dependencies where applicable, and we wait for ALL inits on ALL programs to finish. (TBD) For sims that are resuming from a snapshot, this MIGHT be skipped/modified?
Runtime : Timed updates begin. Physics starts moving.
Paused : (UNUSED, MAY CHANGE) In this state, we stop all network nodes if possible so something big like a host migration can happen.
Playback : (UNUSED, MAY CHANGE) In this state, the state of the Platform is being driven by recorded transactional state changes that are being streamed as PlatformOrders by one (?) of the network nodes.
Stopping : In this state, the platform is treated as undefined because network nodes are expected to disconnect at any moment. Any time a network node is in this state, the network node should work to and/close the local representation of the simulation
property
¶
handle_id: UUID
Randomly generated for each subscription, and used to find a specific one for Unsubscribe() or ending a transient subscription. Not part of the identity of the subscription for key matching purposes.
property
¶
independentThread: bool
Whether the subscribe delegate will run on its own independent thread, or otherwise be run on a threadpool (better performance but less safe from deadlocks). Not used to identify a match for a publish.
SystemConfig()
Bases: ParamMap
property
writable
¶
active: bool
If Active: false, this System will load but not init or update. Python systems will not load.
property
writable
¶
freqType: UpdateTimeDomain
Frequency Type (st.UpdateTimeDomain). If Sim, affected by sim timescale. No effect for Python Systems.
property
writable
¶
frequency: float
Update rate in Hz. Python Systems use a value from instance params instead.
property
writable
¶
singleton: bool
If two Singleton Systems with the same Source are in a sim, they will be combined.
property
writable
¶
type: SystemType
System Type: Normal (C++), Taskflow/TaskflowTask, or Python.
SystemType(value: SupportsInt)
Members:
Normal : Typical C++ System that inits and updates on its own.
Taskflow : Taskflow which contains a set of TaskflowTask Systems.
TaskflowTask : Systems that are initted and updated by a Taskflow.
Internal : System with extra capabilities, reserved for internal use.
Python : System that represents a Python program that joins the sim.
TaskflowConfig()
TaskflowType(value: SupportsInt)
staticmethod
¶
FromString(uuid_str: str, use_hyphens: bool = True) -> UUID
Parse UUID string. Currently assuming all hex alpha chars are lowercase.
staticmethod
¶
IsValidStr(uuid_str: str) -> bool
Validate UUID string (true if valid UUID). This does not check proper version or anything other than proper formatting.
UpdateTimeDomain(value: SupportsInt)
VarType(value: SupportsInt)
Members:
Uninitialized
Unrecognized
bytes
bitset64
bool
uint8
uint16
uint32
uint64
int8
int16
int32
int64
duration
timestamp
uuid
entityID
entityRef
entityRefUnresolved
float : NOTE: python "float" is actually VarType double
double : python type is "float"
char
doubleV2 : python type is numpy array
doubleV3 : python type is numpy array
doubleV4 : python type is numpy array
doubleM2x2 : python type is numpy matrix
doubleM3x3 : python type is numpy matrix
doubleM4x4 : python type is numpy matrix
doubleM5x5 : python type is numpy matrix
doubleM6x6 : python type is numpy matrix
string
paramArray : python type is a list of the member type
paramMap
timestamp()
staticmethod
¶
from_datetime(date_time: Any) -> timestamp
Construct a timestamp object from a Python datetime. This interprets the input as UTC (converting from any timezone if needed) and then converts that UTC time to the simulation's TAI clock.
as_datetime() -> typing.Any
Gets the timestamp as a Python datetime. This converts the time from the TAI clock to UTC.
Raises ValueError if the UTC instant falls during a leap second, because Python datetime cannot represent 23:59:60.
as_tai_string() -> str
Return a string of the timestamp, keeping it as TAI clock. See this for more clock choice details: https://stackoverflow.com/a/64084510/11502722
as_utc_string() -> str
Return a string of the timestamp after converting it to UTC. See this for more clock choice details: https://stackoverflow.com/a/64084510/11502722
BeforeInit(delegateFn: Callable[[], None]) -> None
Set a function to be called before the simulation is allowed to continue to Init state.
BeforeRuntime(delegateFn: Callable[[], None]) -> None
Set a function to be called before the simulation is allowed to continue to Runtime state.
OnScreenAlert(message: str, topic: str, severity: Severity, transmit: bool = True) -> None
Send alert that is shown on all app screens, is deduplicated by topic name, and is erased after a few seconds. If transmit is false, the alert is only shown inside this app.
OnScreenLogMessage(message: str, category: str, severity: Severity, transmit: bool = True) -> None
Send message that is shown on all app screens, and stays in a log. If transmit is false, the message is only shown inside this app.
connect_to_sim(sys_argv: Sequence[str]) -> None
Connect to a running simulation as a ServerAsLocalClient. sys_argv - insert python sys.argv here.
standalone_sim(path: PathLike | str | bytes) -> None
Run a simulation that is self-contained within this Python process. path - Filepath of sim config.