Configuration JSONC Settings¶

Project AirSim configuration files use the JSONC (JSON with Comments) file format. The configuration JSONC settings that client scripts load are stored in a sim_config/ subfolder relative to the client script:

<client scripts>
└─ sim_config
      scene_basic_drone.jsonc
      scene_...
      robot_quadrotor_fastphysics.jsonc
      robot_...

The configuration settings are split into two levels:

Scene config - Settings for a specific scene, such as a list of actors and clock settings for that scene. This can be any JSONC file in the sim_config/ folder, but generally starts with scene_ as a filename prefix.
Robot config - Settings for a specific robot, such as its link/joint structure, controller, sensors, etc. This can be any JSONC file in the sim_config/ folder, but generally starts with robot_ as a filename prefix. Multiple actors in a scene can reference the same config file.
Environment actors config - Settings for a specific environment actor, such as its link/joint structure, controller, sensors, etc. This can be any JSONC file in the sim_config/ folder. For drones, the filename prefix generally start with env_actor_; for cars, they start with env_actor_car; for humans, they start with env_actor_human; and for particles, they start with env_particle_effect. Multiple actors in a scene can reference the same config file.

Note: Unlike Python, the JSON standard requires double-quotes (") so be sure not to use single-quotes (') in the JSONC configuration files.

Scene config¶

An example scene config look like:

scene_env_actor.jsonc

{
  "id": "SceneBasicDrone",
  "actors": [
    {
      "type": "robot",
      "name": "Drone1",
      "origin": {...},
      "robot-config": "robot_quadrotor_fastphysics.jsonc"
    }
  ],
  "environment-actors": [
    {
      "type": "env_car",
      "name": "car1",
      "origin": {...},
      "env-actor-config": "env_actor_car.jsonc"
    }
  ],
  "clock": {...},
  "home-geo-point": {...},
  "segmentation": {...},
  "scene-type": "UnrealNative"
}

The actors array contains a block for each robot to spawn in the simulation at its specified origin coordinates, and each robot’s robot-config string points to the robot config JSON file to load for it.

For more detailed info, see Scene Configuration Settings.

Robot config¶

An example robot config looks like:

robot_quadrotor_fastphysics.jsonc

{
  "physics-type": "fast-physics",
  "links": [...],
  "joints": [...],
  "controller": {...},
  "actuators": [...],
  "sensors": [...]
}

For more detailed info, see Robot Configuration Settings.

Environment actors config¶

An example environment actor config looks like:

env_actor_car.jsonc

{
  "links": [...],
  "joints": [...],
}

For more detailed info, see Environment Actor Configuration Settings and Environment Object Configuration Settings.