simGetVehiclePose() return wrong NED pose

[alonfaraj]

Bug report

• AirSim Version/#commit: ccfaa5d
• UE/Unity version: 4.26
• autopilot version:
• OS Version: Win10

What's the issue you encountered?

This issue first mentioned here #3844.
Seems like it's not the intended behavior but better to get a confirmation for this.
The NED position returned by simGetVehiclePose() is relative the the spawn location and not to the origin (PlayerStart pawn).
In the example it should return (8,5,2) but instead it returns (0,0,2).

Settings

Seetings.json

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"SimMode": "Car",
"Vehicles" : 
{
  "Car1": 
  {
    "VehicleType": "PhysXCar",
    "X": 8, "Y": 5, "Z": -2
  }
}
}

How can the issue be reproduced?

1. Run Blocks with above settings.json
2. Run the following API code

code

import setup_path
import airsim

client = airsim.VehicleClient()
client.confirmConnection()

print(client.simGetVehiclePose("Car1").position)

output

<Vector3r> {   'x_val': 0.0,
  'y_val': 2.136230477844947e-06,
  'z_val': 2.234570026397705}

Include full error message in text form

What's better than filing an issue? Filing a pull request :).

[zimmy87]

See my comment here. I think this is by design, but I will confirm with my team. You can work around this by using the simGetObjectPose() API.