AUV Interface

The AUV wrapper provides a research-friendly API on top of OceanSimClient. It hides raw protocol envelopes for common state, control, sensor, map, agent, overlay, dataset, and Gym-style workflows.

AUVState

class AUVState(data)

Typed view of an OceanSim state dictionary.

Attribute	Meaning
`position`	OceanSim / ROS ENU position as a NumPy vector.
`position_godot_xyz`	Converted Godot world position.
`position_ros_enu`, `position_ros_ned`	ROS-compatible frame conversions.
`velocity`	OceanSim velocity vector.
`depth`, `speed`, `heading`	Scalar navigation values.
`lidar_2d`, `lidar_3d`, `dvl`, `camera`	Embedded sensor payloads from the state response.

property x: X coordinate in OceanSim user frame.

property y: Y coordinate in OceanSim user frame.

property z: Z coordinate in OceanSim user frame.

AUV

class AUV(host='localhost', port=9876, auto_launch=False, exe_path=None, timeout=5.0)

High-level AUV controller and data access object.

Parameters:

host (str) – simulator hostname.
port (int) – simulator TCP port.
auto_launch (bool) – launch a packaged executable before connecting.
exe_path (str) – optional packaged simulator executable path.
timeout (float) – response timeout in seconds.

Connection

AUV.connect(**kwargs): Connect to the simulator. Extra keyword arguments are forwarded to OceanSimClient.connect.

AUV.disconnect(): Disconnect the underlying TCP client.

Control

Method	Description
`set_force(fx, fy, fz=0.0)`	Compatibility alias for world-frame force control.
`set_force_world(fx, fy, fz=0.0)`	Apply force in OceanSim world/user coordinates.
`set_force_body(fx, fy, fz=0.0)`	Apply force in the AUV body frame.
`set_body_wrench(fx, fy, fz, tx, ty, tz)`	Apply body-frame force and torque.
`set_body_velocity(u, v, w, p, q, r)`	Set body-frame linear and angular velocity targets.
`surge(power=100.0)`	Move forward using a positive y force.
`strafe(power=100.0)`	Move laterally using an x force.
`heave(power=100.0)`	Move vertically using a z force.
`stop()`	Apply a zero force.
`set_pose(position, rotation_deg=None, yaw_deg=None)`	Reset AUV pose and clear velocities.
`hold_depth_step(...)`	One PD depth-hold control step.
`hold_heading_step(...)`	One heading correction step.
`track_waypoint_step(...)`	One force-control waypoint tracking step.
`step(action)`	Gym-style step returning observation, reward, done, and info.

AUV.set_force(fx, fy, fz=0.0)

Compatibility alias for set_force_world with force vector [fx, fy, fz]. Use this for MPC, scripted navigation, and continuous-control experiments that operate in the world frame.

Returns:: raw protocol response dictionary.

AUV.set_force_world(fx, fy, fz=0.0): Send set_force_world with a world-frame force vector.

AUV.set_force_body(fx, fy, fz=0.0): Send set_force_body with a body-frame force vector.

AUV.set_body_wrench(fx, fy, fz, tx, ty, tz): Send set_body_wrench with body-frame force and torque.

AUV.set_body_velocity(u, v, w, p, q, r): Send set_body_velocity with body-frame linear and angular velocity components.

AUV.hold_depth_step(target_depth, forward_force=0.0, kp=70.0, kd=25.0, max_vertical_force=180.0): Read current state, compute a bounded vertical force from depth error and depth rate, send force control, and annotate the response with control diagnostics.

AUV.track_waypoint_step(world_x, world_z, nav_depth=None, force_power=120.0, depth_power=60.0, arrival_dist=1.0)

Compute one normalized force command toward a Godot X/Z map-plane waypoint. The returned protocol response includes a control dictionary with mode="waypoint_pid", error, integral, saturation, target, force, and dt.

Returns:: (arrived, response).

State and sensors

Method	Sensor or state
`get_state()`	Current `AUVState`.
`get_lidar_2d()`	2D planar scan payload.
`get_lidar_3d()` / `get_point_cloud_3d()`	Structured 3D lidar point cloud.
`get_dvl()`	Doppler velocity log payload.
`get_imaging_sonar()`	Forward-looking imaging sonar payload.
`get_multibeam_sonar()`	Multibeam sonar payload.
`get_side_scan_sonar()`	Side-scan sonar payload.
`get_rgbd_dense_cloud()`	RGB-D dense point-cloud payload.
`get_camera()`	Camera RGB/depth/segmentation-like payload from latest state.
`get_sensors(validate=True)`	Full sensor dictionary with schema validation by default.

AUV.get_sensors(validate=True)

Request all active sensors and validate every payload through validate_sensor_set unless validation is disabled.

Returns:: Dict[str, Dict[str, Any]] keyed by sensor name.

Maps, agents, and overlays

Method	Description
`set_scenario(scenario, seed=0)`	Load a named map scenario.
`get_map_info()`	Return terrain and scenario metadata.
`get_terrain_grid(...)`	Return 2D occupancy grid for planners.
`spawn_obstacle(config)`	Create a static obstacle.
`spawn_agent(config)`	Create a dynamic AUV-like agent.
`set_agent_velocity(id, velocity)`	Externally drive a proxy agent.
`send_acoustic_message(sender_id, receiver_id, payload)`	Queue a simulated acoustic message.
`set_nav_path(path)`	Display a planned path on the 2D/3D map overlays.
`set_waypoint(world_x, world_z)`	Display one target waypoint.
`set_pred_trajectory(points)`	Display a predicted trajectory such as an MPC horizon.
`clear_nav()`	Clear all overlay planning graphics.