Pegasus Simulator Python API Docs | dltHub

Pegasus Simulator is a simulation framework built on NVIDIA Omniverse and Isaac Sim for multirotor vehicle dynamics and control integration. The REST API base URL is https://download.isaacsim.omniverse.nvidia.com/ and All requests require a Bearer token..

dlt is an open-source Python library that handles authentication, pagination, and schema evolution automatically. dlthub provides AI context files that enable code assistants to generate production-ready pipelines. Install with uv add "dlt[hub]" and start loading Pegasus Simulator data in under 10 minutes.

---

What data can I load from Pegasus Simulator?

Here are some of the endpoints you can load from Pegasus Simulator:

---

How do I authenticate with the Pegasus Simulator API?

Authentication uses a bearer token, which is passed in the headers as 'Authorization: Bearer '. The token is managed via the 'dlt' secrets mechanism.

1. Get your credentials

Pegasus Simulator is a local Python-based simulation framework for robotics (specifically multirotor vehicles) built on NVIDIA Omniverse and Isaac Sim. It does not utilize a cloud-based REST API, a dashboard, or API keys for authentication. Integration is performed via a local Python interface (pegasus.simulator.logic module) and standard local configuration files for connected services like PX4 or ArduPilot.

2. Add them to .dlt/secrets.toml

Copy
[sources.pegasus_simulator_source]
# No API keys or credentials are required for Pegasus Simulator. # It operates as a local library within the Isaac Sim environment.
isaac_sim_path = "/path/to/isaac-sim"
px4_autopilot_path = "/path/to/px4-autopilot"

dlt reads this automatically at runtime — never hardcode tokens in your pipeline script. For production environments, see setting up credentials with dlt for environment variable and vault-based options.

---

How do I set up and run the pipeline?

Set up a virtual environment and install dlt:

Copy
uv init
uv add "dlt[hub]"

1. Install the dlt AI harness:

Copy
uv run dlthub ai init --agent <your-agent> # <agent>: claude | cursor | codex

This installs project rules, a secrets management skill, appropriate ignore files, and configures the dlt MCP server for your agent. Learn more →

2. Install the rest-api-pipeline toolkit:

Copy
uv run dlthub ai toolkit install rest-api-pipeline

This loads the skills and context about dlt the agent uses to build the pipeline iteratively, efficiently, and safely. The agent uses MCP tools to inspect credentials — it never needs to read your secrets.toml directly. Learn more →

3. Start LLM-assisted coding:

Use /find-source to load data from the Pegasus Simulator API into DuckDB.

The rest-api-pipeline toolkit takes over from here — it reads relevant API documentation, presents you with options for which endpoints to load, and follows a structured workflow to scaffold, debug, and validate the pipeline step by step.

4. Run the pipeline:

Copy
uv run python pegasus_simulator_pipeline.py

If everything is configured correctly, you'll see output like this:

Copy
Pipeline pegasus_simulator_pipeline load step completed in 0.26 seconds
1 load package(s) were loaded to destination duckdb and into dataset pegasus_simulator_data
The duckdb destination used duckdb:/pegasus_simulator.duckdb location to store data
Load package 1749667187.541553 is LOADED and contains no failed jobs

Inspect your pipeline and data:

Copy
uv run dlthub show

This opens the Pipeline Dashboard where you can verify pipeline state, load metrics, schema (tables, columns, types), and query the loaded data directly.

---

Python pipeline example

This example loads start and stop (or reset) methods within the pegasus.simulator.logic.backends.backend.Backend class are the primary interface points for managing simulation lifecycle states. from the Pegasus Simulator API into DuckDB. It mirrors the endpoint and data selector configuration from the table above:

Copy
import dlt
from dlt.sources.rest_api import RESTAPIConfig, rest_api_resources

@dlt.source
def pegasus_simulator_source(access_token=dlt.secrets.value):
    config: RESTAPIConfig = {
        "client": {
            "base_url": "https://download.isaacsim.omniverse.nvidia.com/",
            "auth": {"type": "bearer", "token": access_token},
        },
        "resources": [
            {"name": "state", "endpoint": {"path": "state"}},
            {"name": "people", "endpoint": {"path": "people"}}
        ],
    }
    yield from rest_api_resources(config)


def get_data() -> None:
    pipeline = dlt.pipeline(
        pipeline_name="pegasus_simulator_pipeline",
        destination="duckdb",
        dataset_name="pegasus_simulator_data",
    )
    load_info = pipeline.run(pegasus_simulator_source())
    print(load_info)

To add more endpoints, append entries from the resource table to the "resources" list using the same name, path, and data_selector pattern.

---

How do I query the loaded data?

Once the pipeline runs, dlt creates one table per resource. You can query with Python or SQL.

Python (pandas DataFrame):

Copy
import dlt

data = dlt.pipeline("pegasus_simulator_pipeline").dataset()
sessions_df = data.state.df()
print(sessions_df.head())

SQL (DuckDB example):

Copy
SELECT * FROM pegasus_simulator_data.state LIMIT 10;

In a marimo or Jupyter notebook:

Copy
import dlt

data = dlt.pipeline("pegasus_simulator_pipeline").dataset()
data.state.df().head()

See how to explore your data in marimo Notebooks and how to query your data in Python with dataset.

---

What destinations can I load Pegasus Simulator data to?

dlt supports loading into any of these destinations — only the destination parameter changes:

Change the destination in dlt.pipeline(destination="snowflake") and add credentials in .dlt/secrets.toml. See the full destinations list.

---

Next steps

Continue your data engineering journey with the other toolkits of the dltHub AI harness:

• data-exploration — Build custom notebooks, charts, and dashboards for deeper analysis with marimo notebooks.
• dlthub-platform — Deploy, schedule, and monitor your pipeline in production.

Copy
uv run dlthub ai toolkit install data-exploration
uv run dlthub ai toolkit install dlthub-platform

• How to deploy a pipeline
• How to explore your data in marimo Notebooks
• How to query your data in Python with dataset
• Join the dlt community on Slack