diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..02f6ee82
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,26 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-toml
+      - id: check-yaml
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: detect-private-key
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.14.11
+    hooks:
+      - id: ruff-check
+        args: [--fix, --exit-non-zero-on-fix]
+      - id: ruff-format
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.19.1
+    hooks:
+      - id: mypy
+        additional_dependencies: []
+        args: [--ignore-missing-imports, --strict]
diff --git a/AirSim/AirLib/include/api/RpcLibClientBase.hpp b/AirSim/AirLib/include/api/RpcLibClientBase.hpp
index d21792a1..ce9e5dae 100644
--- a/AirSim/AirLib/include/api/RpcLibClientBase.hpp
+++ b/AirSim/AirLib/include/api/RpcLibClientBase.hpp
@@ -63,7 +63,7 @@ class RpcLibClientBase {
     void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);
     void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);
     void simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent);
-    void simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration); 
+    void simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration);
     void simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent);
     void simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration);
 
@@ -84,6 +84,8 @@ class RpcLibClientBase {
 
     Pose simGetVehiclePose(const std::string& vehicle_name = "") const;
     void simSetVehiclePose(const Pose& pose, bool ignore_collision, const std::string& vehicle_name = "");
+    void simResetToPose(const Pose& pose, const std::string& vehicle_name = "");
+    void simSetVehicleLinearVelocity(const Vector3r& velocity, const std::string& vehicle_name = "");
     void simSetTraceLine(const std::vector<float>& color_rgba, float thickness=3.0f, const std::string& vehicle_name = "");
 
     vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request, const std::string& vehicle_name = "");
diff --git a/AirSim/AirLib/include/api/VehicleSimApiBase.hpp b/AirSim/AirLib/include/api/VehicleSimApiBase.hpp
index 9a626201..648d8112 100644
--- a/AirSim/AirLib/include/api/VehicleSimApiBase.hpp
+++ b/AirSim/AirLib/include/api/VehicleSimApiBase.hpp
@@ -23,7 +23,7 @@ class VehicleSimApiBase : public msr::airlib::UpdatableObject {
     }
 
     //this method is called at every render tick when we want to transfer state from
-    //physics engine to render engine. As physics engine is halted while 
+    //physics engine to render engine. As physics engine is halted while
     //this happens, this method should do minimal processing
     virtual void updateRenderedState(float dt)
     {
@@ -50,6 +50,8 @@ class VehicleSimApiBase : public msr::airlib::UpdatableObject {
 
     virtual Pose getPose() const = 0;
     virtual void setPose(const Pose& pose, bool ignore_collision) = 0;
+    virtual void resetToPose(const Pose& pose) = 0;
+    virtual void setLinearVelocity(const Vector3r& velocity) = 0;
     virtual const Kinematics::State* getGroundTruthKinematics() const = 0;
     virtual const WheelStates* getWheelStates() const = 0;
 
diff --git a/AirSim/AirLib/include/api/WorldSimApiBase.hpp b/AirSim/AirLib/include/api/WorldSimApiBase.hpp
index ba463b05..a917f2a2 100644
--- a/AirSim/AirLib/include/api/WorldSimApiBase.hpp
+++ b/AirSim/AirLib/include/api/WorldSimApiBase.hpp
@@ -28,6 +28,7 @@ class WorldSimApiBase {
 
     virtual bool isPaused() const = 0;
     virtual void reset() = 0;
+    virtual void resetToPose(const Pose& pose, const std::string& vehicle_name = "") = 0;
     virtual void pause(bool is_paused) = 0;
     virtual void continueForTime(double seconds) = 0;
 
@@ -45,12 +46,12 @@ class WorldSimApiBase {
 
     //----------- Plotting APIs ----------/
     virtual void simFlushPersistentMarkers() = 0;
-    virtual void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) = 0; 
-    virtual void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0; 
-    virtual void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0; 
-    virtual void simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) = 0; 
+    virtual void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) = 0;
+    virtual void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
+    virtual void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0;
+    virtual void simPlotArrows(const vector<Vector3r>& points_start, const vector<Vector3r>& points_end, const vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) = 0;
     virtual void simPlotStrings(const vector<std::string>& strings, const vector<Vector3r>& positions, float scale, const vector<float>& color_rgba, float duration) = 0;
-    virtual void simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) = 0; 
+    virtual void simPlotTransforms(const vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) = 0;
     virtual void simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration) = 0;
 
     virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const = 0;
diff --git a/AirSim/AirLib/src/api/RpcLibClientBase.cpp b/AirSim/AirLib/src/api/RpcLibClientBase.cpp
index f0660dbd..099375c4 100644
--- a/AirSim/AirLib/src/api/RpcLibClientBase.cpp
+++ b/AirSim/AirLib/src/api/RpcLibClientBase.cpp
@@ -40,7 +40,7 @@ STRICT_MODE_OFF
 STRICT_MODE_ON
 #ifdef _MSC_VER
 __pragma(warning( disable : 4239))
-#endif			  
+#endif
 
 
 namespace msr { namespace airlib {
@@ -125,7 +125,7 @@ void RpcLibClientBase::confirmConnection(double timeout)
         clock->sleep_for(delay);
     }
 
-    
+
     if (getConnectionState() != RpcLibClientBase::ConnectionState::Connected)
     {
         throw std::runtime_error("Failed connecting to RPC server (airsim). Is the simulator running?");
@@ -135,7 +135,7 @@ void RpcLibClientBase::confirmConnection(double timeout)
     auto client_ver = getClientVersion();
     auto server_min_ver = getMinRequiredServerVersion();
     auto client_min_ver = getMinRequiredClientVersion();
-    
+
     std::string ver_info = Utils::stringf("Client Ver:%i (Min Req:%i), Server Ver:%i (Min Req:%i)",
         client_ver, client_min_ver, server_ver, server_min_ver);
 
@@ -208,6 +208,16 @@ void RpcLibClientBase::simSetVehiclePose(const Pose& pose, bool ignore_collision
     pimpl_->client.call("simSetVehiclePose", RpcLibAdapatorsBase::Pose(pose), ignore_collision, vehicle_name);
 }
 
+void RpcLibClientBase::simResetToPose(const Pose& pose, const std::string& vehicle_name)
+{
+    pimpl_->client.call("simResetToPose", RpcLibAdapatorsBase::Pose(pose), vehicle_name);
+}
+
+void RpcLibClientBase::simSetVehicleLinearVelocity(const Vector3r& velocity, const std::string& vehicle_name)
+{
+    pimpl_->client.call("simSetVehicleLinearVelocity", RpcLibAdapatorsBase::Vector3r(velocity), vehicle_name);
+}
+
 void RpcLibClientBase::simSetTraceLine(const std::vector<float>& color_rgba, float thickness, const std::string & vehicle_name)
 {
     pimpl_->client.call("simSetTraceLine", color_rgba, thickness, vehicle_name);
@@ -215,7 +225,7 @@ void RpcLibClientBase::simSetTraceLine(const std::vector<float>& color_rgba, flo
 
 vector<ImageCaptureBase::ImageResponse> RpcLibClientBase::simGetImages(vector<ImageCaptureBase::ImageRequest> request, const std::string& vehicle_name)
 {
-    const auto& response_adaptor = pimpl_->client.call("simGetImages", 
+    const auto& response_adaptor = pimpl_->client.call("simGetImages",
         RpcLibAdapatorsBase::ImageRequest::from(request), vehicle_name)
         .as<vector<RpcLibAdapatorsBase::ImageResponse>>();
 
diff --git a/AirSim/AirLib/src/api/RpcLibServerBase.cpp b/AirSim/AirLib/src/api/RpcLibServerBase.cpp
index fb709f3a..7ed68c34 100644
--- a/AirSim/AirLib/src/api/RpcLibServerBase.cpp
+++ b/AirSim/AirLib/src/api/RpcLibServerBase.cpp
@@ -49,7 +49,7 @@ struct RpcLibServerBase::impl {
     ~impl() {
     }
 
-    void stop() {        
+    void stop() {
         server.close_sessions();
         if (!is_async_) {
             // this deadlocks UI thread if async_run was called while there are pending rpc calls.
@@ -92,20 +92,20 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
      pimpl_->server.bind("getSettingsString", [&]() -> std::string {
         return getWorldSimApi()->getSettingsString();
     });
-       
-    pimpl_->server.bind("simPause", [&](bool is_paused) -> void { 
-        getWorldSimApi()->pause(is_paused); 
+
+    pimpl_->server.bind("simPause", [&](bool is_paused) -> void {
+        getWorldSimApi()->pause(is_paused);
     });
-    pimpl_->server.bind("simIsPaused", [&]() -> bool { 
-        return getWorldSimApi()->isPaused(); 
+    pimpl_->server.bind("simIsPaused", [&]() -> bool {
+        return getWorldSimApi()->isPaused();
     });
-    pimpl_->server.bind("simContinueForTime", [&](double seconds) -> void { 
-        getWorldSimApi()->continueForTime(seconds); 
+    pimpl_->server.bind("simContinueForTime", [&](double seconds) -> void {
+        getWorldSimApi()->continueForTime(seconds);
     });
 
-    pimpl_->server.bind("simSetTimeOfDay", [&](bool is_enabled, const string& start_datetime, bool is_start_datetime_dst, 
+    pimpl_->server.bind("simSetTimeOfDay", [&](bool is_enabled, const string& start_datetime, bool is_start_datetime_dst,
         float celestial_clock_speed, float update_interval_secs, bool move_sun) -> void {
-        getWorldSimApi()->setTimeOfDay(is_enabled, start_datetime, is_start_datetime_dst, 
+        getWorldSimApi()->setTimeOfDay(is_enabled, start_datetime, is_start_datetime_dst,
             celestial_clock_speed, update_interval_secs, move_sun);
     });
 
@@ -116,13 +116,13 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         getWorldSimApi()->setWeatherParameter(param, val);
     });
 
-    pimpl_->server.bind("enableApiControl", [&](bool is_enabled, const std::string& vehicle_name) -> void { 
+    pimpl_->server.bind("enableApiControl", [&](bool is_enabled, const std::string& vehicle_name) -> void {
         getVehicleApi(vehicle_name)->enableApiControl(is_enabled);
     });
-    pimpl_->server.bind("isApiControlEnabled", [&](const std::string& vehicle_name) -> bool { 
+    pimpl_->server.bind("isApiControlEnabled", [&](const std::string& vehicle_name) -> bool {
         return getVehicleApi(vehicle_name)->isApiControlEnabled();
     });
-    pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdapatorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name) -> 
+    pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdapatorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name) ->
         vector<RpcLibAdapatorsBase::ImageResponse> {
             const auto& response = getVehicleSimApi(vehicle_name)->getImages(RpcLibAdapatorsBase::ImageRequest::to(request_adapter));
             return RpcLibAdapatorsBase::ImageResponse::from(response);
@@ -150,6 +150,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::Pose(pose);
     });
 
+    pimpl_->server.bind("simSetVehicleLinearVelocity", [&](const RpcLibAdapatorsBase::Vector3r& velocity, const std::string& vehicle_name) -> void {
+        getVehicleSimApi(vehicle_name)->setLinearVelocity(velocity.to());
+    });
+
     pimpl_->server.bind("simSetTraceLine", [&](const std::vector<float>& color_rgba, float thickness, const std::string& vehicle_name) -> void {
         getVehicleSimApi(vehicle_name)->setTraceLine(color_rgba, thickness);
     });
@@ -166,7 +170,7 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
     pimpl_->server.
         bind("simGetSegmentationObjectID", [&](const std::string& mesh_name) -> int {
         return getWorldSimApi()->getSegmentationObjectID(mesh_name);
-    });    
+    });
 
     pimpl_->server.bind("reset", [&]() -> void {
         //Exit if already resetting.
@@ -184,6 +188,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         resetInProgress = false;
     });
 
+    pimpl_->server.bind("simResetToPose", [&](const RpcLibAdapatorsBase::Pose& pose, const std::string& vehicle_name) -> void {
+        getWorldSimApi()->resetToPose(pose.to(), vehicle_name);
+    });
+
     pimpl_->server.bind("simPrintLogMessage", [&](const std::string& message, const std::string& message_param, unsigned char severity) -> void {
         getWorldSimApi()->printLogMessage(message, message_param, severity);
     });
@@ -223,7 +231,7 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::CameraInfo(camera_info);
     });
 
-    pimpl_->server.bind("simSetCameraOrientation", [&](const std::string& camera_name, const RpcLibAdapatorsBase::Quaternionr& orientation, 
+    pimpl_->server.bind("simSetCameraOrientation", [&](const std::string& camera_name, const RpcLibAdapatorsBase::Quaternionr& orientation,
         const std::string& vehicle_name) -> void {
         getVehicleSimApi(vehicle_name)->setCameraOrientation(camera_name, orientation.to());
     });
@@ -234,7 +242,7 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
     });
 
     pimpl_->server.bind("simGetCollisionInfo", [&](const std::string& vehicle_name) -> RpcLibAdapatorsBase::CollisionInfo {
-        const auto& collision_info = getVehicleSimApi(vehicle_name)->getCollisionInfo(); 
+        const auto& collision_info = getVehicleSimApi(vehicle_name)->getCollisionInfo();
         return RpcLibAdapatorsBase::CollisionInfo(collision_info);
     });
 
@@ -243,7 +251,7 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
     });
 
     pimpl_->server.bind("simGetObjectPose", [&](const std::string& object_name) -> RpcLibAdapatorsBase::Pose {
-        const auto& pose = getWorldSimApi()->getObjectPose(object_name); 
+        const auto& pose = getWorldSimApi()->getObjectPose(object_name);
         return RpcLibAdapatorsBase::Pose(pose);
     });
     pimpl_->server.bind("simSetObjectPose", [&](const std::string& object_name, const RpcLibAdapatorsBase::Pose& pose, bool teleport) -> bool {
diff --git a/UE4Project/Content/customMap.umap b/UE4Project/Content/customMap.umap
old mode 100755
new mode 100644
index 06be086d..1de1d7d0
Binary files a/UE4Project/Content/customMap.umap and b/UE4Project/Content/customMap.umap differ
diff --git a/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.cpp b/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.cpp
index 3b8da023..26cfc5bb 100644
--- a/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.cpp
+++ b/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.cpp
@@ -34,6 +34,10 @@ CoordFrameTransformer::Vector3r CoordFrameTransformer::toLocalEnuVelocity(const
 {
     return CoordFrameTransformer::toVector3r(velocity, 1 / world_to_meters_);
 }
+FVector CoordFrameTransformer::fromLocalEnuVelocity(const Vector3r& velocity) const
+{
+    return CoordFrameTransformer::toFVector(velocity, world_to_meters_);
+}
 CoordFrameTransformer::Vector3r CoordFrameTransformer::toGlobalEnu(const FVector& position) const
 {
     return CoordFrameTransformer::toVector3r(position - global_transform_.GetLocation(), 1 / world_to_meters_);
diff --git a/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.h b/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.h
index 90880164..de24ae9a 100644
--- a/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.h
+++ b/UE4Project/Plugins/AirSim/Source/CoordFrameTransformer.h
@@ -29,6 +29,7 @@ class AIRSIM_API CoordFrameTransformer
     //UU -> local ENU
     Vector3r toLocalEnu(const FVector& position) const;
     Vector3r toLocalEnuVelocity(const FVector& velocity) const;
+    FVector fromLocalEnuVelocity(const Vector3r& velocity) const;
     Vector3r toGlobalEnu(const FVector& position) const;
     Quaternionr toEnu(const FQuat& q) const;
     float toEnu(float length) const;
diff --git a/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
index 9005bbea..cf2d6ee8 100644
--- a/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
+++ b/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -53,7 +53,7 @@ void ASimModeBase::BeginPlay()
     //this must be done from within actor otherwise we don't get player start
     APlayerController* player_controller = this->GetWorld()->GetFirstPlayerController();
     FTransform player_start_transform = player_controller->GetViewTarget()->GetActorTransform();
-    global_ned_transform_.reset(new CoordFrameTransformer(player_start_transform, 
+    global_ned_transform_.reset(new CoordFrameTransformer(player_start_transform,
         UAirBlueprintLib::GetWorldToMetersScale(this)));
 
     world_sim_api_.reset(new WorldSimApi(this));
@@ -62,7 +62,7 @@ void ASimModeBase::BeginPlay()
     setupClockSpeed();
 
     setStencilIDs();
-    
+
     record_tick_count = 0;
     setupInputBindings();
 
@@ -109,7 +109,7 @@ void ASimModeBase::setStencilIDs()
 
     if (getSettings().segmentation_setting.init_method ==
         AirSimSettings::SegmentationSetting::InitMethodType::CommonObjectsRandomIDs) {
-     
+
         UAirBlueprintLib::InitializeMeshStencilIDs(!getSettings().segmentation_setting.override_existing);
     }
     //else don't init
@@ -152,7 +152,7 @@ void ASimModeBase::initializeTimeOfDay()
         UObject* sun_obj = sun_prop->GetObjectPropertyValue_InContainer(sky_sphere_);
         sun_ = Cast<ADirectionalLight>(sun_obj);
         if (sun_)
-            default_sun_rotation_ = sun_->GetActorRotation(); 
+            default_sun_rotation_ = sun_->GetActorRotation();
     }
 }
 
@@ -160,7 +160,7 @@ void ASimModeBase::setTimeOfDay(bool is_enabled, const std::string& start_dateti
     float celestial_clock_speed, float update_interval_secs, bool move_sun)
 {
     bool enabled_currently = tod_enabled_;
-    
+
     if (is_enabled) {
 
         if (!sun_) {
@@ -170,7 +170,7 @@ void ASimModeBase::setTimeOfDay(bool is_enabled, const std::string& start_dateti
         else {
             sun_->GetRootComponent()->Mobility = EComponentMobility::Movable;
 
-            // this is a bit odd but given how advanceTimeOfDay() works currently, 
+            // this is a bit odd but given how advanceTimeOfDay() works currently,
             // tod_sim_clock_start_ needs to be reset here.
             tod_sim_clock_start_ = ClockFactory::get()->nowNanos();
 
@@ -256,8 +256,8 @@ void ASimModeBase::showClockStats()
 {
     float clock_speed = getSettings().clock_speed;
     if (clock_speed != 1) {
-        UAirBlueprintLib::LogMessageString("ClockSpeed config, actual: ", 
-            Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()), 
+        UAirBlueprintLib::LogMessageString("ClockSpeed config, actual: ",
+            Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()),
             LogDebugLevel::Informational);
     }
 }
@@ -306,6 +306,11 @@ void ASimModeBase::reset()
     }, true);
 }
 
+void ASimModeBase::resetToPose(const msr::airlib::Pose& pose, const std::string& vehicle_name)
+{
+    getVehicleSimApi(vehicle_name)->resetToPose(pose);
+}
+
 void ASimModeBase::setupInputBindings()
 {
     UAirBlueprintLib::EnableInput(this);
@@ -332,13 +337,13 @@ void ASimModeBase::initializeCameraDirector(const FTransform& camera_transform,
         FActorSpawnParameters camera_spawn_params;
         camera_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
         camera_spawn_params.Name = "CameraDirector";
-        CameraDirector = this->GetWorld()->SpawnActor<ACameraDirector>(camera_director_class_, 
+        CameraDirector = this->GetWorld()->SpawnActor<ACameraDirector>(camera_director_class_,
             camera_transform, camera_spawn_params);
         CameraDirector->setFollowDistance(follow_distance);
         CameraDirector->setCameraRotationLagEnabled(false);
         //create external camera required for the director
         camera_spawn_params.Name = "ExternalCamera";
-        CameraDirector->ExternalCamera = this->GetWorld()->SpawnActor<APIPCamera>(external_camera_class_, 
+        CameraDirector->ExternalCamera = this->GetWorld()->SpawnActor<APIPCamera>(external_camera_class_,
             camera_transform, camera_spawn_params);
     }
     else {
@@ -400,9 +405,9 @@ void ASimModeBase::setupVehiclesAndCamera()
 
     //determine camera director camera default pose and spawn it
     const auto& camera_director_setting = getSettings().camera_director;
-    FVector camera_director_position_uu = uu_origin.GetLocation() + 
+    FVector camera_director_position_uu = uu_origin.GetLocation() +
         getGlobalNedTransform().fromLocalEnu(camera_director_setting.position);
-    FTransform camera_transform(toFRotator(camera_director_setting.rotation, FRotator::ZeroRotator), 
+    FTransform camera_transform(toFRotator(camera_director_setting.rotation, FRotator::ZeroRotator),
         camera_director_position_uu);
     initializeCameraDirector(camera_transform, camera_director_setting.follow_distance);
 
@@ -459,7 +464,7 @@ void ASimModeBase::setupVehiclesAndCamera()
             const std::string vehicle_name = std::string(TCHAR_TO_UTF8(*(vehicle_pawn->GetName())));
 
             CarPawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(),
-                getVehiclePawnEvents(vehicle_pawn), getVehiclePawnCameras(vehicle_pawn), pip_camera_class, 
+                getVehiclePawnEvents(vehicle_pawn), getVehiclePawnCameras(vehicle_pawn), pip_camera_class,
                 home_geopoint, vehicle_name);
 
             auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params);
@@ -543,7 +548,7 @@ void ASimModeBase::drawLidarDebugPoints()
 
         msr::airlib::VehicleApiBase* api = getApiProvider()->getVehicleApi(vehicle_name);
         if (api != nullptr) {
-            
+
             msr::airlib::uint count_lidars = api->getSensors().size(msr::airlib::SensorBase::SensorType::Lidar);
 
             for (msr::airlib::uint i = 0; i < count_lidars; i++) {
diff --git a/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.h b/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.h
index 3579f041..bc4104dc 100644
--- a/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.h
+++ b/UE4Project/Plugins/AirSim/Source/SimMode/SimModeBase.h
@@ -31,14 +31,14 @@ class AIRSIM_API ASimModeBase : public AActor
 
     UFUNCTION(BlueprintCallable, Category = "Api")
     void startApiServer();
-    
+
     UFUNCTION(BlueprintCallable, Category = "Api")
     void stopApiServer();
 
     UFUNCTION(BlueprintCallable, Category = "Api")
     bool isApiServerStarted();
 
-public:	
+public:
     // Sets default values for this actor's properties
     ASimModeBase();
     virtual void BeginPlay() override;
@@ -47,6 +47,7 @@ class AIRSIM_API ASimModeBase : public AActor
 
     //additional overridable methods
     virtual void reset();
+    virtual void resetToPose(const msr::airlib::Pose& pose, const std::string& vehicle_name = "");
     virtual ECameraDirectorMode getInitialViewMode() const;
 
     virtual bool isPaused() const;
diff --git a/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp b/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp
index 45e3b5c4..6db36d17 100644
--- a/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp
+++ b/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -185,6 +185,24 @@ void CarPawnSimApi::resetImplementation()
     resetPawn();
 }
 
+void CarPawnSimApi::resetToPose(const Pose& pose)
+{
+    setPoseInternal(pose, true);
+    kinematics_->reset();
+    resetPawn();
+}
+
+void CarPawnSimApi::setLinearVelocity(const msr::airlib::Vector3r& velocity)
+{
+    FVector velocity_uu = ned_transform_.fromLocalEnuVelocity(velocity);
+    auto phys_comps = UAirBlueprintLib::getPhysicsComponents(pawn_);
+    UAirBlueprintLib::RunCommandOnGameThread([velocity_uu, &phys_comps]() {
+        for (auto* phys_comp : phys_comps) {
+            phys_comp->SetPhysicsLinearVelocity(velocity_uu, false, NAME_None);
+        }
+    }, true);
+}
+
 //physics tick
 void CarPawnSimApi::update()
 {
@@ -206,7 +224,7 @@ void CarPawnSimApi::setStartPosition(const FVector& position, const FRotator& ro
 
     //compute our home point
     Vector3r nedWrtOrigin = ned_transform_.toGlobalEnu(initial_state_.start_location);
-    home_geo_point_ = msr::airlib::EarthUtils::nedToGeodetic(nedWrtOrigin, 
+    home_geo_point_ = msr::airlib::EarthUtils::nedToGeodetic(nedWrtOrigin,
         AirSimSettings::singleton().origin_geopoint);
 }
 
@@ -284,7 +302,7 @@ void CarPawnSimApi::createCamerasFromSettings()
     }
 }
 
-void CarPawnSimApi::onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, 
+void CarPawnSimApi::onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp,
     bool bSelfMoved, FVector HitLocation, FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit)
 {
     // Deflect along the surface when we collide.
@@ -305,8 +323,8 @@ void CarPawnSimApi::onCollision(class UPrimitiveComponent* MyComp, class AActor*
     ++state_.collision_info.collision_count;
 
 
-    UAirBlueprintLib::LogMessageString("Collision", Utils::stringf("#%d with %s - ObjID %d", 
-        state_.collision_info.collision_count, 
+    UAirBlueprintLib::LogMessageString("Collision", Utils::stringf("#%d with %s - ObjID %d",
+        state_.collision_info.collision_count,
         state_.collision_info.object_name.c_str(), state_.collision_info.object_id),
         LogDebugLevel::Informational);
 }
@@ -380,7 +398,7 @@ msr::airlib::RCData CarPawnSimApi::getRCData() const
         rc_data_.switches = joystick_state_.buttons;
         rc_data_.vendor_id = joystick_state_.pid_vid.substr(0, joystick_state_.pid_vid.find('&'));
 
-        
+
         //switch index 0 to 7 for FrSky Taranis RC is:
         //front-upper-left, front-upper-right, top-right-left, top-right-left, top-left-right, top-right-right, top-left-left, top-right-left
 
@@ -443,7 +461,7 @@ void CarPawnSimApi::toggleTrace()
 
     if (!state_.tracing_enabled)
         UKismetSystemLibrary::FlushPersistentDebugLines(params_.pawn->GetWorld());
-    else {     
+    else {
         state_.debug_position_offset = state_.current_debug_position - state_.current_position;
         state_.last_debug_position = state_.last_position;
     }
@@ -591,7 +609,7 @@ void CarPawnSimApi::updateKinematics(float dt)
     kinematics_->update();
 }
 
-float computeAngleChange(float prev_rotation_angle_rad, float new_rotation_angle_rad) 
+float computeAngleChange(float prev_rotation_angle_rad, float new_rotation_angle_rad)
 {
     return new_rotation_angle_rad + (new_rotation_angle_rad > prev_rotation_angle_rad ? 0.0f : 2.0f * M_PI) - prev_rotation_angle_rad;
 }
@@ -608,7 +626,7 @@ void CarPawnSimApi::updateWheelStates()
 
     // at very low velocities the angular velocity becomes very unstable,
     // so a higher smoothing factor is needed to obtain a usable estimate
-    float higher_smoothing_factor_rpm_threshold = 80; 
+    float higher_smoothing_factor_rpm_threshold = 80;
     float avg_rear_wheel_rpm = (wheel_states_->rr.rpm + wheel_states_->rl.rpm) / 2;
     float rpm_smoothing_coeff = 0.7;
     if (avg_rear_wheel_rpm < higher_smoothing_factor_rpm_threshold) {
diff --git a/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.h b/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.h
index 48857800..898d2d9d 100644
--- a/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.h
+++ b/UE4Project/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.h
@@ -44,7 +44,7 @@ class CarPawnSimApi : public msr::airlib::VehicleSimApiBase
     typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
     struct Params {
-        APawn* pawn; 
+        APawn* pawn;
         const CoordFrameTransformer* global_transform;
         PawnEvents* pawn_events;
         common_utils::UniqueValueMap<std::string, APIPCamera*> cameras;
@@ -61,7 +61,7 @@ class CarPawnSimApi : public msr::airlib::VehicleSimApiBase
             const msr::airlib::GeoPoint home_geopoint_val,
             std::string vehicle_name_val)
         {
-            pawn = pawn_val; 
+            pawn = pawn_val;
             global_transform = global_transform_val;
             pawn_events = pawn_events_val;
             cameras = cameras_val;
@@ -100,6 +100,8 @@ class CarPawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type) const override;
     virtual Pose getPose() const override;
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
+    virtual void resetToPose(const Pose& pose) override;
+    virtual void setLinearVelocity(const msr::airlib::Vector3r& velocity) override;
 
     virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name) const override;
     const APIPCamera* getCamera(const std::string& camera_name) const;
@@ -202,7 +204,7 @@ class CarPawnSimApi : public msr::airlib::VehicleSimApiBase
         FVector last_debug_position;
         FVector current_position;
         FVector current_debug_position;
-        FVector debug_position_offset;        
+        FVector debug_position_offset;
         bool tracing_enabled;
         bool collisions_enabled;
         bool passthrough_enabled;
@@ -214,7 +216,7 @@ class CarPawnSimApi : public msr::airlib::VehicleSimApiBase
         FVector ground_offset;
         FVector transformation_offset;
     };
-    
+
     State state_, initial_state_;
 
     std::unique_ptr<msr::airlib::Kinematics> kinematics_;
diff --git a/UE4Project/Plugins/AirSim/Source/WorldSimApi.cpp b/UE4Project/Plugins/AirSim/Source/WorldSimApi.cpp
index 44b1354a..6b8fba1c 100644
--- a/UE4Project/Plugins/AirSim/Source/WorldSimApi.cpp
+++ b/UE4Project/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -19,10 +19,17 @@ bool WorldSimApi::isPaused() const
 void WorldSimApi::reset()
 {
     UAirBlueprintLib::RunCommandOnGameThread([this]() {
-        simmode_->reset(); 
+        simmode_->reset();
         }, true);
 }
 
+void WorldSimApi::resetToPose(const Pose& pose, const std::string& vehicle_name)
+{
+    UAirBlueprintLib::RunCommandOnGameThread([this, pose, vehicle_name]() {
+        simmode_->resetToPose(pose, vehicle_name);
+    }, true);
+}
+
 void WorldSimApi::pause(bool is_paused)
 {
     simmode_->pause(is_paused);
@@ -101,7 +108,7 @@ bool WorldSimApi::setObjectPose(const std::string& object_name, const WorldSimAp
         FTransform actor_transform = simmode_->getGlobalNedTransform().fromGlobalEnu(pose);
         AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
         if (actor) {
-            if (teleport) 
+            if (teleport)
                 result = actor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), false, nullptr, ETeleportType::TeleportPhysics);
             else
                 result = actor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), true);
@@ -153,7 +160,7 @@ std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::s
 				if (invalidChoice)
 					break;
 			}
-			
+
 			if (invalidChoice)
 				continue;
 			dynamic_cast<ATextureShuffleActor*>(shuffler)->SwapTexture(tex_id, component_id, material_id);
diff --git a/UE4Project/Plugins/AirSim/Source/WorldSimApi.h b/UE4Project/Plugins/AirSim/Source/WorldSimApi.h
index a6777af1..d7ef2314 100644
--- a/UE4Project/Plugins/AirSim/Source/WorldSimApi.h
+++ b/UE4Project/Plugins/AirSim/Source/WorldSimApi.h
@@ -18,6 +18,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
 
     virtual bool isPaused() const override;
     virtual void reset() override;
+    virtual void resetToPose(const Pose& pose, const std::string& vehicle_name = "") override;
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
 
diff --git a/python/.gitignore b/python/.gitignore
new file mode 100644
index 00000000..8c4c7c7f
--- /dev/null
+++ b/python/.gitignore
@@ -0,0 +1,216 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#   Usually these files are written by a python script from a template
+#   before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+# Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+# uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+# poetry.lock
+# poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+# pdm.lock
+# pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+# pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# Redis
+*.rdb
+*.aof
+*.pid
+
+# RabbitMQ
+mnesia/
+rabbitmq/
+rabbitmq-data/
+
+# ActiveMQ
+activemq-data/
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#   JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#   be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#   and can be added to the global gitignore or merged into this file.  For a more nuclear
+#   option (not recommended) you can uncomment the following to ignore the entire idea folder.
+# .idea/
+
+# Abstra
+#   Abstra is an AI-powered process automation framework.
+#   Ignore directories containing user credentials, local state, and settings.
+#   Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#   Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
+#   that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#   and can be added to the global gitignore or merged into this file. However, if you prefer,
+#   you could uncomment the following to ignore the entire vscode folder
+# .vscode/
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Streamlit
+.streamlit/secrets.toml
diff --git a/python/pyproject.toml b/python/pyproject.toml
new file mode 100644
index 00000000..185a8f94
--- /dev/null
+++ b/python/pyproject.toml
@@ -0,0 +1,28 @@
+[project]
+name = "fsds"
+version = "0.1.0"
+description = "Python client for the Formula Student Driverless Simulator (FSDS)"
+readme = { file = "README.md", content-type = "text/markdown" }
+requires-python = ">=3.12"
+license = { text = "GPL-2.0-or-later" }
+authors = [
+  { name = "Formula Student Driverless Simulator Contributors" }
+]
+dependencies = [
+  "msgpack-rpc-python @ git+https://github.com/vctr-dng/msgpack-rpc-python.git@fsds-python-pkg",
+  "backports.ssl_match_hostname", # required for msgpack-rpc-python
+  "numpy",
+  "opencv-contrib-python",
+]
+
+[project.urls]
+Homepage = "https://github.com/vctr-dng/Formula-Student-Driverless-Simulator"
+Repository = "https://github.com/vctr-dng/Formula-Student-Driverless-Simulator"
+
+[build-system]
+requires = ["uv_build >= 0.9.21, <0.10.0"]
+build-backend = "uv_build"
+
+[tool.uv.build-backend]
+module-name = "fsds"
+module-root = ""