habitat_sim.registry class

registry is a central source of truth in Habitat-Sim

Taken from Pythia, it is inspired from Redux’s concept of global store. registry maintains mappings of various information to unique keys. Special functions in registry can be used as decorators to register different kind of classes.

Import the global registry object using from habitat_sim import registry. Then use various decorators for registering different kind of classes with unique keys

Class methods

def get_move_fn(name: str): Retrieve the move_fn register under name
def get_noise_model(name: str): Retrieve the noise_model registered under name
def get_pose_extractor(name: str): Retrieve the pose_extractor registered under name
def register_move_fn(controller: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None, body_action: typing.Optional[bool] = None): Registers a new control with Habitat-Sim. Registered controls can then be retrieved via get_move_fn()
def register_noise_model(noise_model: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None): Registers a new sensor noise model with Habitat-Sim
def register_pose_extractor(pose_extractor: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None): Registers a new pose extractor model with Habitat-Sim

Method documentation

def habitat_sim.registry.get_move_fn(name: str) classmethod

Retrieve the move_fn register under name

Parameters
name	The name provided to register_move_fn

def habitat_sim.registry.get_noise_model(name: str) classmethod

Retrieve the noise_model registered under name

Parameters
name	The name provided to register_noise_model

def habitat_sim.registry.get_pose_extractor(name: str) classmethod

Retrieve the pose_extractor registered under name

Parameters
name	The name provided to register_pose_extractor

def habitat_sim.registry.register_move_fn(controller: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None, body_action: typing.Optional[bool] = None) classmethod

Registers a new control with Habitat-Sim. Registered controls can then be retrieved via get_move_fn()

See new-actions for an example of how to add new actions outside the core habitat_sim package.

param controller:: The class of the controller to register. Must inherit from agent.SceneNodeControl. If None, will return a wrapper for use with decorator syntax.
param name:: The name to register the control with. If None, will register with the name of the controller converted to snake case, i.e. a controller with class name MoveForward will be registered as move_forward.
param body_action:: Whether or not this action manipulates the agent's body (thereby also moving the sensors) or manipulates just the sensors. This is a non-optional keyword arguement and must be set (this is done for readability).

def habitat_sim.registry.register_noise_model(noise_model: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None) classmethod

Registers a new sensor noise model with Habitat-Sim

Parameters
noise_model	The class of the noise model to register If None, will return a wrapper for use with decorator syntax
name	The name to register the noise model with If None, will register with the name of the noise_model

def habitat_sim.registry.register_pose_extractor(pose_extractor: typing.Optional[typing.Type] = None, *, name: typing.Optional[str] = None) classmethod

Registers a new pose extractor model with Habitat-Sim

Parameters
pose_extractor	The class of the pose extractor to register If None, will return a wrapper for use with decorator syntax
name	The name to register the noise model with If None, will register with the name of the pose_extractor