Classes
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module habitat_sim
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module agent
- class ActionSpec Defines how a specific action is implemented
- class SixDOFPose Specifies a position with 6 degrees of freedom
- class AgentState
- class AgentConfiguration
- class Agent Implements an agent with multiple sensors
- class ActuationSpec Struct to hold parameters for the default actions
- class ObjectControls Used to implement actions
- class SceneNodeControl Base class for all controls
- class PyRobotNoisyActuationSpec Struct to hold parameters for pyrobot noise model
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module attributes Attributes objects store metadata relevant to a specific type of simulation objects for programmatic manipulation and instantiation (e.g. a blueprint).
- class CapsulePrimitiveAttributes Parameters for constructing a primitive capsule mesh shape.
- class ConePrimitiveAttributes Parameters for constructing a primitive cone mesh shape.
- class CubePrimitiveAttributes Parameters for constructing a primitive cube mesh shape.
- class CylinderPrimitiveAttributes Parameters for constructing a primitive capsule mesh shape.
- class IcospherePrimitiveAttributes Parameters for constructing a primitive icosphere mesh shape.
- class ObjectAttributes A metadata template for rigid objects pre-instantiation. Defines asset paths, physical properties, scale, semantic ids, shader type overrides, and user defined metadata. ManagedRigidObjects are instantiated from these blueprints. Can be imported from .object_config.json files.
- class PhysicsManagerAttributes A metadata template for Simulation parameters (e.g. timestep, simulation backend, default gravity direction) and defaults. Consumed to instace a Simualtor object. Can be imported from .physics_config.json files.
- class StageAttributes A metadata template for stages pre-instantiation. Defines asset paths, collision properties, gravity direction, shader type overrides, semantic asset information, and user defined metadata. Consumed to instantiate the static background of a scene (e.g. the building architecture). Can be imported from .stage_config.json files.
- class UVSpherePrimitiveAttributes Parameters for constructing a primitive uvsphere mesh shape.
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module attributes_managers Each AttributesManager acts as a library of Attributes objects of a specific type, governing access and supporting import from config files.
- class AssetAttributesManager Manages PrimtiveAttributes objects which define parameters for constructing primitive mesh shapes such as cubes, capsules, cylinders, and cones.
- class ObjectAttributesManager Manages ObjectAttributes which define metadata for rigid objects pre-instantiation. Can import .object_config.json files.
- class PhysicsAttributesManager Manages PhysicsManagerAttributes which define global Simulation parameters such as timestep. Can import .physics_config.json files.
- class StageAttributesManager Manages StageAttributes which define metadata for stages (i.e. static background mesh such as architectural elements) pre-instantiation. Can import .stage_config.json files.
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module metadata
- class MetadataMediator Aggregates all AttributesManagers and provides an API for swapping the active SceneDataset. It can exist independant of a
Simulator
object for programmatic metadata management and can be passed into the constructor via theSimulatorConfiguration
.
- class MetadataMediator Aggregates all AttributesManagers and provides an API for swapping the active SceneDataset. It can exist independant of a
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module nav
- class GreedyGeodesicFollower Planner that greedily fits actions to follow the geodesic shortest path.
- class GreedyGeodesicFollowerImpl
- class MultiGoalShortestPath Struct for multi-goal shortest path finding. Used in conjunction with PathFinder.findPath().
- class NavMeshSettings Configuration structure for NavMesh generation with recast. Passed to PathFinder::build to construct the NavMesh. Serialized with saved .navmesh files for later equivalency checks upon re-load.
- class PathFinder Loads and/or builds a navigation mesh and then allows point sampling, path finding, collision, and island queries on that navmesh. See PathFinder C++ API docs for more details.
- class ShortestPath Struct for shortest path finding. Used in conjunction with PathFinder.findPath().
- class HitRecord Struct for recording closest obstacle information.
- class VectorGreedyCodes
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module sensors
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module noise_models Library of Sensor noise models
- class SensorNoiseModel Base class for all sensor noise models
- class RedwoodDepthNoiseModel Redwood Noise Model for PrimSense depth cameras
- class NoSensorNoiseModel No noise noise model. Simply returns a copy of the input
- class GaussianNoiseModel
- class SaltAndPepperNoiseModel
- class PoissonNoiseModel
- class SpeckleNoiseModel
- class SensorSuite Holds all the agents sensors. Simply a dictionary with an extra method to lookup the name of a sensor as the key
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module noise_models Library of Sensor noise models
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module errors
- class GreedyFollowerError
- class InvalidAttachedObject
- module geo
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module gfx GFX library
- class Camera RenderCamera: The object of this class is a camera attached to the scene node for rendering.
- class Renderer
- class RenderTarget Render target
- class LightInfo Defines the vector, color and LightPositionModel of a single light source. For vector, use a Vector3 position and w == 1 to specify a point light with distance attenuation. Or, use a Vector3 direction and w == 0 to specify a directional light with no distance attenuation.
- class DebugLineRender
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module logging A simple Google-style logging wrapper.
- class HabitatSimFormatter
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module physics
- class ManagedRigidObject
- class ManagedBulletRigidObject
- class ManagedArticulatedObject
- class ManagedBulletArticulatedObject
- class RigidObjectManager
- class ArticulatedObjectManager
- class VelocityControl
- class RayHitInfo
- class RaycastResults
- class ContactPointData
- class CollisionGroupHelper
- class JointMotorSettings
- class RigidConstraintSettings
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module scene
- class Mp3dObjectCategory
- class Mp3dRegionCategory
- class SceneGraph
- class SceneNode SceneNode: a node in the scene graph.
- class SemanticCategory Base class for all semantic categories.
- class SemanticLevel
- class SemanticObject
- class SemanticRegion
- class SemanticScene
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module sensor
- class CameraSensor
- class CameraSensorSpec
- class CubeMapSensorBase
- class CubeMapSensorBaseSpec
- class EquirectangularSensor
- class EquirectangularSensorSpec
- class FisheyeSensor
- class FisheyeSensorDoubleSphereSpec
- class FisheyeSensorSpec
- class Observation
- class Sensor
- class SensorFactory
- class SensorSpec
- class VisualSensor
- class VisualSensorSpec
- class AudioSensorSpec
- class AudioSensor
- class RLRAudioPropagationChannelLayout
- class RLRAudioPropagationConfiguration
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module sim
- class SimulatorBackend
- class SimulatorConfiguration
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module simulator
- class Configuration Specifies how to configure the simulator.
- class Sensor Wrapper around habitat_sim.Sensor
- class Simulator The core class of habitat-sim
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module utils
- module common
- module viz_utils
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module validators
- class NoAttrValidationContext Ensures validators are not run within this context. Useful for function where we generate an attr validated object.
- module settings
- class MapStringString
- class registry registry is a central source of truth in Habitat-Sim
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module agent