Classes

• module habitat_sim
  • 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
  • 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.
  • 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.
  • 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 the SimulatorConfiguration.
  • 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
  • module sensors
    • 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
  • module errors
    • class GreedyFollowerError
    • class InvalidAttachedObject
  • module geo
    • class BBox
    • class OBB
    • class Ray
  • 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
  • module logging A simple Google-style logging wrapper.
    • class HabitatSimFormatter
  • 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
  • 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
  • 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
  • module sim
    • class SimulatorBackend
    • class SimulatorConfiguration
  • 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
  • module utils
    • module common
    • module viz_utils
    • 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