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
    • class CapsulePrimitiveAttributes
    • class ConePrimitiveAttributes
    • class CubePrimitiveAttributes
    • class CylinderPrimitiveAttributes
    • class IcospherePrimitiveAttributes
    • class ObjectAttributes
    • class PhysicsManagerAttributes
    • class StageAttributes
    • class UVSpherePrimitiveAttributes
  • module attributes_managers
    • class AssetAttributesManager
    • class ObjectAttributesManager
    • class PhysicsAttributesManager
    • class StageAttributesManager
  • module metadata
    • class MetadataMediator
  • module nav
    • class GreedyGeodesicFollower Planner that greedily fits actions to follow the geodesic shortest path.
    • class GreedyGeodesicFollowerImpl
    • class MultiGoalShortestPath
    • class NavMeshSettings
    • class PathFinder
    • class ShortestPath
    • class HitRecord
    • 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
  • 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 robots
    • class RobotInterface Generic robot interface defines standard API functions.
    • class MobileManipulatorParams Data to configure a mobile manipulator. :property arm_joints: The joint ids of the arm joints. :property gripper_joints: The habitat sim joint ids of any grippers. :property wheel_joints: The joint ids of the wheels. If the wheels are not controlled, then this should be None
    • class MobileManipulator Robot with a controllable base and arm.
    • class FetchRobot
    • class FetchRobotNoWheels
    • class RobotCameraParams
  • class MapStringString
  • class registry registry is a central source of truth in Habitat-Sim