habitat_sim.sim.SimulatorBackend class

Methods

def add_gradient_trajectory_object(self, traj_vis_name: str, points: typing.List[magnum.Vector3], colors: typing.List[magnum.Color3], num_segments: int = 3, radius: float = 0.001, smooth: bool = False, num_interpolations: int = 10) -> int
def add_trajectory_object(self, traj_vis_name: str, points: typing.List[magnum.Vector3], num_segments: int = 3, radius: float = 0.001, color: magnum.Color4 = Vector(0.9, 0.1, 0.1, 1), smooth: bool = False, num_interpolations: int = 10) -> int: Build a tube visualization around the passed trajectory of points. points : (list of 3-tuples of floats) key point locations to use to create trajectory tube. num_segments : (Integer) the number of segments around the tube to be used to make the visualization. radius : (Float) the radius of the resultant tube. color : (4-tuple of float) the color of the trajectory tube. smooth : (Bool) whether or not to smooth trajectory using a Catmull-Rom spline interpolating spline. num_interpolations : (Integer) the number of interpolation points to find between successive key points.
def build_semantic_CC_objects(self, /) -> typing.Dict[int, typing.List[habitat_sim._ext.habitat_sim_bindings.CCSemanticObject]]: Get a dictionary of the current semantic scene’s connected components keyed by color or id, where each value is a list of Semantic Objects corresponding to an individual connected component.
def build_vertex_color_map_report(self, /) -> typing.List[str]: Get a list of strings describing first each color found on vertices in the semantic mesh that is not present in the loaded semantic scene descriptor file, and then a list of each semantic object whose specified color is not found on any vertex in the mesh.
def cast_ray(self, ray: geo.Ray, max_distance: float = 100.0, buffer_distance: float = 0.08) -> physics.RaycastResults: Cast a ray into the collidable scene and return hit results. Physics must be enabled. max_distance in units of ray length.
def close(self, destroy: bool = True) -> None: Free all loaded assets and GPU contexts. Use destroy=true except where noted in tutorials/async_rendering.py.
def create_rigid_constraint(self, settings: physics.RigidConstraintSettings) -> int: Create a rigid constraint between two objects or an object and the world from a RigidConstraintsSettings.
def get_active_scene_graph(self, /) -> scene.SceneGraph: PYTHON DOES NOT GET OWNERSHIP
def get_active_semantic_scene_graph(self, /) -> scene.SceneGraph: PYTHON DOES NOT GET OWNERSHIP
def get_articulated_object_manager(self, /) -> physics.ArticulatedObjectManager: Get the manager responsible for organizing and accessing all the currently constructed articulated objects.
def get_asset_template_manager(self, /) -> attributes_managers.AssetAttributesManager: Get the current dataset’s AssetAttributesManager instance for configuring primitive asset templates.
def get_current_light_setup(self, /) -> typing.List[gfx.LightInfo]: Get a copy of the LightSetup used to create the current scene.
def get_debug_line_render(self, /) -> gfx.DebugLineRender: Get visualization helper for rendering lines.
def get_gravity(self, /) -> magnum.Vector3: Query the gravity vector for the scene.
def get_light_setup(self, key: str = '') -> typing.List[gfx.LightInfo]: Get a copy of the LightSetup registered with a specific key.
def get_lighting_template_manager(self, /) -> habitat_sim._ext.habitat_sim_bindings.LightLayoutAttributesManager: Get the current dataset’s LightLayoutAttributesManager instance for configuring light templates and layouts.
def get_object_template_manager(self, /) -> attributes_managers.ObjectAttributesManager: Get the current dataset’s ObjectAttributesManager instance for configuring object templates.
def get_physics_contact_points(self, /) -> typing.List[physics.ContactPointData]: Return a list of ContactPointData ” “objects describing the contacts from the most recent physics substep.
def get_physics_num_active_contact_points(self, /) -> int: The number of contact points that were active during the last step. An object resting on another object will involve several active contact points. Once both objects are asleep, the contact points are inactive. This count is a proxy for complexity/cost of collision-handling in the current scene.
def get_physics_num_active_overlapping_pairs(self, /) -> int: The number of active overlapping pairs during the last step. When object bounding boxes overlap and either object is active, additional “narrowphase” collision-detection must be run. This count is a proxy for complexity/cost of collision-handling in the current scene.
def get_physics_simulation_library(self, /) -> physics.PhysicsSimulationLibrary: Query the physics library implementation currently configured by this Simulator instance.
def get_physics_step_collision_summary(self, /) -> str: Get a summary of collision-processing from the last physics step.
def get_physics_template_manager(self, /) -> attributes_managers.PhysicsAttributesManager: Get the current PhysicsAttributesManager instance for configuring PhysicsManager templates.
def get_physics_time_step(self, /) -> float: Get the last used physics timestep
def get_rigid_constraint_settings(self, constraint_id: int) -> physics.RigidConstraintSettings: Get a copy of the settings for an existing rigid constraint.
def get_rigid_object_manager(self, /) -> physics.RigidObjectManager: Get the manager responsible for organizing and accessing all the currently constructed rigid objects.
def get_runtime_perf_stat_names(self, /) -> typing.List[str]: Runtime perf stats are various scalars helpful for troubleshooting runtime perf. This can be called once at startup. See also get_runtime_perf_stat_values.
def get_runtime_perf_stat_values(self, /) -> typing.List[float]: Runtime perf stats are various scalars helpful for troubleshooting runtime perf. These values generally change after every sim step. See also get_runtime_perf_stat_names.
def get_stage_initialization_template(self, /) -> attributes.StageAttributes: Get a copy of the StageAttributes template used to instance a scene’s stage or None if it does not exist.
def get_stage_is_collidable(self, /) -> bool: Get whether or not the static stage is collidable.
def get_stage_template_manager(self, /) -> attributes_managers.StageAttributesManager: Get the current dataset’s StageAttributesManager instance for configuring simulation stage templates.
def get_world_time(self, /) -> float: Query the current simulation world time.
def perform_discrete_collision_detection(self, /) -> None: Perform discrete collision detection for the scene. Physics must be enabled. Warning: may break simulation determinism.
def physics_debug_draw(self, projMat: magnum.Matrix4) -> None: Render any debugging visualizations provided by the underlying physics simulator implementation given the composed projection and transformation matrix for the render camera.
def recompute_navmesh(self, pathfinder: nav.PathFinder, navmesh_settings: nav.NavMeshSettings) -> bool: Recompute the NavMesh for a given PathFinder instance using configured NavMeshSettings.
def reconfigure(self, configuration: SimulatorConfiguration) -> None
def remove_rigid_constraint(self, constraint_id: int) -> None: Remove a rigid constraint by id.
def reset(self, /) -> None
def save_current_scene_config(self, file_name: str) -> bool: Save the current simulation world’s state as a Scene Instance Config JSON using the passed name. This can be used to reload the stage, objects, articulated objects and other values as they currently are.
def save_current_scene_config(self, overwrite: bool = False) -> bool: Save the current simulation world’s state as a Scene Instance Config JSON using the name of the loaded scene, either overwritten, if overwrite is True, or with an incrementer in the file name of the form (copy xxxx) where xxxx is a number. This can be used to reload the stage, objects, articulated objects and other values as they currently are.
def seed(self, new_seed: int) -> None
def set_gravity(self, gravity: magnum.Vector3) -> None: Set the gravity vector for the scene.
def set_light_setup(self, light_setup: typing.List[gfx.LightInfo], key: str = '') -> None: Register a LightSetup with a specific key. If a LightSetup is already registered with this key, it will be overridden. All Drawables referencing the key will use the newly registered LightSetup.
def set_stage_is_collidable(self, collidable: bool) -> None: Set whether or not the static stage is collidable.
def step_world(self, dt: float = 0.016666666666666666) -> float: Step the physics simulation by a desired timestep (dt). Note that resulting world time after step may not be exactly t+dt. Use get_world_time to query current simulation time.
def update_rigid_constraint(self, constraint_id: int, settings: physics.RigidConstraintSettings) -> None: Update the settings of a rigid constraint.

Special methods

def __init__(self, arg0: SimulatorConfiguration, arg1: metadata.MetadataMediator, /) -> None

Properties

active_dataset: str get set: The currently active dataset being used. Will attempt to load configuration files specified if does not already exist.
curr_scene_name: str get: The simplified, but unique, name of the currently loaded scene.
frustum_culling: bool get set: Enable or disable the frustum culling
gfx_replay_manager: habitat_sim._ext.habitat_sim_bindings.ReplayManager get: Use gfx_replay_manager for replay recording and playback.
gpu_device: int get
metadata_mediator: metadata.MetadataMediator get set: This construct manages all configuration template managers and the Scene Dataset Configurations
navmesh_visualization: bool get set: Enable or disable wireframe visualization of current pathfinder’s NavMesh.
pathfinder: nav.PathFinder get set
random: habitat_sim._ext.habitat_sim_bindings.Random get
renderer: gfx.Renderer get
scene_aabb: magnum.Range3D get: Get the axis-aligned bounding box (AABB) of the scene in global space.
semantic_color_map get: The list of semantic colors being used for semantic rendering. The index in the list corresponds to the semantic ID.
semantic_scene: scene.SemanticScene get: The semantic scene graph

Property documentation

habitat_sim.sim.SimulatorBackend.semantic_scene: scene.SemanticScene get

The semantic scene graph