habitat_sim.utils.settings module

def habitat_sim.utils.settings.make_cfg(settings: typing.Dict[str, typing.Any])

Isolates the boilerplate code to create a habitat_sim.Configuration from a settings dictionary.

Allows configuration of dataset and scene, visual sensor parameters, and basic agent parameters.

Optionally creates up to one of each of a variety of aligned visual sensors under Agent 0.

The output can be passed directly into habitat_sim.simulator.Simulator constructor or reconfigure to initialize a Simulator instance.

habitat_sim.utils.settings.default_sim_settings: typing.Dict[str, typing.Any]

Quickstart settings dictionary. Can be passed directly to settings.make_cfg() to create a default Configuration for an empty scene. Edit to customize the simulator.

default_sim_settings: Dict[str, Any] = {
    # path to .scene_dataset.json file
    "scene_dataset_config_file": "default",
    # name of an existing scene in the dataset, a scene, stage, or asset filepath, or "NONE" for an empty scene
    "scene": "NONE",
    # camera sensor parameters
    "width": 640,
    "height": 480,
    # horizontal field of view in degrees
    "hfov": 90,
    # far clipping plane
    "zfar": 1000.0,
    # optional background color override for rgb sensors
    "clear_color": BLACK,
    # vertical offset of the camera from the agent's root position (e.g. height of eyes)
    "sensor_height": 1.5,
    # defaul agent ix
    "default_agent": 0,
    # radius of the agent cylinder approximation for navmesh
    "agent_radius": 0.1,
    # pick sensors to use
    "color_sensor": True,
    "semantic_sensor": False,
    "depth_sensor": False,
    "ortho_rgba_sensor": False,
    "ortho_depth_sensor": False,
    "ortho_semantic_sensor": False,
    "fisheye_rgba_sensor": False,
    "fisheye_depth_sensor": False,
    "fisheye_semantic_sensor": False,
    "equirect_rgba_sensor": False,
    "equirect_depth_sensor": False,
    "equirect_semantic_sensor": False,
    # random seed
    "seed": 1,
    # path to .physics_config.json file
    "physics_config_file": "data/default.physics_config.json",
    # use bullet physics for dyanimcs or not - make default value whether or not
    # Simulator was built with bullet enabled
    "enable_physics": built_with_bullet,
    # ensure or create compatible navmesh for agent paramters
    "default_agent_navmesh": True,
    # if configuring a navmesh, should STATIC MotionType objects be included
    "navmesh_include_static_objects": False,
    # Enable horizon-based ambient occlusion, which provides soft shadows in corners and crevices.
    "enable_hbao": False,
}