Backend

A dump of the docs for all the backend classes

habitat_sim.bindings.SimulatorBackend

alias of habitat_sim._ext.habitat_sim_bindings.Simulator

class habitat_sim.bindings.ActionSpacePathLocation
property position
property rotation
class habitat_sim.bindings.ActionSpaceShortestPath
property actions
property geodesic_distance
property points
property requested_end
property requested_start
property rotations
class habitat_sim.bindings.AttachedObject

AttachedObject: An object that is attached to a scene node. Such object can be Agent, Sensor, Camera etc.

attach(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, sceneNode: habitat_sim._ext.habitat_sim_bindings.SceneNode) → None

Attaches the object to an existing scene node.

detach(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → None

Detached the object and the scene node

get_absolute_position(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → numpy.ndarray[float32[3, 1]]

If it is valid, returns absolute position w.r.t. world coordinate frame

get_absolute_transformation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → numpy.ndarray[float32[4, 4]]

If it is valid, returns absolute transformation matrix

get_rotation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → numpy.ndarray[float32[4, 1]]
get_scene_node(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → habitat_sim._ext.habitat_sim_bindings.SceneNode
get the scene node (pointer) being attached to (can be nullptr)

PYTHON DOES NOT GET OWNERSHIP

get_transformation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → numpy.ndarray[float32[4, 4]]

If it is valid, returns transformation relative to parent scene node.

property is_valid

Returns true if the object is being attached to a scene node.

property object_type
reset_transformation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, reset transform relative to parent scene node to identity

rotate(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float, normalizedAxis: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate relative to parent scene node by given angleInRad radians around given normalizedAxis.

rotateLocal(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float, normalizedAxis: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate relative to parent scene node by given angleInRad radians around given normalizedAxis in local frame. Applies given rotation before any other rotation.

rotateX(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate arounx X axis relative to parent scene node by in local frame. Applies given rotation before any other rotation

rotateXLocal(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate relative to parent scene node by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

rotateY(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate arounx Y axis relative to parent scene node by in local frame. Applies given rotation before any other rotation

rotateYLocal(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate relative to parent scene node by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

rotateZ(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate arounx Y axis relative to parent scene node by in local frame. Applies given rotation before any other rotation

rotateZLocal(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, rotate relative to parent scene node by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

set_rotation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, arg0: numpy.ndarray[float32[4, 1]]) → None
set_transformation(*args, **kwargs)

Overloaded function.

  1. set_transformation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, transformation: numpy.ndarray[float32[4, 4], flags.f_contiguous]) -> habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, sets transformation relative to parent scene node.

  1. set_transformation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, position: numpy.ndarray[float32[3, 1]], target: numpy.ndarray[float32[3, 1]], up: numpy.ndarray[float32[3, 1]]) -> habitat_sim._ext.habitat_sim_bindings.AttachedObject

    Set the position and orientation of the object by setting this AttachedObject’s matrix to look at target from given position and orientation towards target. Semantics is same as gluLookAt.

set_translation(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, sets translation relative to parent scene node

translate(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, Translate relative to parent scene node by given translation

translateLocal(self: habitat_sim._ext.habitat_sim_bindings.AttachedObject, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.AttachedObject

If it is valid, Translate relative to parent scene node by given translation in local frame. Applies given translation before any other translation.

class habitat_sim.bindings.AttachedObjectType

Members:

NONE

SENSOR

AGENT

CAMERA

AGENT = AttachedObjectType.AGENT
CAMERA = AttachedObjectType.CAMERA
NONE = AttachedObjectType.NONE
SENSOR = AttachedObjectType.SENSOR
property name

(self: handle) -> str

class habitat_sim.bindings.MultiGoalActionSpaceShortestPath
property actions
property geodesic_distance
property points
property requested_ends
property requested_start
property rotations
class habitat_sim.bindings.MultiGoalShortestPath
property geodesic_distance
property points
property requested_ends
property requested_start
class habitat_sim.bindings.PinholeCamera
set_projection_matrix(self: habitat_sim._ext.habitat_sim_bindings.PinholeCamera, arg0: habitat_sim._ext.habitat_sim_bindings.Camera) → None
Set the width, height, near, far, and hfov,

stored in pinhole camera to the render camera.

class habitat_sim.bindings.SceneGraph
get_default_render_camera(self: habitat_sim._ext.habitat_sim_bindings.SceneGraph) → habitat_sim._ext.habitat_sim_bindings.Camera

Get the default camera stored in scene graph for rendering. PYTHON DOES NOT GET OWNERSHIP

get_root_node(*args, **kwargs)

Overloaded function.

  1. get_root_node(self: habitat_sim._ext.habitat_sim_bindings.SceneGraph) -> habitat_sim._ext.habitat_sim_bindings.SceneNode

    Get the root node of the scene graph. User can specify transformation of the root node w.r.t. the world frame. (const function) PYTHON DOES NOT GET OWNERSHIP

  2. get_root_node(self: habitat_sim._ext.habitat_sim_bindings.SceneGraph) -> habitat_sim._ext.habitat_sim_bindings.SceneNode

    Get the root node of the scene graph. User can specify transformation of the root node w.r.t. the world frame. PYTHON DOES NOT GET OWNERSHIP

set_default_render_camera_parameters(self: habitat_sim._ext.habitat_sim_bindings.SceneGraph, targetSceneNode: esp::sensor::Sensor) → None

Set transformation and the projection matrix to the default render camera. The camera will have the same absolute transformation as the target scene node after the operation.

class habitat_sim.bindings.SceneNode

SceneNode: a node in the scene graph. Cannot apply a smart pointer to a SceneNode object. You can “create it and forget it”. Simulator backend will handle the memory.

absolute_position(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → numpy.ndarray[float32[3, 1]]

Returns absolute position (relative to root SceneNode)

absolute_transformation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → numpy.ndarray[float32[4, 4]]

Returns absolute transformation matrix (relative to root SceneNode)

create_child(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → habitat_sim._ext.habitat_sim_bindings.SceneNode
Creates a child node, and sets its parent to the current node.

PYTHON DOES NOT GET OWNERSHIP

normalize(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → None
reset_transformation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Reset transform relative to parent SceneNode to identity

rotate(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float, normalizedAxis: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate relative to parent SceneNode by given angleInRad radians around given normalizedAxis.

rotateX(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate arounx X axis relative to parent SceneNode by in local frame. Applies given rotation before any other rotation

rotateX_local(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate relative to parent SceneNode by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

rotateY(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate arounx Y axis relative to parent SceneNode by in local frame. Applies given rotation before any other rotation

rotateY_local(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate relative to parent SceneNode by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

rotateZ(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate arounx Y axis relative to parent SceneNode by in local frame. Applies given rotation before any other rotation

rotateZ_local(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate relative to parent SceneNode by given angleInRad radians around X axis in local frame. Applies given rotation before any other rotation.

rotate_local(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, angleInRad: float, normalizedAxis: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Rotate relative to parent SceneNode by given angleInRad radians around given normalizedAxis in local frame. Applies given rotation before any other rotation.

rotation(*args, **kwargs)

Overloaded function.

  1. rotation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) -> numpy.ndarray[float32[4, 1]]

  2. rotation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, arg0: numpy.ndarray[float32[4, 1]]) -> None

set_parent(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, arg0: habitat_sim._ext.habitat_sim_bindings.SceneNode) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Sets the parent scene node

set_transformation(*args, **kwargs)

Overloaded function.

  1. set_transformation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, transformation: numpy.ndarray[float32[4, 4], flags.f_contiguous]) -> habitat_sim._ext.habitat_sim_bindings.SceneNode

    Set transformation relative to parent SceneNode

  2. set_transformation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, position: numpy.ndarray[float32[3, 1]], target: numpy.ndarray[float32[3, 1]], up: numpy.ndarray[float32[3, 1]]) -> habitat_sim._ext.habitat_sim_bindings.SceneNode

    Set this SceneNode’s matrix to look at target from given position and orientation towards target. Semantics is same as gluLookAt.

set_translation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Sets translation relative to parent SceneNode to given translation

transformation(self: habitat_sim._ext.habitat_sim_bindings.SceneNode) → numpy.ndarray[float32[4, 4]]

Returns transformation relative to parent SceneNode

translate(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Translate relative to parent SceneNode by given translation

translate_local(self: habitat_sim._ext.habitat_sim_bindings.SceneNode, vector: numpy.ndarray[float32[3, 1]]) → habitat_sim._ext.habitat_sim_bindings.SceneNode

Translate relative to parent SceneNode by given translation in local frame. Applies given translation before any other translation.

class habitat_sim.bindings.Sensor
get_observation(self: habitat_sim._ext.habitat_sim_bindings.Sensor) → habitat_sim._ext.habitat_sim_bindings.Observation
is_visual_sensor(self: habitat_sim._ext.habitat_sim_bindings.Sensor) → bool
set_transformation_from_spec(self: habitat_sim._ext.habitat_sim_bindings.Sensor) → None
specification(self: habitat_sim._ext.habitat_sim_bindings.Sensor) → habitat_sim._ext.habitat_sim_bindings.SensorSpec
class habitat_sim.bindings.SensorSpec
property channels
property encoding
property observation_space
property orientation
property parameters
property position
property resolution
property sensor_subtype
property sensor_type
property uuid
class habitat_sim.bindings.SensorType

Members:

NONE

COLOR

DEPTH

SEMANTIC

COLOR = SensorType.COLOR
DEPTH = SensorType.DEPTH
NONE = SensorType.NONE
SEMANTIC = SensorType.SEMANTIC
property name

(self: handle) -> str

class habitat_sim.bindings.ShortestPath
property geodesic_distance
property points
property requested_end
property requested_start
class habitat_sim.bindings.SimulatorConfiguration
property compress_textures
property default_agent_id
property default_camera_uuid
property gpu_device_id
property height
property scene
property width