tdw 1.10.1.1

3D simulation environment

ThreeDWorld (TDW)

ThreeDWorld (TDW) is a platform for interactive multi-modal physical simulation. With TDW, users can simulate high-fidelity sensory data and physical interactions between mobile agents and objects in a wide variety of rich 3D environments.

• Code of Conduct
• Changelog
• License
• Website
• Example controllers

General guide to TDW

Setup

1. Install TDW
2. Upgrade TDW

Core Concepts

1. The controller
2. Auto-launching the TDW build
3. Commands
4. Design philosophy of TDW
5. Scenes
6. Avatars and cameras
7. Add-ons and the ThirdPersonCamera
8. Objects
9. Output data
10. Images

Troubleshooting

1. How to report an issue
2. Common errors
3. Performance optimizations
4. Good coding practices
5. The Logger add-on

Tutorials

1. Scene Setup

Overview

1.1 Scene Setup (High-Level APIs)

1. Overview
2. Procedural generation (the ProcGenKitchen add-on)
3. Regions, interior regions, and rooms
4. Procedural object arrangements
5. Scripted object placement (floorplan layouts)
6. Reset a scene

High-level APs: Floorplan and ProcGenKitchen

1.2 Scene Setup (Low-Level APIs)

1. Overview
2. Units and data formats
3. Bounds output data
4. Visual materials, textures, and colors
5. ProcGenRoom

2. 3D Model Libraries

1. Overview
2. Free models
3. Non-free models
4. Add your own models to TDW
5. Add ShapeNet models to TDW

3. Semantic States

1. Overview
2. Line of sight (Raycast output data)
3. Proximity to region (Overlap output data)
4. Proximity to other objects (the TriggerCollisionManager add-on)
5. Containment (the ContainerManager add-on)
6. Composite objects (objects with affordances)
7. Grasped objects

4. Visual Perception

1. Overview
2. Instance ID segmentation colors (_id pass)
3. Semantic category segmentation colors (_category pass)
4. Depth maps (_depth and _depth_simple passes)
5. Motion perception (_flow pass)
6. Other image passes (_mask, _normals, and _albedo passes)
7. Occlusion output data

5. Camera Controls

1. Overview
2. Move a camera
3. Rotate a camera
4. Follow an object
5. The CinematicCamera add-on

6. Photorealism

1. Overview
2. Lighting (HDRI skyboxes)
3. Post-processing
4. Interior lighting (the InteriorSceneLighting add-on)
5. Depth of field

High-level API: tdw_image_dataset

7. Physics

Overview

7.1 Physics (PhysX)

1. PhysX
2. Object physics parameters
3. Rigidbodies output data
4. Collision output data
5. Apply forces to objects
6. Skip physics frames
7. Disable physics

High-level API: tdw_physics

7.2 Physics (Obi)

1. Obi
2. Fluids
3. Cloth
4. ObiParticles output data
5. Colliders and collision materials
6. Solvers
7. Obi and robots
8. Obi and Flex

7.3 Physics (Flex)

1. Flex
2. Solid and soft actors
3. Cloth actors
4. Fluid and source actors
5. Move, rotate, and scale Flex objects
6. FlexParticles output data
7. Apply forces to Flex objects
8. Reset a Flex scene
9. Other Flex commands

High-level API: tdw_physics

8. Audio

1. Overview
2. Initialize audio and play .wav files
3. Resonance Audio
4. PyImpact (dynamic impact sounds)
5. Recording audio
6. PyImpact (advanced API)
7. Audio perception

9. Video Recording

1. Overview
2. Image-only video
3. Video with audio

10. Agents

Overview

10.1 Robots

1. Overview
2. The Robot add-on
3. Robot arm add-ons
4. Robot collision detection
5. Select a robot
6. Add your own robots to TDW
7. Robotics API (low-level)
8. Add a camera to a robot

10.2 Magnebots

1. Magnebot API (external repo)

10.3 Virtual Reality (VR)

1. Overview
2. Oculus Touch rigs

10.4 Keyboard and Mouse

1. Overview
2. Mouse input
3. The FirstPersonAvatar
4. Keyboard input

10.5 Embodied avatars

1. The EmbodiedAvatar

11. Multi-agent simulations

1. Overview
2. Custom agent classes

12. Navigation

1. Overview
2. NavMesh pathfinding
3. Occupancy maps

13. Non-physics objects

1. Overview
2. Position markers
3. Line renderers
4. Textured quads
5. User Interface (the UI add-on)
6. Compass rose
7. Non-physics humanoids

14. Misc. remote server topics

1. Launch a TDW build on a remote server from a personal computer
2. Remote rendering with xpra

15. Misc. other topics

1. C# source code
2. Freezing your code
3. Download asset bundles

API Documentation

Command API

• Command API
• Output Data

tdw module API

tdw

• AssetBundleCreator
• AssetBundleCreatorBase
• AudioConstants
• AudioUtils
• CardinalDirection
• Controller
• IntPair
• OrdinalDirection
• QuaternionUtils
• RemoteBuildLauncher
• RobotCreator
• TDWUtils

tdw.add_ons

• AddOn
• AudioInitializer
• AudioInitializerBase
• AvatarBody
• Benchmark
• CinematicCamera
• CollisionManager
• CompositeObjectManager
• ContainerManager
• EmbodiedAvatar
• FirstPersonAvatar
• Floorplan
• ImageCapture
• InteriorSceneLighting
• Keyboard
• Logger
• ModelVerifier
• Mouse
• Obi
• ObjectManager
• OccupancyMap
• OculusTouch
• PhysicsAudioRecorder
• ProcGenKitchen
• PyImpact
• ResonanceAudioInitializer
• Robot
• RobotArm
• RobotBase
• StepPhysics
• ThirdPersonCamera
• ThirdPersonCameraBase
• TriggerCollisionManager
• UI
• VR

tdw.collision_data

• CollisionBase
• CollisionObjEnv
• CollisionObjObj
• TriggerColliderShape
• TriggerCollisionEvent

tdw.container_data

• BoxContainer
• ContainerShape
• ContainerTag
• ContainmentEvent
• CylinderContainer
• SphereContainer

tdw.flex_data

• FluidType

tdw.librarian

• HdriSkyboxLibrarian
• HumanoidAnimationLibrarian
• HumanoidLibrarian
• MaterialLibrarian
• ModelLibrarian
• RobotLibrarian
• SceneLibrarian

tdw.model_tests

• MissingMaterials
• ModelReport
• ModelTest
• PhysicsQuality
• RotateObjectTest

tdw.obi_data

• ForceMode
• ObiActor

tdw.obi_data.cloth

• ClothMaterial
• SheetType
• TetherParticleGroup
• TetherType
• VolumeType

tdw.obi_data.collision_materials

• CollisionMaterial
• MaterialCombineMode

tdw.obi_data.fluids

• CubeEmitter
• DiskEmitter
• EdgeEmitter
• EmitterSamplingMethod
• EmitterShape
• Fluid
• FluidBase
• GranularFluid
• SphereEmitter

tdw.object_data

• Bound
• ObjectStatic
• Rigidbody
• Transform

tdw.object_data.composite_object

• CompositeObjectDynamic
• CompositeObjectStatic

tdw.object_data.composite_object.sub_object

• HingeDynamic
• HingeStatic
• HingeStaticBase
• LightDynamic
• LightStatic
• MotorStatic
• NonMachineStatic
• PrismaticJointStatic
• SpringStatic
• SubObjectDynamic
• SubObjectStatic

tdw.physics_audio

• AudioMaterial
• Base64Sound
• CollisionAudioEvent
• CollisionAudioInfo
• CollisionAudioType
• Modes
• ObjectAudioStatic
• ScrapeMaterial
• ScrapeModel
• ScrapeSubObject

tdw.proc_gen.arrangements

• Arrangement
• ArrangementAlongWall
• ArrangementWithRootObject
• Basket
• CupAndCoaster
• Dishwasher
• KitchenCabinet
• KitchenCounter
• KitchenCounterTop
• KitchenTable
• Microwave
• Painting
• Plate
• Radiator
• Refrigerator
• Shelf
• SideTable
• Sink
• StackOfPlates
• Stool
• Stove
• Suitcase
• TableAndChairs
• TableSetting
• Void
• WallCabinet

tdw.proc_gen.arrangements.cabinetry

• Cabinetry
• CabinetryType

tdw.release

• Build
• PyPi

tdw.robot_data

• Drive
• JointDynamic
• JointStatic
• JointType
• NonMoving
• RobotDynamic
• RobotStatic

tdw.scene_data

• InteriorRegion
• RegionBounds
• Room
• SceneBounds

tdw.vr_data

• OculusTouchButton
• RigType

Performance benchmarks

1. Performance benchmarks
2. Image capture
3. Object data
4. Command deserialization