3D simulation environment
Project description
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.
1. General guide to TDW
1.1 Setup
1.2 Core Concepts
- The controller
- Auto-launching the TDW build
- Commands
- Design philosophy of TDW
- Scenes
- Avatars and cameras
- Add-ons and the
ThirdPersonCamera
- Objects
- Output data
- Images
1.3 Troubleshooting
- How to report an issue
- Common errors
- Performance optimizations
- Good coding practices
- The
Logger
add-on
2. Tutorials
2.1 Objects and Scenes
- Overview
- Scripted object placement (floorplan layouts)
- Visual materials, textures, and colors
- Procedural generation (scenes)
- Units and data formats
Bounds
output data- Procedural generation (objects)
Raycast
output dataOverlap
output data- Reset a scene
High-level API: Floorplan
2.2 3D Model Libraries
2.3 Visual Perception
- Overview
- Instance ID segmentation colors (
_id
pass) - Semantic category segmentation colors (
_category
pass) - Depth maps (
_depth
and_depth_simple
passes) - Motion perception (
_flow
pass) - Other image passes (
_mask
,_normals
, and_albedo
passes) Occlusion
output data
2.4 Camera Controls
2.5 Photorealism
- Overview
- Lighting (HDRI skyboxes)
- Post-processing
- Interior lighting (the
InteriorSceneLighting
add-on) - Depth of field
High-level API: tdw_image_dataset
2.6 Physics
2.6.1 Physics (PhysX)
- PhysX
- Object physics parameters
Rigidbodies
output dataCollision
output data- Apply forces to objects
- Composite objects (objects with affordances)
- Skip physics frames
- Disable physics
High-level API: tdw_physics
2.6.2 Physics (Flex)
- Flex
- Solid and soft actors
- Cloth actors
- Fluid and source actors
- Move, rotate, and scale Flex objects
FlexParticles
output data- Apply forces to Flex objects
- Reset a Flex scene
- Other Flex commands
High-level API: tdw_physics
2.8 Audio
- Overview
- Initialize audio and play .wav files
- Resonance Audio
PyImpact
(dynamic impact sounds)- Recording audio
PyImpact
(advanced API)- Audio perception
2.9 Video Recording
2.10 Agents
2.10.1 Robots
- Overview
- The
Robot
add-on - Robot arm add-ons
- Robot collision detection
- Select a robot
- Add your own robots to TDW
- Robotics API (low-level)
- Add a camera to a robot
2.10.2 Magnebots
2.10.3 Virtual Reality (VR)
2.10.4 Keyboard controls
2.10.4 Embodied avatars
2.11 Multi-agent simulations
2.12 Navigation
2.13 Non-physics objects
2.14 Misc. remote server topics
2.15 Misc. other topics
3. API Documentation
3.1 Command API
3.2 tdw
module API
tdw
- AssetBundleCreator
- AssetBundleCreatorBase
- AudioUtils
- Controller
- IntPair
- QuaternionUtils
- RemoteBuildLauncher
- RobotCreator
- TDWUtils
tdw.add_ons
- AddOn
- AudioInitializer
- AudioInitializerBase
- AvatarBody
- Benchmark
- CinematicCamera
- CollisionManager
- CompositeObjectManager
- EmbodiedAvatar
- Floorplan
- ImageCapture
- InteriorSceneLighting
- Keyboard
- Logger
- ModelVerifier
- ObjectManager
- OccupancyMap
- OculusTouch
- PhysicsAudioRecorder
- PyImpact
- ResonanceAudioInitializer
- Robot
- RobotArm
- RobotBase
- StepPhysics
- ThirdPersonCamera
- ThirdPersonCameraBase
- VR
tdw.collision_data
tdw.flex_data
tdw.librarian
- HdriSkyboxLibrarian
- HumanoidAnimationLibrarian
- HumanoidLibrarian
- MaterialLibrarian
- ModelLibrarian
- RobotLibrarian
- SceneLibrarian
tdw.model_tests
tdw.object_data
tdw.object_data.composite_object
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.release
tdw.robot_data
tdw.scene_data
tdw.vr_data
4. Performance benchmarks
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