A Platform for Interactive Multi-Modal Physical Simulation
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.
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Description
Command API
API for every command a controller can send to the build.
Command API Guide
Overview of how to send commands to the build.
Output Data
API for all output data a controller can receive from the build.
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Description
Build
Helper functions for downloading the build.
PyPi
Helper functions for checking the version of the tdw
module on PyPi.
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Description
Example Controllers
Index of all example controllers in the repo.
Use Cases (see below)
The "use cases" section showcases "advanced" usage of TDW.
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Description
VR
VR in TDW.
Humanoids
Add "humanoids" and play animations.
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Description
Physics
Common physics problems and solutions.
NVIDIA Flex
Add soft bodies, cloth, and fluids to TDW.
FluidTypes
Access different NVIDIA Flex fluid types.
Physics Determinism
Benchmark of PhysX physics determinism.
tdw_physics
Generate a physics dataset.
Rube Goldberg (demo)
Demo of complex physical interactions between objects, with PyImpact generation of impact sounds, set in a photorealistic scene.
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Description
C# code
Access to C# backend source code
Releases
Release versioning in TDW.
Freezing your code
"Freeze" your controller into a compiled executable.
Rendering and Photorealism
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Description
Asset Bundle Librarians
Overview of what asset bundles are, how to add objects, scenes, materials, HDRI skyboxes, and humanoids, and how to access each asset bundle's metadata.
Model Screenshotter
Generate images of every model in TDW.
Material Screenshotter
Generate images of every material in TDW.
Materials, textures, and colors
Defines materials, textures, and colors.
Depth of Field
Prevent blurry images and increase realism.
Depth Maps
How to use depth maps.
Remote rendering
How to render using xpra.
Observation Data
Different means of determining what an agent is observing.
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Description
Robots
Overview of robotics and the Magnebot in TDW.
Robot Librarian
API for accessing robot metadata.
Robot Creator
API for adding your own robots to TDW.
Magnebot
High-level Magnebot API.
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Description
Scene Setup
Overview of how to set up a scene.
Asset Bundle Librarians
Overview of what asset bundles are, how to add objects, scenes, materials, HDRI skyboxes, and humanoids, and how to access each asset bundle's metadata.
Model Librarian
Overview of how to add objects and access metadata.
Rotation
Different means of rotating objects and agents in a scene.
Scene Reset
How to reset a scene.
FloorplanController
Child class of Controller
that creates an interior environment and populates it with objects.
Use Case
Description
Image dataset
Generate 1.3M photorealistic images.
IntPhys (demo)
Demo of how to simulate IntPhys in TDW.
Humanoid videos
Generate a dataset of humanoid animations.
tdw_physics
Generate a physics dataset.
Rube Goldberg (demo)
Demo of complex physical interactions between objects, with PyImpact generation of impact sounds, set in a photorealistic scene.
Magnebot
High-level Magnebot API.