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

1. Install TDW
2. Upgrade TDW

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

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

1. Overview
2. Scripted object placement (floorplan layouts)
3. Visual materials, textures, and colors
4. Procedural generation (scenes)
5. Units and data formats
6. Bounds output data
7. Procedural generation (objects)
8. Reset a scene

High-level API: Floorplan

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

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

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

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

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

Overview

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

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

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

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

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

Overview

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

1. Magnebot API (external repo)

1. Overview
2. Oculus Touch rigs

1. Keyboard controls

1. The EmbodiedAvatar

1. Overview
2. Custom agent classes

1. Overview
2. NavMesh pathfinding
3. Occupancy maps

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

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

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

• Command API
• Output Data

tdw

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

tdw.add_ons

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

tdw.collision_data

• CollisionBase
• CollisionObjEnv
• CollisionObjObj
• TriggerColliderShape
• TriggerCollisionEvent

tdw.container_data

• ContainerBoxTriggerCollider
• ContainerColliderTag
• ContainerCylinderTriggerCollider
• ContainerNonUniformScaleTriggerCollider
• ContainerSphereTriggerCollider
• ContainerTriggerCollider
• ContainmentEvent

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.release

• Build
• PyPi

tdw.robot_data

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

tdw.scene_data

• RegionBounds
• SceneBounds

tdw.vr_data

• OculusTouchButton
• RigType

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