index.rst

Habitat Simulator

A flexible, high-performance 3D simulator with configurable agents, multiple sensors, and generic 3D dataset handling (with built-in support for MatterPort3D, Gibson, Replica, and other datasets).

When rendering a scene from the Matterport3D dataset, Habitat-Sim achieves several thousand frames per second (FPS) running single-threaded, and reaches over 10,000 FPS multi-process on a single GPU!

The Habitat platform includes Habitat-Sim and Habitat-Lab. To learn how these fit together, see our ECCV 2020 tutorial series.

Tutorials

Basics for Navigation	Video	Interactive Colab
Interaction	Video	Interactive Colab
Advanced Topics	Video	Interactive Colab
Profiling and Optimization New Actions Attributes Templates JSON Tags Creating a stereo agent Working with light setups Extracting Images	Video Page <std:doc:new-actions> Page <std:doc:attributesJSON> Page <std:doc:stereo-agent> Page <std:doc:lighting-setups> Page <std:doc:image-extractor>	Interactive Colab
View Assets in Habitat-Sim	Page <std:doc:asset-viewer-tutorial>	Interactive Colab
Interactive Rigid Objects 2.0 Gfx Replay Editing Scene Assets in Blender	Page <std:doc:managed-rigid-object-tutorial> Interactive Colab Page	Interactive Colab

Python Classes

See the Classes tab.

Logging Configuration

See Logging Configuration <std:doc:logging> for how to configure Habitat-Sim logging.

Python Unit Tests

Browse selected unit tests that demonstrate essential Habitat-Sim interfaces.

• test_agent.py <facebookresearch/habitat-sim/blob/main/tests/test_agent.py>
• test_attributes_managers.py <facebookresearch/habitat-sim/blob/main/tests/test_attributes_managers.py>
• test_configs.py <facebookresearch/habitat-sim/blob/main/tests/test_configs.py>
• test_controls.py <facebookresearch/habitat-sim/blob/main/tests/test_controls.py>
• test_gfx.py <facebookresearch/habitat-sim/blob/main/tests/test_gfx.py>
• test_greedy_follower.py <facebookresearch/habitat-sim/blob/main/tests/test_greedy_follower.py>
• test_light_setup.py <facebookresearch/habitat-sim/blob/main/tests/test_light_setup.py>
• test_navmesh.py <facebookresearch/habitat-sim/blob/main/tests/test_navmesh.py>
• test_physics.py <facebookresearch/habitat-sim/blob/main/tests/test_physics.py>
• test_pyrobot_noisy_controls.py <facebookresearch/habitat-sim/blob/main/tests/test_pyrobot_noisy_controls.py>
• test_semantic_scene.py <facebookresearch/habitat-sim/blob/main/tests/test_semantic_scene.py>
• test_sensors.py <facebookresearch/habitat-sim/blob/main/tests/test_sensors.py>
• test_simulator.py <facebookresearch/habitat-sim/blob/main/tests/test_simulator.py>

C++ API Documentation

Habitat-sim is designed to be used primarily through its Python API. As such, the end-user tutorials and docs linked above focus on Python.

If you're looking for API reference of Habitat-sim's C++ internals, please see the C++ API tab.