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.

TDW was developed primarily by Jeremy Schwartz and Esther Alter. It is now maintained by Esther Alter.

TDW is now in long-term support (LTS). TDW will receive only minor updates and bug fixes.

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

General guide to TDW

Setup

1.1 Installation (Read this first!)

1. Install TDW
   • On a personal computer (Linux, MacOS, Windows)
   • On a server
   • On a personal computer + a server
2. Upgrade TDW

1.2 How to run TDW on a Linux server

1. Overview
2. Launch a TDW build on a remote server from a personal computer
3. Remote rendering with xpra
4. X11 forwarding

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
11. Outdoor scenes

Troubleshooting

1. How to report an issue
2. Common errors
3. Performance optimizations
4. Good coding practices

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 Models

2.1 Other model libraries

1. Overview
2. Free models
3. Non-free models

2.2 Custom models

1. Add your own models to TDW
2. Add ShapeNet models to TDW

2.3 Composite (articulated) objects

1. Overview
2. Composite objects in TDW
3. Create a composite object from a prefab
4. Create a composite object from a .urdf file

3. Read/Write to Disk

1. Overview
2. The Logger and LogPlayback add-ons
3. The JsonWriter add-on
4. The OutputDataWriter add-on
5. Create a custom data writer
6. Import .sdf and .lisdf files
7. Images (Cross-referenced with "Core Concepts")
8. Audio (Cross-referenced with "Audio")
9. Video (Cross-referenced with "Video Recording")

4. 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. Open and closed states
7. Grasped objects

5. 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

6. Camera Controls

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

7. Photorealism

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

High-level API: tdw_image_dataset

8. Physics

Overview

8.1 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

8.2 Physics (Obi)

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

8.3 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](Documentation/lessons/flex/output_d