Welcome to HoloOcean’s documentation!

HoloOcean is a realistic underwater robotics simulator with multi-agent missions, various underwater sensors including a novel imaging sonar sensor implementation, easy installation, and simple use. It’s a fork of Holodeck, a high-fidelity reinforcement learning simulator built on Unreal Engine 4.
If you use HoloOcean in your research, please cite our conference publication with the following bibtex:
@inproceedings{Potokar22icra,
author = {E. Potokar and S. Ashford and M. Kaess and J. Mangelson},
title = {Holo{O}cean: An Underwater Robotics Simulator},
booktitle = {Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA},
address = {Philadelphia, PA, USA},
month = may,
year = {2022}
}
HoloOcean Documentation
API Documentation
- HoloOcean
- Agents
AgentDefinition
AgentFactory
ControlSchemes
ControlSchemes.ANDROID_TORQUES
ControlSchemes.CONTINUOUS_SPHERE_DEFAULT
ControlSchemes.DISCRETE_SPHERE_DEFAULT
ControlSchemes.NAV_TARGET_LOCATION
ControlSchemes.UAV_TORQUES
ControlSchemes.UAV_ROLL_PITCH_YAW_RATE_ALT
ControlSchemes.HAND_AGENT_MAX_TORQUES
ControlSchemes.AUV_THRUSTERS
ControlSchemes.AUV_CONTROL
ControlSchemes.AUV_FORCES
ControlSchemes.TAUV_FINS
ControlSchemes.TAUV_FORCES
ControlSchemes.SV_THRUSTERS
ControlSchemes.SV_CONTROL
ControlSchemes.SV_FORCES
HoloOceanAgent
HoloOceanAgent.name
HoloOceanAgent.sensors
HoloOceanAgent.agent_state_dict
HoloOceanAgent.act()
HoloOceanAgent.action_space
HoloOceanAgent.add_sensors()
HoloOceanAgent.clear_action()
HoloOceanAgent.control_schemes
HoloOceanAgent.get_joint_constraints()
HoloOceanAgent.has_camera()
HoloOceanAgent.remove_sensors()
HoloOceanAgent.set_control_scheme()
HoloOceanAgent.set_physics_state()
HoloOceanAgent.teleport()
HoveringAUV
SphereAgent
SurfaceVessel
TorpedoAUV
TurtleAgent
UavAgent
- Environments
HoloOceanEnvironment
HoloOceanEnvironment.act()
HoloOceanEnvironment.action_space
HoloOceanEnvironment.add_agent()
HoloOceanEnvironment.beacons
HoloOceanEnvironment.beacons_id
HoloOceanEnvironment.beacons_status
HoloOceanEnvironment.draw_arrow()
HoloOceanEnvironment.draw_box()
HoloOceanEnvironment.draw_line()
HoloOceanEnvironment.draw_point()
HoloOceanEnvironment.get_joint_constraints()
HoloOceanEnvironment.get_reward_terminal()
HoloOceanEnvironment.info()
HoloOceanEnvironment.modems
HoloOceanEnvironment.modems_id
HoloOceanEnvironment.move_viewport()
HoloOceanEnvironment.reset()
HoloOceanEnvironment.send_acoustic_message()
HoloOceanEnvironment.send_optical_message()
HoloOceanEnvironment.send_world_command()
HoloOceanEnvironment.set_control_scheme()
HoloOceanEnvironment.set_render_quality()
HoloOceanEnvironment.should_render_viewport()
HoloOceanEnvironment.spawn_prop()
HoloOceanEnvironment.step()
HoloOceanEnvironment.tick()
- Spaces
- Commands
- HoloOcean Client
- Package Manager
- Sensors
AcousticBeaconSensor
DVLSensor
DepthSensor
DynamicsSensor
GPSSensor
HoloOceanSensor
IMUSensor
ImagingSonar
LocationSensor
MagnetometerSensor
OpticalModemSensor
OrientationSensor
PoseSensor
ProfilingSonar
RGBCamera
RangeFinderSensor
RotationSensor
SensorDefinition
SensorFactory
SidescanSonar
SinglebeamSonar
VelocitySensor
ViewportCapture
WorldNumSensor
- LCM
- Shared Memory
- Util
- Exceptions
- Weather Controller