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
AgentDefinitionAgentFactoryControlSchemesControlSchemes.ANDROID_TORQUESControlSchemes.CONTINUOUS_SPHERE_DEFAULTControlSchemes.DISCRETE_SPHERE_DEFAULTControlSchemes.NAV_TARGET_LOCATIONControlSchemes.UAV_TORQUESControlSchemes.UAV_ROLL_PITCH_YAW_RATE_ALTControlSchemes.HAND_AGENT_MAX_TORQUESControlSchemes.AUV_THRUSTERSControlSchemes.AUV_CONTROLControlSchemes.AUV_FORCESControlSchemes.TAUV_FINSControlSchemes.TAUV_FORCESControlSchemes.SV_THRUSTERSControlSchemes.SV_CONTROLControlSchemes.SV_FORCES
HoloOceanAgentHoloOceanAgent.nameHoloOceanAgent.sensorsHoloOceanAgent.agent_state_dictHoloOceanAgent.act()HoloOceanAgent.action_spaceHoloOceanAgent.add_sensors()HoloOceanAgent.clear_action()HoloOceanAgent.control_schemesHoloOceanAgent.get_joint_constraints()HoloOceanAgent.has_camera()HoloOceanAgent.remove_sensors()HoloOceanAgent.set_control_scheme()HoloOceanAgent.set_physics_state()HoloOceanAgent.teleport()
HoveringAUVSphereAgentSurfaceVesselTorpedoAUVTurtleAgentUavAgent
- Environments
HoloOceanEnvironmentHoloOceanEnvironment.act()HoloOceanEnvironment.action_spaceHoloOceanEnvironment.add_agent()HoloOceanEnvironment.beaconsHoloOceanEnvironment.beacons_idHoloOceanEnvironment.beacons_statusHoloOceanEnvironment.draw_arrow()HoloOceanEnvironment.draw_box()HoloOceanEnvironment.draw_line()HoloOceanEnvironment.draw_point()HoloOceanEnvironment.get_joint_constraints()HoloOceanEnvironment.get_reward_terminal()HoloOceanEnvironment.info()HoloOceanEnvironment.modemsHoloOceanEnvironment.modems_idHoloOceanEnvironment.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
AcousticBeaconSensorDVLSensorDepthSensorDynamicsSensorGPSSensorHoloOceanSensorIMUSensorImagingSonarLocationSensorMagnetometerSensorOpticalModemSensorOrientationSensorPoseSensorProfilingSonarRGBCameraRangeFinderSensorRotationSensorSensorDefinitionSensorFactorySidescanSonarSinglebeamSonarVelocitySensorViewportCaptureWorldNumSensor
- LCM
- Shared Memory
- Util
- Exceptions
- Weather Controller