Metadata-Version: 2.1
Name: tdw
Version: 1.9.8.2
Summary: 3D simulation environment
Home-page: https://github.com/threedworld-mit/tdw
Author: Massachusetts Institute of Technology
Author-email: alters@mit.edu
License: BSD
Keywords: unity simulation ml machine-learning
Platform: UNKNOWN
Classifier: Development Status :: 5 - Production/Stable
Classifier: Intended Audience :: Developers
Classifier: Topic :: Software Development
Classifier: License :: OSI Approved :: BSD License
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3.8
Description-Content-Type: text/markdown
License-File: LICENSE.txt

# 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.

<img src="https://raw.githubusercontent.com/threedworld-mit/tdw/master/splash.jpg">

- [Code of Conduct](https://github.com/threedworld-mit/tdw/blob/master/code_of_conduct.md)
- [Changelog](https://github.com/threedworld-mit/tdw/blob/master/Documentation/Changelog.md)
- [License](https://github.com/threedworld-mit/tdw/blob/master/LICENSE.txt)
- [Website](http://threedworld.org/)
- [Example controllers](https://github.com/threedworld-mit/tdw/tree/master/Python/example_controllers)

# 1. General guide to TDW

## 1.1 Setup

1. [Install TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/setup/install.md)
3. [Upgrade TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/setup/upgrade.md)

## 1.2 Core Concepts

1. [The controller](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/controller.md)
2. [Auto-launching the TDW build](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/launch_build.md)
3. [Commands](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/commands.md)
4. [Design philosophy of TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/design_philosophy.md)
5. [Scenes](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/scenes.md)
6. [Avatars and cameras](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/avatars.md)
7. [Add-ons and the `ThirdPersonCamera`](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/add_ons.md)
8. [Objects](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/objects.md)
9. [Output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/output_data.md)
10. [Images](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/core_concepts/images.md)

## 1.3 Troubleshooting

1. [How to report an issue](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/troubleshooting/issues.md)
2. [Common errors](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/troubleshooting/common_errors.md)
3. [Performance optimizations](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/troubleshooting/performance_optimizations.md)
4. [Good coding practices](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/troubleshooting/good_coding_practices.md)
5. [The `Logger` add-on](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/troubleshooting/logger.md)

# 2. Tutorials

## 2.1 Objects and Scenes

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/overview.md)
2. [Scripted object placement (floorplan layouts)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/floorplans.md)
3. [Visual materials, textures, and colors](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/materials_textures_colors.md)
4. [Procedural generation (scenes)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/proc_gen_room.md)
5. [Units and data formats](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/units.md)
6. [`Bounds` output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/bounds.md)
7. [Procedural generation (objects)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/proc_gen_objects.md)
10. [Reset a scene](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/objects_and_scenes/reset_scene.md)

High-level API: [Floorplan](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/floorplan.md)

### 2.2.2 3D Model Libraries

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/3d_models/overview.md)
2. [Free models](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/3d_models/free_models.md)
3. [Non-free models](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/3d_models/non_free_models.md)
4. [Add your own models to TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/3d_models/custom_models.md)
5. [Add ShapeNet models to TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/3d_models/shapenet.md)

### 2.2.3 Semantic States

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/overview.md)
2. [Line of sight (`Raycast` output data)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/raycast.md)
3. [Proximity to region (`Overlap` output data)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/overlap.md)
3. [Proximity to other objects (the `TriggerCollisionManager` add-on)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/trigger_collisions.md)
3. [Containment (the `ContainerManager` add-on)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/containment.md)
4. [Composite objects (objects with affordances)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/composite_objects.md)
4. [Grasped objects](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/semantic_states/grasped.md)

## 2.3 Visual Perception

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/overview.md)
2. [Instance ID segmentation colors (`_id` pass)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/id.md)
3. [Semantic category segmentation colors (`_category` pass)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/category.md)
4. [Depth maps (`_depth` and `_depth_simple` passes)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/depth.md)
5. [Motion perception (`_flow` pass)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/flow.md)
6. [Other image passes (`_mask`, `_normals`, and `_albedo` passes)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/other_passes.md)
7. [`Occlusion` output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/visual_perception/occlusion.md)

## 2.4 Camera Controls

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/camera/overview.md)
2. [Move a camera](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/camera/position.md)
3. [Rotate a camera](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/camera/rotation.md)
4. [Follow an object](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/camera/follow.md)
4. [The `CinematicCamera` add-on](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/camera/cinematic_camera.md)

## 2.5 Photorealism

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/photorealism/overview.md)
2. [Lighting (HDRI skyboxes)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/photorealism/lighting.md)
3. [Post-processing](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/photorealism/post_processing.md)
3. [Interior lighting (the `InteriorSceneLighting` add-on)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/photorealism/interior_lighting.md)
4. [Depth of field](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/photorealism/depth_of_field.md)

High-level API: [tdw_image_dataset](https://github.com/alters-mit/tdw_image_dataset)

## 2.6 Physics

**[Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/overview.md)**

### 2.6.1 Physics (PhysX)

1. [PhysX](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/physx.md)
2. [Object physics parameters](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/physics_objects.md)
3. [`Rigidbodies` output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/rigidbodies.md)
4. [`Collision` output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/collisions.md)
5. [Apply forces to objects](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/forces.md)
6. [Skip physics frames](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/step_physics.md)
7. [Disable physics](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/physx/disable_physics.md)

High-level API: [tdw_physics](https://github.com/alters-mit/tdw_physics)

### 2.6.2 Physics (Flex)

1. [Flex](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/flex.md)
2. [Solid and soft actors](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/solid_and_soft.md)
3. [Cloth actors](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/cloth.md)
4. [Fluid and source actors](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/fluid_and_source.md)
5. [Move, rotate, and scale Flex objects](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/transform.md)
6. [`FlexParticles` output data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/output_data.md)
7. [Apply forces to Flex objects](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/forces.md)
8. [Reset a Flex scene](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/reset_scene.md)
8. [Other Flex commands](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/flex/other_commands.md)

High-level API: [tdw_physics](https://github.com/alters-mit/tdw_physics)

## 2.8 Audio

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/overview.md)
2. [Initialize audio and play .wav files](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/initialize_audio.md)
3. [Resonance Audio](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/resonance_audio.md)
4. [`PyImpact` (dynamic impact sounds)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/py_impact.md)
6. [Recording audio](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/record_audio.md)
6. [`PyImpact` (advanced API)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/py_impact_advanced.md)
7. [Audio perception](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/audio/audio_perception.md)

## 2.9 Video Recording

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/video/overview.md)
2. [Image-only video](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/video/images.md)
3. [Video with audio](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/video/audio.md)

## 2.10 Agents

[**Overview**](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/agents/overview.md)

### 2.10.1 Robots

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/overview.md)
2. [The `Robot` add-on](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/robot_add_on.md)
3. [Robot arm add-ons](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/robot_arm.md)
4. [Robot collision detection](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/collision_detection.md)
5. [Select a robot](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/select_robot.md)
6. [Add your own robots to TDW](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/custom_robots.md)
7. [Robotics API (low-level)](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/custom_robots.md)
8. [Add a camera to a robot](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/robots/add_camera.md)

### 2.10.2 Magnebots

1. [Magnebot API (external repo)](https://github.com/alters-mit/magnebot)

### 2.10.3 Virtual Reality (VR)

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/vr/overview.md)
2. [Oculus Touch rigs](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/vr/oculus_touch.md)

### 2.10.4 Keyboard controls

1. [Keyboard controls](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/keyboard/keyboard.md)

### 2.10.4 Embodied avatars

1. [The `EmbodiedAvatar`](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/embodied_avatars/embodied_avatar.md)

## 2.11 Multi-agent simulations

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/multi_agent/overview.md)
2. [Custom agent classes](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/multi_agent/custom_agent_classes.md)

## 2.12 Navigation

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/navigation/overview.md)
2. [NavMesh pathfinding](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/navigation/nav_mesh.md)
3. [Occupancy maps](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/navigation/occupancy_maps.md)

## 2.13 Non-physics objects

1. [Overview](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/overview.md)
2. [Position markers](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/position_markers.md)
2. [Line renderers](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/line_renderers.md)
3. [Textured quads](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/textured_quads.md)
3. [Compass rose](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/compass_rose.md)
4. [Non-physics humanoids](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/non_physics/humanoids.md)

## 2.14 Misc. remote server topics

1. [Launch a TDW build on a remote server from a personal computer](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/remote/launch_build.md)
2. [Remote rendering with xpra](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/remote/xpra.md)

## 2.15 Misc. other topics

1. [C# source code](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/misc/c_sharp_sources.md)
2. [Freezing your code](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/misc/freeze.md)
2. [Download asset bundles](https://github.com/threedworld-mit/tdw/blob/master/Documentation/lessons/misc/download_asset_bundles.md)

# 3. API Documentation

## 3.1 Command API

- [Command API](https://github.com/threedworld-mit/tdw/blob/master/Documentation/api/command_api.md)
- [Output Data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/api/output_data.md)

## 3.2 `tdw` module API

**tdw**

- [AssetBundleCreator](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/asset_bundle_creator.md)
- [AssetBundleCreatorBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/asset_bundle_creator_base.md)
- [AudioConstants](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/audio_constants.md)
- [AudioUtils](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/audio_utils.md)
- [Controller](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/controller.md)
- [IntPair](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/int_pair.md)
- [QuaternionUtils](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/quaternion_utils.md)
- [RemoteBuildLauncher](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/remote_build_launcher.md)
- [RobotCreator](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_creator.md)
- [TDWUtils](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/tdw_utils.md)

**tdw.add_ons**

- [AddOn](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/add_on.md)
- [AudioInitializer](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/audio_initializer.md)
- [AudioInitializerBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/audio_initializer_base.md)
- [AvatarBody](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/avatar_body.md)
- [Benchmark](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/benchmark.md)
- [CinematicCamera](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/cinematic_camera.md)
- [CollisionManager](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/collision_manager.md)
- [CompositeObjectManager](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/composite_object_manager.md)
- [ContainerManager](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/container_manager.md)
- [EmbodiedAvatar](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/embodied_avatar.md)
- [Floorplan](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/floorplan.md)
- [ImageCapture](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/image_capture.md)
- [InteriorSceneLighting](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/interior_scene_lighting.md)
- [Keyboard](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/keyboard.md)
- [Logger](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/logger.md)
- [ModelVerifier](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/model_verifier.md)
- [ObjectManager](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/object_manager.md)
- [OccupancyMap](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/occupancy_map.md)
- [OculusTouch](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/oculus_touch.md)
- [PhysicsAudioRecorder](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/physics_audio_recorder.md)
- [PyImpact](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/py_impact.md)
- [ResonanceAudioInitializer](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/resonance_audio_initializer.md)
- [Robot](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/robot.md)
- [RobotArm](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/robot_arm.md)
- [RobotBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/robot_base.md)
- [StepPhysics](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/step_physics.md)
- [ThirdPersonCamera](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/third_person_camera.md)
- [ThirdPersonCameraBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/third_person_camera_base.md)
- [TriggerCollisionManager](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/trigger_collision_manager.md)
- [VR](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/add_ons/vr.md)

**tdw.collision_data**

- [CollisionBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/collision_data/collision_base.md)
- [CollisionObjEnv](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/collision_data/collision_obj_env.md)
- [CollisionObjObj](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/collision_data/collision_obj_obj.md)
- [TriggerColliderShape](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/collision_data/trigger_collider_shape.md)
- [TriggerCollisionEvent](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/collision_data/trigger_collision_event.md)

**tdw.container_data**

- [ContainerBoxTriggerCollider](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_box_trigger_collider.md)
- [ContainerColliderTag](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_collider_tag.md)
- [ContainerCylinderTriggerCollider](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_cylinder_trigger_collider.md)
- [ContainerNonUniformScaleTriggerCollider](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_non_uniform_scale_trigger_collider.md)
- [ContainerSphereTriggerCollider](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_sphere_trigger_collider.md)
- [ContainerTriggerCollider](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/container_trigger_collider.md)
- [ContainmentEvent](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/container_data/containment_event.md)

**tdw.flex_data**

- [FluidType](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/flex_data/fluid_type.md)

**tdw.librarian**

- [HdriSkyboxLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/hdri_skybox_librarian.md)
- [HumanoidAnimationLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/humanoid_animation_librarian.md)
- [HumanoidLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/humanoid_librarian.md)
- [MaterialLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/material_librarian.md)
- [ModelLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/model_librarian.md)
- [RobotLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/robot_librarian.md)
- [SceneLibrarian](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/librarian/scene_librarian.md)

**tdw.model_tests**

- [MissingMaterials](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/model_tests/missing_materials.md)
- [ModelReport](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/model_tests/model_report.md)
- [ModelTest](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/model_tests/model_test.md)
- [PhysicsQuality](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/model_tests/physics_quality.md)
- [RotateObjectTest](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/model_tests/rotate_object_test.md)

**tdw.object_data**

- [Bound](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/bound.md)
- [ObjectStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/object_static.md)
- [Rigidbody](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/rigidbody.md)
- [Transform](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/transform.md)

**tdw.object_data.composite_object**

- [CompositeObjectDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/composite_object_dynamic.md)
- [CompositeObjectStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/composite_object_static.md)

**tdw.object_data.composite_object.sub_object**

- [HingeDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/hinge_dynamic.md)
- [HingeStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/hinge_static.md)
- [HingeStaticBase](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/hinge_static_base.md)
- [LightDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/light_dynamic.md)
- [LightStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/light_static.md)
- [MotorStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/motor_static.md)
- [NonMachineStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/non_machine_static.md)
- [PrismaticJointStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/prismatic_joint_static.md)
- [SpringStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/spring_static.md)
- [SubObjectDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/sub_object_dynamic.md)
- [SubObjectStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/object_data/composite_object/sub_object/sub_object_static.md)

**tdw.physics_audio**

- [AudioMaterial](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/audio_material.md)
- [Base64Sound](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/base64_sound.md)
- [CollisionAudioEvent](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/collision_audio_event.md)
- [CollisionAudioInfo](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/collision_audio_info.md)
- [CollisionAudioType](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/collision_audio_type.md)
- [Modes](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/modes.md)
- [ObjectAudioStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/object_audio_static.md)
- [ScrapeMaterial](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/scrape_material.md)
- [ScrapeModel](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/scrape_model.md)
- [ScrapeSubObject](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/physics_audio/scrape_sub_object.md)

**tdw.release**

- [Build](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/release/build.md)
- [PyPi](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/release/pypi.md)

**tdw.robot_data**

- [Drive](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/drive.md)
- [JointDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/joint_dynamic.md)
- [JointStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/joint_static.md)
- [JointType](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/joint_type.md)
- [NonMoving](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/non_moving.md)
- [RobotDynamic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/robot_dynamic.md)
- [RobotStatic](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/robot_data/robot_static.md)

**tdw.scene_data**

- [RegionBounds](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/scene_data/region_bounds.md)
- [SceneBounds](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/scene_data/scene_bounds.md)

**tdw.vr_data**

- [OculusTouchButton](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/vr_data/oculus_touch_button.md)
- [RigType](https://github.com/threedworld-mit/tdw/blob/master/Documentation/python/vr_data/rig_type.md)

# 4. Performance benchmarks
1. [Performance benchmarks](https://github.com/threedworld-mit/tdw/blob/master/Documentation/benchmark/benchmark.md)
2. [Image capture](https://github.com/threedworld-mit/tdw/blob/master/Documentation/benchmark/image_capture.md)
3. [Object data](https://github.com/threedworld-mit/tdw/blob/master/Documentation/benchmark/object_data.md)
4. [Command deserialization](https://github.com/threedworld-mit/tdw/blob/master/Documentation/benchmark/command_deserialization.md)



