API Documentation

This section documents the public OceanSim integration surface. It follows the same pattern used by Sphinx API pages: summary tables first, then detailed class, function, method, parameter, and return descriptions.

Modules

Module	Contents
TCP Protocol	Wire format, request/response envelopes, action catalog, errors, and batch requests.
OceanSim Client	Low-level TCP client, request IDs, connection lifecycle, exceptions, and command helpers.
AUV Interface	High-level AUV wrapper, state object, force controls, sensors, maps, agents, navigation overlays, and RL step loop.
Agent API	Agent definitions, action spaces, control schemes, and runtime agent wrappers.
Sensor Schema	Payload normalization, validation, required fields, point cloud access, and sensor family conventions.
Mapping Utilities	Coordinate conversion, point cloud processing, OceanSim map figures, RGB-D dense mapping, and adapters.
Dataset Tools	PKL recording, replay, camera image export, robotics exports, MCAP-like sidecars, and mesh reconstruction.

Public exports

Symbol	Defined in	Role
OceanSimClient	client.py	Low-level TCP transport and response handling.
AUV, AUVState	auv_interface.py	High-level control and state access wrappers.
AgentDefinition, AgentFactory, OceanSimAgent	agents.py	Typed agent definitions and runtime action dispatch.
validate_sensor_payload	sensor_schema.py	Professional sensor envelope validation.
xyz_from_cloud	point_cloud.py	Convert OceanSim point-cloud payloads to NumPy arrays.
OceanSimPointCloudMap	pointcloud_mapping.py	Accumulate and render point-cloud maps.
RGBDPointCloudSLAM	rgbd_slam.py	Lightweight RGB-D dense point-cloud accumulator.
OceanSimPklRecorder	recording.py	Collect frame data into offline PKL datasets.
OceanSimRunReplay	replay.py	Read exported runs and iterate replay data.