OceanSim

User Guide

  • Installation
    • Requirements
    • Run the simulator
    • Install the SDK
    • Connection check
  • Using OceanSim
    • Runtime model
    • Coordinate frames
    • Workflow patterns
    • Minimal loop
  • Agents and Runtime
    • Agent roles
    • Control contracts
    • Python example
    • Scenario definition
    • Scenario agent fields
    • Runtime state fields
    • Export trace fields
    • Multi-agent workflow
    • Recommended release checks
  • Scenarios
    • Scenario files
    • Map actions
    • Dynamic agents
    • Agent schema fields
  • Sensors
    • Sensor families
    • Payload envelope
    • Data access

API Documentation

  • API Documentation
    • Modules
    • Public exports
  • TCP Protocol
    • Wire format
    • Envelopes
    • Action summary
    • Command details
      • get_state()
      • get_sensors()
      • step()
      • set_force()
      • set_force_world()
      • set_force_body()
      • set_body_wrench()
      • set_body_velocity()
      • set_scenario()
      • get_terrain_grid()
      • export_dataset()
    • Batch requests
    • Errors
  • OceanSim Client
    • Classes
      • OceanSimClient
        • OceanSimClient.PROTOCOL_VERSION
        • OceanSimClient.is_connected
        • OceanSimClient.launch_godot()
        • OceanSimClient.connect()
        • OceanSimClient.disconnect()
        • OceanSimClient.send()
        • OceanSimClient.send_command()
        • OceanSimClient.send_sim_control()
        • OceanSimClient.send_batch()
        • OceanSimClient.request_state()
        • OceanSimClient.get_latest_state()
    • Exceptions
      • OceanSimError
      • OceanSimConnectionError
      • OceanSimTimeoutError
      • OceanSimProtocolError
    • Example
  • AUV Interface
    • AUVState
      • AUVState
        • AUVState.x
        • AUVState.y
        • AUVState.z
    • AUV
      • AUV
      • Connection
        • AUV.connect()
        • AUV.disconnect()
      • Control
        • AUV.set_force()
        • AUV.set_force_world()
        • AUV.set_force_body()
        • AUV.set_body_wrench()
        • AUV.set_body_velocity()
        • AUV.hold_depth_step()
        • AUV.track_waypoint_step()
      • State and sensors
        • AUV.get_sensors()
      • Maps, agents, and overlays
  • Agent API
    • Classes
      • AgentDefinition
        • AgentDefinition.from_dict()
        • AgentDefinition.to_dict()
      • ActionSpace
        • ActionSpace.validate()
      • OceanSimAgent
      • AgentFactory
        • AgentFactory.build_agent()
    • Control schemes
    • Bounds and vehicle profiles
    • Error behavior
    • Runtime fields
    • Export trace contract
    • Release checks
  • Sensor Schema
    • Schema fields
    • Functions
      • normalize_sensor_payload()
      • validate_sensor_payload()
      • validate_sensor_set()
    • Point-cloud access
  • Mapping Utilities
    • Coordinates
    • OceanSim point-cloud map
      • OceanSimPointCloudMap
        • OceanSimPointCloudMap.add_cloud()
        • OceanSimPointCloudMap.add_pose()
        • OceanSimPointCloudMap.cloud_array()
        • OceanSimPointCloudMap.save_npz()
        • OceanSimPointCloudMap.load_npz()
        • OceanSimPointCloudMap.render_colored_map()
        • OceanSimPointCloudMap.render_exploration_map()
    • RGB-D SLAM
      • RGBDPointCloudSLAM
        • RGBDPointCloudSLAM.add_frame()
        • RGBDPointCloudSLAM.point_array()
        • RGBDPointCloudSLAM.color_array()
        • RGBDPointCloudSLAM.fused_arrays()
        • RGBDPointCloudSLAM.save_ply()
        • RGBDPointCloudSLAM.save_npz()
        • RGBDPointCloudSLAM.render()
    • Adapters
  • Dataset Tools
    • Recording
      • OceanSimPklRecorder
        • OceanSimPklRecorder.scenario
        • OceanSimPklRecorder.voxel_size
        • OceanSimPklRecorder.max_points_per_frame
        • OceanSimPklRecorder.add_frame()
        • OceanSimPklRecorder.to_dataset()
        • OceanSimPklRecorder.save()
        • OceanSimPklRecorder.load()
      • dataset_to_mapper()
      • load_pkl_dataset()
    • Replay
      • OceanSimRunReplay
        • OceanSimRunReplay.open()
        • OceanSimRunReplay.frame_count()
        • OceanSimRunReplay.iter_frames()
        • OceanSimRunReplay.trajectory()
        • OceanSimRunReplay.sensor_frames()
        • OceanSimRunReplay.summary()
        • OceanSimRunReplay.tum_trajectory_rows()
        • OceanSimRunReplay.euroc_trajectory_rows()
    • Camera images
    • Robotics exports

Developer Guide

  • Development Notes
    • Repository layout
    • Change guidelines
    • Smoke tests
    • Release gate
  • Troubleshooting
    • Common issues
    • Diagnostic check
  • License
    • MIT License
OceanSim
  • Search

© Copyright 2026, OceanSim.

Built with Sphinx using a theme provided by Read the Docs.