path	# lines of code
codecov.yml	6
conda-build/withbullet/meta.yaml	10
conda-build/habitat-sim-mutex/conda_build_config.yaml	5
conda-build/habitat-sim-mutex/meta.yaml	18
conda-build/matrix_builder.py	116
conda-build/common/delete_old_night_packages.py	43
conda-build/headless/meta.yaml	10
conda-build/habitat-sim/meta.yaml	91
tools/run-clang-tidy.py	290
tools/npz2scn.py	30
tools/npz2ids.py	16
tools/create_basis_compressed_glbs.py	225
pyproject.toml	35
MANIFEST.in	1
src_python/habitat_sim/geo.py	26
src_python/habitat_sim/logging.py	26
src_python/habitat_sim/sensors/sensor_suite.py	6
src_python/habitat_sim/sensors/noise_models/sensor_noise_model.py	25
src_python/habitat_sim/sensors/noise_models/poisson_noise_model.py	33
src_python/habitat_sim/sensors/noise_models/__init__.py	28
src_python/habitat_sim/sensors/noise_models/redwood_depth_noise_model.py	108
src_python/habitat_sim/sensors/noise_models/gaussian_noise_model.py	41
src_python/habitat_sim/sensors/noise_models/speckle_noise_model.py	40
src_python/habitat_sim/sensors/noise_models/no_noise_model.py	26
src_python/habitat_sim/sensors/noise_models/salt_and_pepper_noise_model.py	37
src_python/habitat_sim/sensors/__init__.py	3
src_python/habitat_sim/sim.py	3
src_python/habitat_sim/sensor.py	40
src_python/habitat_sim/metadata.py	4
src_python/habitat_sim/attributes.py	22
src_python/habitat_sim/registry.py	87
src_python/habitat_sim/__init__.py	102
src_python/habitat_sim/scene.py	24
src_python/habitat_sim/utils/profiling_utils.py	66
src_python/habitat_sim/utils/collect_env.py	57
src_python/habitat_sim/utils/gfx_replay_utils.py	21
src_python/habitat_sim/utils/validators.py	42
src_python/habitat_sim/utils/__init__.py	9
src_python/habitat_sim/utils/viz_utils.py	189
src_python/habitat_sim/utils/common.py	179
src_python/habitat_sim/utils/manager_utils.py	7
src_python/habitat_sim/utils/datasets_download.py	496
src_python/habitat_sim/utils/data/data_extractor.py	226
src_python/habitat_sim/utils/data/__init__.py	19
src_python/habitat_sim/utils/data/pose_extractor.py	209
src_python/habitat_sim/utils/data/data_structures.py	34
src_python/habitat_sim/utils/compare_profiles.py	218
src_python/habitat_sim/agent/__init__.py	3
src_python/habitat_sim/agent/controls/controls.py	18
src_python/habitat_sim/agent/controls/default_controls.py	106
src_python/habitat_sim/agent/controls/object_controls.py	53
src_python/habitat_sim/agent/controls/__init__.py	10
src_python/habitat_sim/agent/controls/pyrobot_noisy_controls.py	237
src_python/habitat_sim/agent/agent.py	189
src_python/habitat_sim/attributes_managers.py	12
src_python/habitat_sim/gfx.py	20
src_python/habitat_sim/physics.py	42
src_python/habitat_sim/simulator.py	562
src_python/habitat_sim/errors.py	11
src_python/habitat_sim/nav/__init__.py	22
src_python/habitat_sim/nav/greedy_geodesic_follower.py	112
src_python/habitat_sim/robots/__init__.py	15
src_python/habitat_sim/robots/fetch_robot.py	98
src_python/habitat_sim/robots/robot_interface.py	18
src_python/habitat_sim/robots/mobile_manipulator.py	328
src_python/habitat_sim/bindings/__init__.py	36
setup.py	384
setup.cfg	45
src/esp/core/Spimpl.h	345
src/esp/core/Logging.cpp	119
src/esp/core/Esp.cpp	1
src/esp/core/Configuration.h	380
src/esp/core/Logging.h	136
src/esp/core/configure.h.cmake	13
src/esp/core/Buffer.cpp	49
src/esp/core/Buffer.h	41
src/esp/core/Check.h	22
src/esp/core/Configuration.cpp	377
src/esp/core/Esp.h	164
src/esp/core/RigidState.h	19
src/esp/core/Check.cpp	15
src/esp/core/Utility.h	21
src/esp/core/managedContainers/ManagedContainerBase.h	163
src/esp/core/managedContainers/ManagedContainer.h	294
src/esp/core/managedContainers/ManagedContainerBase.cpp	183
src/esp/core/managedContainers/AbstractFileBasedManagedObject.h	28
src/esp/core/managedContainers/AbstractManagedObject.h	25
src/esp/core/managedContainers/ManagedFileBasedContainer.h	268
src/esp/core/Random.h	37
src/esp/bindings_js/index.js	73
src/esp/bindings_js/bindings.css	43
src/esp/bindings_js/bindings_js.cpp	522
src/esp/bindings_js/viewer.html	36
src/esp/bindings_js/viewer.css	28
src/esp/bindings_js/modules/vr_utils.js	159
src/esp/bindings_js/modules/object_sensor.js	50
src/esp/bindings_js/modules/viewer_demo.js	31
src/esp/bindings_js/modules/navigate.js	155
src/esp/bindings_js/modules/simenv_embind.js	127
src/esp/bindings_js/modules/web_demo.js	103
src/esp/bindings_js/modules/utils.js	92
src/esp/bindings_js/modules/defaults.js	25
src/esp/bindings_js/modules/topdown.js	95
src/esp/bindings_js/bindings.html	31
src/esp/io/JsonUtils.h	12
src/esp/io/JsonMagnumTypes.cpp	35
src/esp/io/JsonBuiltinTypes.h	149
src/esp/io/JsonEspTypes.cpp	85
src/esp/io/JsonAllTypes.h	39
src/esp/io/Io.cpp	27
src/esp/io/Json.h	81
src/esp/io/Io.h	11
src/esp/io/JsonEspTypes.h	182
src/esp/io/URDFParser.h	220
src/esp/io/JsonStlTypes.h	125
src/esp/io/Json.cpp	88
src/esp/io/URDFParser.cpp	974
src/esp/io/JsonMagnumTypes.h	87
src/esp/geo/VoxelGrid.cpp	263
src/esp/geo/Geo.cpp	332
src/esp/geo/OBB.cpp	205
src/esp/geo/VoxelUtils.h	69
src/esp/geo/VoxelWrapper.h	89
src/esp/geo/VoxelUtils.cpp	284
src/esp/geo/Geo.h	65
src/esp/geo/VoxelWrapper.cpp	62
src/esp/geo/CoordinateFrame.cpp	36
src/esp/geo/CoordinateFrame.h	36
src/esp/geo/OBB.h	41
src/esp/geo/VoxelGrid.h	188
src/esp/agent/Agent.h	93
src/esp/agent/Agent.cpp	80
src/esp/sensor/VisualSensor.cpp	163
src/esp/sensor/Sensor.h	119
src/esp/sensor/CameraSensor.cpp	131
src/esp/sensor/SensorFactory.cpp	51
src/esp/sensor/VisualSensor.h	90
src/esp/sensor/EquirectangularSensor.cpp	45
src/esp/sensor/CubeMapSensorBase.cpp	140
src/esp/sensor/FisheyeSensor.h	54
src/esp/sensor/RedwoodNoiseModel.cu	159
src/esp/sensor/RedwoodNoiseModel.cpp	58
src/esp/sensor/RedwoodNoiseModel.cuh	29
src/esp/sensor/SensorFactory.h	14
src/esp/sensor/Sensor.cpp	88
src/esp/sensor/FisheyeSensor.cpp	93
src/esp/sensor/CubeMapSensorBase.h	58
src/esp/sensor/CameraSensor.h	101
src/esp/sensor/RedwoodNoiseModel.h	28
src/esp/sensor/EquirectangularSensor.h	43
src/esp/physics/objectManagers/RigidObjectManager.h	67
src/esp/physics/objectManagers/RigidBaseManager.h	18
src/esp/physics/objectManagers/PhysicsObjectBaseManager.h	81
src/esp/physics/objectManagers/RigidObjectManager.cpp	62
src/esp/physics/objectManagers/ArticulatedObjectManager.h	63
src/esp/physics/objectManagers/ArticulatedObjectManager.cpp	55
src/esp/physics/RigidBase.h	146
src/esp/physics/PhysicsManager.h	393
src/esp/physics/PhysicsManager.cpp	483
src/esp/physics/objectWrappers/ManagedRigidBase.h	204
src/esp/physics/objectWrappers/ManagedRigidObject.h	40
src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h	235
src/esp/physics/objectWrappers/ManagedArticulatedObject.h	264
src/esp/physics/URDFImporter.cpp	277
src/esp/physics/PhysicsObjectBase.h	212
src/esp/physics/configure.h.cmake	5
src/esp/physics/ArticulatedObject.h	358
src/esp/physics/RigidObject.h	73
src/esp/physics/bullet/BulletRigidStage.cpp	170
src/esp/physics/bullet/BulletURDFImporter.h	85
src/esp/physics/bullet/BulletPhysicsManager.cpp	714
src/esp/physics/bullet/BulletCollisionHelper.cpp	87
src/esp/physics/bullet/objectWrappers/ManagedBulletArticulatedObject.h	43
src/esp/physics/bullet/objectWrappers/ManagedBulletRigidObject.h	56
src/esp/physics/bullet/BulletRigidObject.h	169
src/esp/physics/bullet/BulletRigidObject.cpp	390
src/esp/physics/bullet/BulletPhysicsManager.h	138
src/esp/physics/bullet/BulletArticulatedObject.cpp	767
src/esp/physics/bullet/BulletURDFImporter.cpp	514
src/esp/physics/bullet/BulletCollisionHelper.h	28
src/esp/physics/bullet/BulletArticulatedObject.h	120
src/esp/physics/bullet/BulletRigidStage.h	38
src/esp/physics/bullet/BulletBase.h	65
src/esp/physics/bullet/BulletBase.cpp	55
src/esp/physics/RigidStage.cpp	21
src/esp/physics/URDFImporter.h	102
src/esp/physics/RigidObject.cpp	86
src/esp/physics/CollisionGroupHelper.h	50
src/esp/physics/RigidStage.h	33
src/esp/physics/CollisionGroupHelper.cpp	98
src/esp/nav/GreedyFollower.h	74
src/esp/nav/PathFinder.cpp	1009
src/esp/nav/PathFinder.h	115
src/esp/nav/GreedyFollower.cpp	203
src/esp/bindings/SceneBindings.cpp	169
src/esp/bindings/GfxReplayBindings.cpp	76
src/esp/bindings/MetadataMediatorBindings.cpp	72
src/esp/bindings/ShortestPathBindings.cpp	139
src/esp/bindings/AttributesBindings.cpp	529
src/esp/bindings/OpaqueTypes.h	13
src/esp/bindings/SensorBindings.cpp	227
src/esp/bindings/Bindings.h	46
src/esp/bindings/CoreBindings.cpp	43
src/esp/bindings/AttributesManagersBindings.cpp	381
src/esp/bindings/PhysicsWrapperManagerBindings.cpp	256
src/esp/bindings/SimBindings.cpp	297
src/esp/bindings/GfxBindings.cpp	209
src/esp/bindings/GeoBindings.cpp	52
src/esp/bindings/PhysicsBindings.cpp	225
src/esp/bindings/Bindings.cpp	104
src/esp/bindings/ConfigBindings.cpp	150
src/esp/bindings/PhysicsObjectBindings.cpp	546
src/esp/scene/ObjectControls.cpp	85
src/esp/scene/SceneNode.h	139
src/esp/scene/GibsonSemanticScene.h	26
src/esp/scene/HM3DSemanticScene.cpp	126
src/esp/scene/HM3DSemanticScene.h	48
src/esp/scene/SemanticScene.h	199
src/esp/scene/SceneGraph.h	52
src/esp/scene/SceneGraph.cpp	29
src/esp/scene/SemanticScene.cpp	61
src/esp/scene/SceneManager.h	24
src/esp/scene/SceneNode.cpp	164
src/esp/scene/GibsonSemanticScene.cpp	73
src/esp/scene/Mp3dSemanticScene.h	28
src/esp/scene/Mp3dSemanticScene.cpp	233
src/esp/scene/SceneManager.cpp	19
src/esp/scene/ObjectControls.h	37
src/esp/scene/ReplicaSemanticScene.h	26
src/esp/scene/ReplicaSemanticScene.cpp	84
src/esp/sim/SimulatorConfiguration.h	37
src/esp/sim/Simulator.cpp	859
src/esp/sim/Simulator.h	452
src/esp/sim/SimulatorConfiguration.cpp	32
src/esp/assets/PTexMeshData.h	70
src/esp/assets/MeshData.h	17
src/esp/assets/Asset.cpp	30
src/esp/assets/RenderAssetInstanceCreationInfo.h	33
src/esp/assets/PTexMeshData.cpp	661
src/esp/assets/MeshMetaData.h	48
src/esp/assets/BaseMesh.cpp	15
src/esp/assets/GenericMeshData.cpp	59
src/esp/assets/BaseMesh.h	49
src/esp/assets/GenericSemanticMeshData.cpp	255
src/esp/assets/Mp3dInstanceMeshData.cpp	148
src/esp/assets/RenderAssetInstanceCreationInfo.cpp	14
src/esp/assets/Asset.h	52
src/esp/assets/CollisionMeshData.h	15
src/esp/assets/GenericMeshData.h	38
src/esp/assets/ResourceManager.cpp	2046
src/esp/assets/GenericSemanticMeshData.h	74
src/esp/assets/ResourceManager.h	388
src/esp/assets/Mp3dInstanceMeshData.h	31
src/esp/gfx/PbrShader.h	129
src/esp/gfx/RenderCamera.h	82
src/esp/gfx/GenericDrawable.cpp	148
src/esp/gfx/DepthMapDrawableBase.h	21
src/esp/gfx/cuda_helpers/HelperCuda.h	838
src/esp/gfx/cuda_helpers/HelperString.h	395
src/esp/gfx/WindowlessContext.h	19
src/esp/gfx/BackgroundRenderer.h	56
src/esp/gfx/CubeMapShaderBase.h	46
src/esp/gfx/Drawable.h	66
src/esp/gfx/LightSetup.h	43
src/esp/gfx/PTexMeshShader.h	37
src/esp/gfx/PbrDrawable.cpp	206
src/esp/gfx/GaussianFilterShader.cpp	61
src/esp/gfx/LightSetup.cpp	80
src/esp/gfx/CubeMap.cpp	511
src/esp/gfx/CubeMapCamera.cpp	90
src/esp/gfx/Renderer.h	57
src/esp/gfx/Drawable.cpp	38
src/esp/gfx/DoubleSphereCameraShader.cpp	98
src/esp/gfx/RenderTarget.cpp	363
src/esp/gfx/GaussianFilterShader.h	26
src/esp/gfx/MaterialUtil.h	19
src/esp/gfx/PbrImageBasedLighting.h	55
src/esp/gfx/PbrEquiRectangularToCubeMapShader.cpp	58
src/esp/gfx/magnum.h	25
src/esp/gfx/MeshVisualizerDrawable.cpp	27
src/esp/gfx/CubeMapCamera.h	46
src/esp/gfx/MaterialData.h	50
src/esp/gfx/PbrPrecomputedMapShader.cpp	87
src/esp/gfx/MeshVisualizerDrawable.h	22
src/esp/gfx/PbrShader.cpp	467
src/esp/gfx/PbrImageBasedLighting.cpp	255
src/esp/gfx/DoubleSphereCameraShader.h	25
src/esp/gfx/WindowlessContext.cpp	88
src/esp/gfx/PTexMeshDrawable.cpp	54
src/esp/gfx/TextureVisualizerShader.cpp	142
src/esp/gfx/BackgroundRenderer.cpp	188
src/esp/gfx/VarianceShadowMapShader.cpp	60
src/esp/gfx/ShadowMapManager.h	11
src/esp/gfx/VarianceShadowMapShader.h	31
src/esp/gfx/EquirectangularShader.cpp	85
src/esp/gfx/PbrEquiRectangularToCubeMapShader.h	34
src/esp/gfx/PTexMeshShader.cpp	98
src/esp/gfx/ShaderManager.h	16
src/esp/gfx/replay/ReplayManager.cpp	22
src/esp/gfx/replay/Keyframe.h	40
src/esp/gfx/replay/Player.cpp	154
src/esp/gfx/replay/ReplayManager.h	28
src/esp/gfx/replay/Player.h	58
src/esp/gfx/replay/Recorder.h	68
src/esp/gfx/replay/Recorder.cpp	165
src/esp/gfx/DebugLineRender.h	91
src/esp/gfx/TextureVisualizerShader.h	41
src/esp/gfx/DrawableGroup.cpp	36
src/esp/gfx/GenericDrawable.h	37
src/esp/gfx/CubeMapShaderBase.cpp	45
src/esp/gfx/MaterialUtil.cpp	118
src/esp/gfx/PbrDrawable.h	47
src/esp/gfx/ShaderManager.cpp	15
src/esp/gfx/DebugLineRender.cpp	229
src/esp/gfx/RenderCamera.cpp	162
src/esp/gfx/PTexMeshDrawable.h	38
src/esp/gfx/RenderTarget.h	54
src/esp/gfx/PbrPrecomputedMapShader.h	41
src/esp/gfx/CubeMap.h	95
src/esp/gfx/DepthUnprojection.cpp	96
src/esp/gfx/DepthMapDrawableBase.cpp	12
src/esp/gfx/EquirectangularShader.h	24
src/esp/gfx/DepthUnprojection.h	31
src/esp/gfx/VarianceShadowMapDrawable.cpp	30
src/esp/gfx/PbrTextureUnit.h	23
src/esp/gfx/Renderer.cpp	428
src/esp/gfx/DrawableGroup.h	30
src/esp/gfx/VarianceShadowMapDrawable.h	22
src/esp/metadata/MetadataUtils.h	9
src/esp/metadata/managers/SceneInstanceAttributesManager.h	65
src/esp/metadata/managers/StageAttributesManager.h	63
src/esp/metadata/managers/PhysicsAttributesManager.cpp	58
src/esp/metadata/managers/LightLayoutAttributesManager.h	56
src/esp/metadata/managers/StageAttributesManager.cpp	299
src/esp/metadata/managers/SceneDatasetAttributesManager.cpp	372
src/esp/metadata/managers/AssetAttributesManager.cpp	192
src/esp/metadata/managers/AttributesManagerBase.h	223
src/esp/metadata/managers/AssetAttributesManager.h	254
src/esp/metadata/managers/LightLayoutAttributesManager.cpp	249
src/esp/metadata/managers/PhysicsAttributesManager.h	64
src/esp/metadata/managers/ObjectAttributesManager.h	98
src/esp/metadata/managers/ObjectAttributesManager.cpp	199
src/esp/metadata/managers/AbstractObjectAttributesManagerBase.h	226
src/esp/metadata/managers/SceneDatasetAttributesManager.h	66
src/esp/metadata/managers/SceneInstanceAttributesManager.cpp	250
src/esp/metadata/MetadataMediator.h	166
src/esp/metadata/MetadataUtils.cpp	31
src/esp/metadata/attributes/PhysicsManagerAttributes.cpp	24
src/esp/metadata/attributes/LightLayoutAttributes.cpp	92
src/esp/metadata/attributes/AttributesEnumMaps.h	45
src/esp/metadata/attributes/PhysicsManagerAttributes.h	54
src/esp/metadata/attributes/PrimitiveAssetAttributes.h	333
src/esp/metadata/attributes/AttributesBase.cpp	32
src/esp/metadata/attributes/ObjectAttributes.cpp	124
src/esp/metadata/attributes/ObjectAttributes.h	273
src/esp/metadata/attributes/SceneDatasetAttributes.cpp	216
src/esp/metadata/attributes/SceneInstanceAttributes.cpp	279
src/esp/metadata/attributes/AttributesEnumMaps.cpp	95
src/esp/metadata/attributes/SceneInstanceAttributes.h	253
src/esp/metadata/attributes/AttributesBase.h	240
src/esp/metadata/attributes/PrimitiveAssetAttributes.cpp	141
src/esp/metadata/attributes/SceneDatasetAttributes.h	163
src/esp/metadata/attributes/LightLayoutAttributes.h	153
src/esp/metadata/MetadataMediator.cpp	291
src/cmake/FindAssimp.cmake	103
src/cmake/FindGLFW.cmake	122
src/cmake/FindCorrade.cmake	556
src/cmake/FindMagnumBindings.cmake	112
src/cmake/FindMagnumIntegration.cmake	262
src/cmake/FindMagnum.cmake	1080
src/cmake/FindBullet.cmake	219
src/cmake/FindMagnumPlugins.cmake	421
src/cmake/FindImGui.cmake	184
src/cmake/FindEGL.cmake	76
src/cmake/dependencies.cmake	302
src/utils/datatool/SceneLoader.cpp	94
src/utils/datatool/Datatool.cpp	160
src/utils/datatool/SceneLoader.h	25
src/utils/viewer/viewer.cpp	1684
src/utils/viewer/viewer.html	25
src/utils/viewer/ObjectPickingHelper.h	31
src/utils/viewer/ObjectPickingHelper.cpp	98
src/shaders/varianceShadowMap.vert	19
src/shaders/textureVisualizer.frag	30
src/shaders/shadowsVSM.glsl	43
src/shaders/pbr.vert	61
src/shaders/doubleSphereCamera.frag	49
src/shaders/depth.vert	21
src/shaders/bigTriangle.vert	32
src/shaders/pbrPrefilteredMap.frag	55
src/shaders/ptex-default-gl410.frag	129
src/shaders/equirectangularToCubeMap.frag	74
src/shaders/pbrCommon.glsl	52
src/shaders/pbrPrecomputedMap.vert	16
src/shaders/pbrIrradianceMap.frag	18
src/shaders/equirectangular.frag	38
src/shaders/ptex-default-gl410.geom	23
src/shaders/gaussianFilter.frag	38
src/shaders/depth.frag	16
src/shaders/pbr.frag	324
src/shaders/varianceShadowMap.frag	9
src/shaders/ptex-default-gl410.vert	5