Python SDK

Primary entry point for loading configuration, building the scene, and running the simulation loop. FastSim wraps the full lifecycle: init → setup → reset → step/start → close.

• FastSim
• StepContext

Unified configuration management: load YAML/JSON configs, validate against schemas, export working configs, and generate starter templates.

• ConfigManager

Backend-agnostic scene and entity API. SceneManager provides access to all spawned robots, objects, and sensors regardless of the underlying simulator backend. Abstract base classes define the lifecycle contract for every entity type.

• UniSimABC
• SpawnableABC
• ArticulationSpawnable
• RobotArticulation
• GeneralRobotRobot
• +19 more

High-level controller classes decorated with @apiclass. Each controller wraps one or more backend capabilities and returns a structured Result object. The command queue system allows multi-step actions to be dispatched and awaited.

• Result
• PriorityLevelIntEnum
• CommandABC
• SimpleCommandCommand
• MultiCommandCommand
• +5 more

Optional capability modules (recording, benchmark, ROS, HTTP server, data collection, …) that plug into the simulation lifecycle. Enabled via config and wired through ExtensionManager. Also contains the action/goal/observer/backend subsystems used by these modules.

• ExtensionManager
• ExtensionABC
• DataCollectorExtension
• RecorderExtension
• ReplayerExtension
• +41 more

Abstract planner interface for motion planning backends. Implement Planner to integrate a custom IK/FK/motion-plan solver. CuroboPlanner provides a ready-to-use GPU-accelerated implementation.

• PlannerABC
• CuroboPlannerPlanner
• PlannerFactory

Utility classes for pose math, asset resolution, structured logging, visualization, and kinematics helpers used throughout the framework.

• Pose
• Asset
• Log
• PoseUtil
• Visualizer
• +1 more

Task execution framework: define multi-action tasks, track their status, and manage them through TaskManager. Each Task contains an ordered sequence of Actions evaluated against Goals.

• TaskStatus
• ActionResultStatus
• GoalResultStatus
• Task
• TaskManager

Command-line tools installed with the fastsim package. Run these from any terminal after installation.

• CLI Commands