Agents
For a higher level description of the agents, see HoloOcean Agents.
Definitions for different agents that can be controlled from HoloOcean
Classes:
|
Represents information needed to initialize agent. |
Creates an agent object |
|
All allowed control schemes. |
|
|
A learning agent in HoloOcean |
|
A simple autonomous underwater vehicle. |
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A simple foward motion autonomous underwater vehicle. |
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A simple turtle bot. |
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- class holoocean.agents.AgentDefinition(agent_name, agent_type, sensors=None, starting_loc=(0, 0, 0), starting_rot=(0, 0, 0), existing=False, is_main_agent=False)
Represents information needed to initialize agent.
- Parameters
agent_name (
str
) – The name of the agent to control.agent_type (
str
or type) – The type of HoloOceanAgent to control, string or class reference.sensors (
SensorDefinition
or class type (if no duplicate sensors)) – A list of HoloOceanSensors to read from this agent.starting_loc (
list
offloat
) – Starting[x, y, z]
location for agent (see Coordinate System)starting_rot (
list
offloat
) – Starting[roll, pitch, yaw]
rotation for agent (see Rotations)existing (
bool
) – If the agent exists in the world or not (deprecated)
- class holoocean.agents.AgentFactory
Creates an agent object
Methods:
build_agent
(client, agent_def)Constructs an agent
- static build_agent(client, agent_def)
Constructs an agent
- Parameters
client (
holoocean.holooceanclient.HoloOceanClient
) – HoloOceanClient agent is associated withagent_def (
AgentDefinition
) – Definition of the agent to instantiate
Returns:
- class holoocean.agents.ControlSchemes
All allowed control schemes.
- ANDROID_TORQUES
Default Android control scheme. Specify a torque for each joint.
- Type
int
- CONTINUOUS_SPHERE_DEFAULT
Default ContinuousSphere control scheme. Takes two commands, [forward_delta, turn_delta].
- Type
int
- DISCRETE_SPHERE_DEFAULT
Default DiscreteSphere control scheme. Takes a value, 0-4, which corresponds with forward, backward, right, and left.
- Type
int
- NAV_TARGET_LOCATION
Default NavAgent control scheme. Takes a target xyz coordinate.
- Type
int
- UAV_TORQUES
Default UAV control scheme. Takes torques for roll, pitch, and yaw, as well as thrust.
- Type
int
- UAV_ROLL_PITCH_YAW_RATE_ALT
Control scheme for UAV. Takes roll, pitch, yaw rate, and altitude targets.
- Type
int
- HAND_AGENT_MAX_TORQUES
Default Android control scheme. Specify a torque for each joint.
- Type
int
- class holoocean.agents.HoloOceanAgent(client, name='DefaultAgent')
A learning agent in HoloOcean
Agents can act, receive rewards, and receive observations from their sensors. Examples include the Android, UAV, and SphereRobot.
- Parameters
client (
HoloOceanClient
) – The HoloOceanClient that this agent belongs with.name (
str
, optional) – The name of the agent. Must be unique from other agents in the same environment.sensors (
dict
of (str
,HoloOceanSensor
)) – A list of HoloOceanSensors to read from this agent.
- name
The name of the agent.
- Type
str
- sensors
List of HoloOceanSensors on this agent.
- Type
dict of (string,
HoloOceanSensor
)
- agent_state_dict
A dictionary that maps sensor names to sensor observation data.
- Type
dict
Methods:
act
(action)Sets the command for the agent.
add_sensors
(sensor_defs)Adds a sensor to a particular agent object and attaches an instance of the sensor to the agent in the world.
Sets the action to zeros, effectively removing any previous actions.
get_joint_constraints
(joint_name)Returns the corresponding swing1, swing2 and twist limit values for the specified joint.
Indicatates whether this agent has a camera or not.
remove_sensors
(sensor_defs)Removes a sensor from a particular agent object and detaches it from the agent in the world.
set_control_scheme
(index)Sets the control scheme for the agent.
set_physics_state
(location, rotation, ...)Sets the location, rotation, velocity and angular velocity of an agent.
teleport
([location, rotation])Teleports the agent to a specific location, with a specific rotation.
Attributes:
Gets the action space for the current agent and control scheme.
A list of all control schemes for the agent.
- act(action)
Sets the command for the agent. Action depends on the agent type and current control scheme.
- Parameters
action (
np.ndarray
) – The action to take.
- property action_space
Gets the action space for the current agent and control scheme.
- Returns
- The action space for this agent and control
scheme.
- Return type
- add_sensors(sensor_defs)
Adds a sensor to a particular agent object and attaches an instance of the sensor to the agent in the world.
- :param sensor_defs (
HoloOceanSensor
or: list ofHoloOceanSensor
): Sensors to add to the agent.
- :param sensor_defs (
- clear_action()
Sets the action to zeros, effectively removing any previous actions.
- property control_schemes
A list of all control schemes for the agent. Each list element is a 2-tuple, with the first element containing a short description of the control scheme, and the second element containing the
ActionSpace
for the control scheme.- Returns
Each tuple contains a short description and the ActionSpace
- Return type
(
str
,ActionSpace
)
- get_joint_constraints(joint_name)
Returns the corresponding swing1, swing2 and twist limit values for the specified joint. Will return None if the joint does not exist for the agent.
- Returns
obj )
- Return type
(
- has_camera()
Indicatates whether this agent has a camera or not.
- Returns
If the agent has a sensor or not
- Return type
bool
- remove_sensors(sensor_defs)
Removes a sensor from a particular agent object and detaches it from the agent in the world.
- :param sensor_defs (
HoloOceanSensor
or: list ofHoloOceanSensor
): Sensors to remove from the agent.
- :param sensor_defs (
- set_control_scheme(index)
Sets the control scheme for the agent. See
ControlSchemes
.- Parameters
index (
int
) – The control scheme to use. Should be set with an enum fromControlSchemes
.
- set_physics_state(location, rotation, velocity, angular_velocity)
Sets the location, rotation, velocity and angular velocity of an agent.
- Parameters
location (np.ndarray) – New location (
[x, y, z]
(see Coordinate System))rotation (np.ndarray) – New rotation (
[roll, pitch, yaw]
, see (see Rotations))velocity (np.ndarray) – New velocity (
[x, y, z]
(see Coordinate System))angular_velocity (np.ndarray) – New angular velocity (
[x, y, z]
in degrees (see Coordinate System))
- teleport(location=None, rotation=None)
Teleports the agent to a specific location, with a specific rotation.
- Parameters
location (np.ndarray, optional) –
An array with three elements specifying the target world coordinates
[x, y, z]
in meters (see Coordinate System).If
None
(default), keeps the current location.rotation (np.ndarray, optional) –
An array with three elements specifying roll, pitch, and yaw in degrees of the agent.
If
None
(default), keeps the current rotation.
- class holoocean.agents.HoveringAUV(client, name='DefaultAgent')
A simple autonomous underwater vehicle.
Action Space::
[Vertical Front Starboard, Vertical Front Port, Vertical Back Port, Vertical Back Starboard, Angled Front Starboard, Angled Front Port, Angled Back Port, Angled Back Starboard]
All are capped by max acceleration
Inherits from
HoloOceanAgent
.Attributes:
A list of all control schemes for the agent.
Methods:
get_joint_constraints
(joint_name)Returns the corresponding swing1, swing2 and twist limit values for the specified joint.
- property control_schemes
A list of all control schemes for the agent. Each list element is a 2-tuple, with the first element containing a short description of the control scheme, and the second element containing the
ActionSpace
for the control scheme.- Returns
Each tuple contains a short description and the ActionSpace
- Return type
(
str
,ActionSpace
)
- get_joint_constraints(joint_name)
Returns the corresponding swing1, swing2 and twist limit values for the specified joint. Will return None if the joint does not exist for the agent.
- Returns
obj )
- Return type
(
- class holoocean.agents.TorpedoAUV(client, name='DefaultAgent')
A simple foward motion autonomous underwater vehicle.
Action Space::
[left_fin, top_fin, right_fin, bottom_fin, thrust]
All are capped by max acceleration
Inherits from
HoloOceanAgent
.Attributes:
A list of all control schemes for the agent.
Methods:
get_joint_constraints
(joint_name)Returns the corresponding swing1, swing2 and twist limit values for the specified joint.
- property control_schemes
A list of all control schemes for the agent. Each list element is a 2-tuple, with the first element containing a short description of the control scheme, and the second element containing the
ActionSpace
for the control scheme.- Returns
Each tuple contains a short description and the ActionSpace
- Return type
(
str
,ActionSpace
)
- get_joint_constraints(joint_name)
Returns the corresponding swing1, swing2 and twist limit values for the specified joint. Will return None if the joint does not exist for the agent.
- Returns
obj )
- Return type
(
- class holoocean.agents.TurtleAgent(client, name='DefaultAgent')
A simple turtle bot.
Action Space:
[forward_force, rot_force]
forward_force
is capped at 160 in either directionrot_force
is capped at 35 either direction
Inherits from
HoloOceanAgent
.Attributes:
A list of all control schemes for the agent.
Methods:
get_joint_constraints
(joint_name)Returns the corresponding swing1, swing2 and twist limit values for the specified joint.
- property control_schemes
A list of all control schemes for the agent. Each list element is a 2-tuple, with the first element containing a short description of the control scheme, and the second element containing the
ActionSpace
for the control scheme.- Returns
Each tuple contains a short description and the ActionSpace
- Return type
(
str
,ActionSpace
)
- get_joint_constraints(joint_name)
Returns the corresponding swing1, swing2 and twist limit values for the specified joint. Will return None if the joint does not exist for the agent.
- Returns
obj )
- Return type
(
- class holoocean.agents.UavAgent(client, name='DefaultAgent')
Attributes:
A list of all control schemes for the agent.
Methods:
get_joint_constraints
(joint_name)Returns the corresponding swing1, swing2 and twist limit values for the specified joint.
- property control_schemes
A list of all control schemes for the agent. Each list element is a 2-tuple, with the first element containing a short description of the control scheme, and the second element containing the
ActionSpace
for the control scheme.- Returns
Each tuple contains a short description and the ActionSpace
- Return type
(
str
,ActionSpace
)
- get_joint_constraints(joint_name)
Returns the corresponding swing1, swing2 and twist limit values for the specified joint. Will return None if the joint does not exist for the agent.
- Returns
obj )
- Return type
(