Agents¶

For a higher level description of the agents, see Holodeck Agents.

Definitions for different agents that can be controlled from Holodeck

Classes:

`AgentDefinition`(agent_name, agent_type, …)	Represents information needed to initialize agent.
`AgentFactory`()	Creates an agent object
`AndroidAgent`(client[, name])	A humanoid android agent.
`ControlSchemes`()	All allowed control schemes.
`HandAgent`(client[, name])	A floating hand agent.
`HolodeckAgent`(client[, name])	A learning agent in Holodeck
`NavAgent`(client[, name])	A humanoid character capable of intelligent navigation.
`SphereAgent`(client[, name])	A basic sphere robot.
`TeleportFlags`()	The constant values of valid teleport bit flags.
`TurtleAgent`(client[, name])	A simple turtle bot.
`UavAgent`(client[, name])	A UAV (quadcopter) agent

class holodeck.agents.AgentDefinition(agent_name, agent_type, max_height, 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 HolodeckAgent to control, string or class reference.
( (max_height) – obj:’float’): The max height that the agent can reach before upwards movement is limited.

:param sensors (SensorDefinition or class type (if no duplicate: sensors)): A list of HolodeckSensors to read from this agent. :param starting_loc: Starting [x, y, z] location for agent

(see Coordinate System)

Parameters

starting_rot (list of float) – Starting [roll, pitch, yaw] rotation for agent (see Rotations)
existing (bool) – If the agent exists in the world or not (deprecated)

class holodeck.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 (holodeck.holodeckclient.HolodeckClient) – HolodeckClient agent is associated with
agent_def (AgentDefinition) – Definition of the agent to instantiate

Returns:

class holodeck.agents.AndroidAgent(client, name='DefaultAgent')¶

A humanoid android agent.

Can be controlled via torques supplied to its joints.

See AndroidAgent for more details.

Action Space:

94 dimensional vector of continuous values representing torques to be applied at each joint. The layout of joints can be found here:

There are 18 joints with 3 DOF, 10 with 2 DOF, and 20 with 1 DOF.

Inherits from HolodeckAgent.

Attributes:

control_schemes

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.
`joint_ind`(joint_name)	Gets the joint indices for a given name

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

(

static joint_ind(joint_name)¶

Gets the joint indices for a given name

Parameters: joint_name (str) – Name of the joint to look up
Returns: The index into the state array
Return type: (int)

class holodeck.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 holodeck.agents.HandAgent(client, name='DefaultAgent')¶

A floating hand agent.

Can be controlled via torques supplied to its joints and moved around in three dimensions.

See HandAgent for more details.

Action Space:

23 or 26 dimensional vector of continuous values representing torques to be applied at each joint. The layout of joints can be found here: HandAgent Joints.

Inherits from HolodeckAgent.

Attributes:

control_schemes

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.
`joint_ind`(joint_name)	Gets the joint indices for a given name

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

(

static joint_ind(joint_name)¶

Gets the joint indices for a given name

Parameters: joint_name (str) – Name of the joint to look up
Returns: The index into the state array
Return type: (int)

class holodeck.agents.HolodeckAgent(client, name='DefaultAgent')¶

A learning agent in Holodeck

Agents can act, receive rewards, and receive observations from their sensors. Examples include the Android, UAV, and SphereRobot.

Parameters

client (HolodeckClient) – The HolodeckClient 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, HolodeckSensor)) – A list of HolodeckSensors to read from this agent.

name¶

The name of the agent.

Type: str

sensors¶

List of HolodeckSensors on this agent.

Type: dict of (string, HolodeckSensor)

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.
`clear_action`()	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.
`has_camera`()	Indicates 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:

`action_space`	Gets the action space for the current agent and control scheme.
`control_schemes`	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

ActionSpace

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 (HolodeckSensor or: list of HolodeckSensor):: Sensors to add to the agent.

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()¶

Indicates 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 (HolodeckSensor or: list of HolodeckSensor):: Sensors to remove from the agent.

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 from ControlSchemes.

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 holodeck.agents.NavAgent(client, name='DefaultAgent')¶

A humanoid character capable of intelligent navigation.

See NavAgent for more details.

Action Space:

Continuous control scheme of the form [x_target, y_target, z_target]. (see Coordinate System)

Inherits from HolodeckAgent.

Attributes:

control_schemes

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 holodeck.agents.SphereAgent(client, name='DefaultAgent')¶

A basic sphere robot.

See SphereAgent for more details.

Action Space:

Has two possible control schemes, one discrete and one continuous:

Control Scheme	Value	Action
Discrete (`0`)	`[0]`	Move forward
	`[1]`	Move backward
	`[2]`	Turn right
	`[3]`	Turn left
Continuous (`1`)	`[forward_speed, rot_speed]`

Inherits from HolodeckAgent.

Attributes:

control_schemes

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 holodeck.agents.TeleportFlags¶: The constant values of valid teleport bit flags.

class holodeck.agents.TurtleAgent(client, name='DefaultAgent')¶

A simple turtle bot.

See TurtleAgent for more details.

Action Space:

[forward_force, rot_force]

forward_force is capped at 160 in either direction
rot_force is capped at 35 either direction

Inherits from HolodeckAgent.

Attributes:

control_schemes

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 holodeck.agents.UavAgent(client, name='DefaultAgent')¶

A UAV (quadcopter) agent

Action Space:

Has two possible continuous action control schemes

[pitch_torque, roll_torque, yaw_torque, thrust] and
[pitch_target, roll_target, yaw_rate_target, altitude_target]

See UavAgent for more details.

Inherits from HolodeckAgent.

Attributes:

control_schemes

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

(