Sensors

Definition of all of the sensor information

Classes:

AbuseSensor(client[, agent_name, …])

Returns True if the agent has been abused.

AvoidTask(client[, agent_name, agent_type, …])

BallLocationSensor(client[, agent_name, …])

For the CupGame task, returns which cup the ball is underneath.

CleanUpTask(client[, agent_name, …])

CollisionSensor(client[, agent_name, …])

Returns true if the agent is colliding with anything (including the ground).

CupGameTask(client[, agent_name, …])

DistanceTask(client[, agent_name, …])

FollowTask(client[, agent_name, agent_type, …])

HolodeckSensor(client[, agent_name, …])

Base class for a sensor

IMUSensor(client[, agent_name, agent_type, …])

Inertial Measurement Unit sensor.

JointRotationSensor(client, agent_name, …)

Returns the state of the AndroidAgent’s or the HandAgent’s joints.

LocationSensor(client[, agent_name, …])

Gets the location of the agent in the world.

LocationTask(client[, agent_name, …])

OrientationSensor(client[, agent_name, …])

Gets the forward, right, and up vector for the agent.

PressureSensor(client, agent_name, agent_type)

For each joint on the AndroidAgent or the HandAgent, returns the pressure on the joint.

RGBCamera(client, agent_name, agent_type[, …])

Captures agent’s view.

RangeFinderSensor(client, agent_name, agent_type)

Returns distances to nearest collisions in the directions specified by the parameters.

RelativeSkeletalPositionSensor(client, …)

Gets the position of each bone in a skeletal mesh as a quaternion.

RotationSensor(client[, agent_name, …])

Gets the rotation of the agent in the world.

SensorDefinition(agent_name, agent_type, …)

A class for new sensors and their parameters, to be used for adding new sensors.

SensorFactory()

Given a sensor definition, constructs the appropriate HolodeckSensor object.

VelocitySensor(client[, agent_name, …])

Returns the x, y, and z velocity of the agent.

ViewportCapture(client, agent_name, agent_type)

Captures what the viewport is seeing.

WorldNumSensor(client[, agent_name, …])

Returns any numeric value from the world corresponding to a given key.

class holodeck.sensors.AbuseSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Returns True if the agent has been abused. Abuse is calculated differently for different agents. The Sphere and Hand agent cannot be abused. The Uav, Android, and Turtle agents can be abused by experiencing high levels of acceleration. The Uav is abused when its blades collide with another object, and the Turtle agent is abused when it’s flipped over.

Configuration

  • AccelerationLimit: Maximum acceleration the agent can endure before being considered abused. The default depends on the agent, usually around 300 m/s^2.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.AvoidTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.BallLocationSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

For the CupGame task, returns which cup the ball is underneath.

The cups are numbered 0-2, from the agents perspective, left to right. As soon as a swap begins, the number returned by this sensor is updated to the balls new position after the swap ends.

Only works in the CupGame world.

Attributes:

dtype

The type of data in the sensor

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.CleanUpTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

Methods:

start_task(num_trash[, use_table])

Spawn trash around the trash can.

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

start_task(num_trash, use_table=False)

Spawn trash around the trash can. Do not call if the config file contains a clean up task configuration block.

Parameters
  • num_trash (int) – Amount of trash to spawn

  • use_table (bool, optional) – If True a table will spawn next to the trash can, all trash will be on the table, and the trash can lid will be absent. This makes the task significantly easier. If False, all trash will spawn on the ground. Defaults to False.

class holodeck.sensors.CollisionSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Returns true if the agent is colliding with anything (including the ground).

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.CupGameTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

Methods:

start_game(num_shuffles[, speed, seed])

Start the cup game and set its configuration.

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

start_game(num_shuffles, speed=3, seed=None)

Start the cup game and set its configuration. Do not call if the config file contains a cup task configuration block, as it will override the configuration and cause undefined behavior.

Parameters
  • num_shuffles (int) – Number of shuffles

  • speed (int) – Speed of the shuffle. Works best between 1-10

  • seed (int) – Seed to rotate the cups the same way every time. If none is given,

  • seed will not be used. (a) –

class holodeck.sensors.DistanceTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.FollowTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.HolodeckSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Base class for a sensor

Parameters
  • client (HolodeckClient) – Client attached to a sensor

  • agent_name (str) – Name of the parent agent

  • agent_type (str) – Type of the parent agent

  • name (str) – Name of the sensor

  • config (dict) – Configuration dictionary to pass to the engine

Methods:

clean_up_resources()

Cleans up the resources by deleting the sensor data buffer it exists.

rotate(rotation)

Rotate the sensor.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

sensor_data

Get the sensor data buffer

clean_up_resources()

Cleans up the resources by deleting the sensor data buffer it exists.

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

rotate(rotation)

Rotate the sensor. It will be applied in approximately three ticks. step() or tick().)

This will not persist after a call to reset(). If you want a persistent rotation for a sensor, specify it in your scenario configuration.

Parameters

rotation (list of float) – rotation for sensor (see Rotations).

property sensor_data

Get the sensor data buffer

Returns

Current sensor data

Return type

np.ndarray of size self.data_shape

class holodeck.sensors.IMUSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Inertial Measurement Unit sensor.

Returns a 2D numpy array of

::`

[ [acceleration_x, acceleration_y, acceleration_z],

[velocity_roll, velocity_pitch, velocity_yaw] ]

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.JointRotationSensor(client, agent_name, agent_type, name='RGBCamera', config=None)

Returns the state of the AndroidAgent’s or the HandAgent’s joints.

See Android Joints or HandAgent Joints for the indexes into this vector.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.LocationSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Gets the location of the agent in the world.

Returns coordinates in [x, y, z] format (see Coordinate System)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.LocationTask(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.OrientationSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Gets the forward, right, and up vector for the agent. Returns a 2D numpy array of

[ [forward_x, forward_y, forward_z],
  [right_x,   right_y,   right_z  ],
  [up_x,      up_y,      up_z     ] ]

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.PressureSensor(client, agent_name, agent_type, name='RGBCamera', config=None)

For each joint on the AndroidAgent or the HandAgent, returns the pressure on the joint.

For each joint, returns [x_loc, y_loc, z_loc, force], in the order the joints are listed in Android Joints or HandAgent Joints.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.RGBCamera(client, agent_name, agent_type, name='RGBCamera', config=None)

Captures agent’s view.

The default capture resolution is 256x256x256x4, corresponding to the RGBA channels. The resolution can be increased, but will significantly impact performance.

Configuration

The configuration block (see Configuration Block) accepts the following options:

  • CaptureWidth: Width of captured image

  • CaptureHeight: Height of captured image

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

Methods:

set_ticks_per_capture(ticks_per_capture)

Sets this RGBCamera to capture a new frame every ticks_per_capture.

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

set_ticks_per_capture(ticks_per_capture)

Sets this RGBCamera to capture a new frame every ticks_per_capture.

The sensor’s image will remain unchanged between captures.

This method must be called after every call to env.reset.

Parameters

ticks_per_capture (int) – The amount of ticks to wait between camera captures.

class holodeck.sensors.RangeFinderSensor(client, agent_name, agent_type, name='RangeFinderSensor', config=None)

Returns distances to nearest collisions in the directions specified by the parameters. For example, if an agent had two range sensors at different angles with 24 lasers each, the LaserDebug traces would look something like this:

../_images/UAVRangeFinder.PNG

Configuration

The configuration block (see Configuration Block) accepts the following options:

  • LaserMaxDistance: Max Distance in meters of RangeFinder. (default 10)

  • LaserCount: Number of lasers in sensor. (default 1)

  • LaserAngle: Angle of lasers from origin. Measured in degrees. Positive angles

    point up. (default 0)

  • LaserDebug: Show debug traces. (default false)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.RelativeSkeletalPositionSensor(client, agent_name, agent_type, name='RGBCamera', config=None)

Gets the position of each bone in a skeletal mesh as a quaternion.

Returns a numpy array with four entries for each bone (see AndroidAgent Bones or HandAgent Bones for the order used)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.RotationSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Gets the rotation of the agent in the world.

Returns [roll, pitch, yaw] (see Rotations)

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.SensorDefinition(agent_name, agent_type, sensor_name, sensor_type, socket='', location=(0, 0, 0), rotation=(0, 0, 0), config=None, existing=False)

A class for new sensors and their parameters, to be used for adding new sensors.

Parameters
  • agent_name (str) – The name of the parent agent.

  • agent_type (str) – The type of the parent agent

  • sensor_name (str) – The name of the sensor.

  • sensor_type (str or HolodeckSensor) – The type of the sensor.

  • socket (str, optional) – The name of the socket to attach sensor to.

  • location (Tuple of float, optional) – [x, y, z] coordinates to place sensor relative to agent (or socket) (see Coordinate System).

  • rotation (Tuple of float, optional) – [roll, pitch, yaw] to rotate sensor relative to agent (see Rotations)

  • config (dict) – Configuration dictionary for the sensor, to pass to engine

Methods:

get_config_json_string()

Gets the configuration dictionary as a string ready for transport

get_config_json_string()

Gets the configuration dictionary as a string ready for transport

Returns

The configuration as an escaped json string

Return type

(str)

class holodeck.sensors.SensorFactory

Given a sensor definition, constructs the appropriate HolodeckSensor object.

Methods:

build_sensor(client, sensor_def)

Constructs a given sensor associated with client

static build_sensor(client, sensor_def)

Constructs a given sensor associated with client

Parameters
  • client (str) – Name of the agent this sensor is attached to

  • sensor_def (SensorDefinition) – Sensor definition to construct

Returns:

class holodeck.sensors.VelocitySensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Returns the x, y, and z velocity of the agent.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.ViewportCapture(client, agent_name, agent_type, name='ViewportCapture', config=None)

Captures what the viewport is seeing.

The ViewportCapture is faster than the RGB camera, but there can only be one camera and it must capture what the viewport is capturing. If performance is critical, consider this camera instead of the RGBCamera.

It may be useful to position the camera with teleport_camera().

Configuration

The configuration block (see Configuration Block) accepts the following options:

  • CaptureWidth: Width of captured image

  • CaptureHeight: Height of captured image

THESE DIMENSIONS MUST MATCH THE VIEWPORT DIMENSIONS

If you have configured the size of the viewport (window_height/width), you must make sure that CaptureWidth/Height of this configuration block is set to the same dimensions.

The default resolution is 1280x720, matching the default Viewport resolution.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype

class holodeck.sensors.WorldNumSensor(client, agent_name=None, agent_type=None, name='DefaultSensor', config=None)

Returns any numeric value from the world corresponding to a given key. This is world specific.

Attributes:

data_shape

The shape of the sensor data

dtype

The type of data in the sensor

property data_shape

The shape of the sensor data

Returns

Sensor data shape

Return type

tuple

property dtype

The type of data in the sensor

Returns

Type of sensor data

Return type

numpy dtype