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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

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.

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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.

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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, a seed will not be used.

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

Attributes

`data_shape`	The shape of the sensor data
`dtype`	The type of data in the sensor
`sensor_data`	Get the sensor data buffer

Methods

rotate(rotation) Rotate the sensor.

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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).

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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.

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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:

Attributes

`data_shape`	The shape of the sensor data
`dtype`	The type of data in the sensor

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)

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

Attributes

`data_shape`	The shape of the sensor data
`dtype`	The type of data in the sensor

THESE DIMENSIONS MUST MATCH THE VIEWPORT DIMENSTIONS

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.

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

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

data_shape¶

The shape of the sensor data

Returns:	Sensor data shape
Return type:	`tuple`

dtype¶

The type of data in the sensor

Returns:	Type of sensor data
Return type:	numpy dtype