Agents

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

Definitions for different agents that can be controlled from BiguaSim

Classes:

`AgentDefinition`(agent_name, agent_type[, ...])	Represents information needed to initialize agent.
`AgentFactory`()	Creates an agent object
`BiguaSimAgent`(client[, name])	A learning agent in BiguaSim
`BlueBoat`(client[, name])
`BlueROV2`(client[, name])
`BlueROVHeavy`(client[, name])
`DjiMatrice`(client[, name])
`TorpedoAUV`(client[, name])

class biguasim.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 BiguaSimAgent to control, string or class reference.
sensors (SensorDefinition or class type (if no duplicate sensors)) – A list of BiguaSimSensors to read from this agent.
starting_loc (list of float) – Starting [x, y, z] location for agent (see Coordinate System)
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 biguasim.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 (biguasim.biguasimclient.BiguaSimClient) – BiguaSimClient agent is associated with
agent_def (AgentDefinition) – Definition of the agent to instantiate

Returns:

class biguasim.agents.BiguaSimAgent(client, name='DefaultAgent')

A learning agent in BiguaSim

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

Parameters:

client (BiguaSimClient) – The BiguaSimClient 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, BiguaSimSensor)) – A list of BiguaSimSensors to read from this agent.

name

The name of the agent.

Type:: str

sensors

List of BiguaSimSensors on this agent.

Type:: dict of (string, BiguaSimSensor)

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.
`get_ocean_current_velocity`()	Returns the current ocean current velocity for the agent.
`has_camera`()	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:

`action_space`	Gets the action space for the current agent and control scheme.
`control_abstractions`	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 (BiguaSimSensor or: list of BiguaSimSensor):: Sensors to add to the agent.

clear_action(): Sets the action to zeros, effectively removing any previous actions.

property control_abstractions

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.

get_ocean_current_velocity(): Returns the current ocean current velocity for the agent.

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

set_control_scheme(index)

Sets the control scheme for the agent.

Parameters:: index (int) – The control scheme to use. Should be set with an enum from

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 biguasim.agents.BlueBoat(client, name='DefaultAgent')

Attributes:

control_abstractions

A list of all control schemes for the agent.

property control_abstractions

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)

class biguasim.agents.BlueROV2(client, name='DefaultAgent')

Attributes:

control_abstractions

A list of all control schemes for the agent.

property control_abstractions

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)

class biguasim.agents.BlueROVHeavy(client, name='DefaultAgent')

Attributes:

control_abstractions

A list of all control schemes for the agent.

property control_abstractions

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)

class biguasim.agents.DjiMatrice(client, name='DefaultAgent')

Attributes:

control_abstractions

A list of all control schemes for the agent.

property control_abstractions

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)

class biguasim.agents.TorpedoAUV(client, name='DefaultAgent')

Attributes:

control_abstractions

A list of all control schemes for the agent.

property control_abstractions

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)