API Reference

Welcome to the Monty API Reference docs. Here you can find code docs for all the packages and modules in Monty.

Please click on API Reference above or click on the links below to see a specific file.

• API Reference
  • tbp
    • tbp.monty
      • tbp.monty.frameworks
        • tbp.monty.frameworks.actions
          • tbp.monty.frameworks.actions.action_samplers
            • ActionSampler
              • ActionSampler.sample()
              • ActionSampler.sample_look_down()
              • ActionSampler.sample_look_up()
              • ActionSampler.sample_move_forward()
              • ActionSampler.sample_move_tangentially()
              • ActionSampler.sample_orient_horizontal()
              • ActionSampler.sample_orient_vertical()
              • ActionSampler.sample_set_agent_pitch()
              • ActionSampler.sample_set_agent_pose()
              • ActionSampler.sample_set_sensor_pitch()
              • ActionSampler.sample_set_sensor_pose()
              • ActionSampler.sample_set_sensor_rotation()
              • ActionSampler.sample_set_yaw()
              • ActionSampler.sample_turn_left()
              • ActionSampler.sample_turn_right()
            • ConstantSampler
              • ConstantSampler.sample_look_down()
              • ConstantSampler.sample_look_up()
              • ConstantSampler.sample_move_forward()
              • ConstantSampler.sample_move_tangentially()
              • ConstantSampler.sample_orient_horizontal()
              • ConstantSampler.sample_orient_vertical()
              • ConstantSampler.sample_set_agent_pitch()
              • ConstantSampler.sample_set_agent_pose()
              • ConstantSampler.sample_set_sensor_pitch()
              • ConstantSampler.sample_set_sensor_pose()
              • ConstantSampler.sample_set_sensor_rotation()
              • ConstantSampler.sample_set_yaw()
              • ConstantSampler.sample_turn_left()
              • ConstantSampler.sample_turn_right()
            • UniformlyDistributedSampler
              • UniformlyDistributedSampler.sample_look_down()
              • UniformlyDistributedSampler.sample_look_up()
              • UniformlyDistributedSampler.sample_move_forward()
              • UniformlyDistributedSampler.sample_move_tangentially()
              • UniformlyDistributedSampler.sample_orient_horizontal()
              • UniformlyDistributedSampler.sample_orient_vertical()
              • UniformlyDistributedSampler.sample_set_agent_pitch()
              • UniformlyDistributedSampler.sample_set_agent_pose()
              • UniformlyDistributedSampler.sample_set_sensor_pitch()
              • UniformlyDistributedSampler.sample_set_sensor_pose()
              • UniformlyDistributedSampler.sample_set_sensor_rotation()
              • UniformlyDistributedSampler.sample_set_yaw()
              • UniformlyDistributedSampler.sample_turn_left()
              • UniformlyDistributedSampler.sample_turn_right()
          • tbp.monty.frameworks.actions.actions
            • Action
              • Action.act()
              • Action.action_name()
              • Action.sample()
              • Action.name
            • LookDown
              • LookDown.act()
              • LookDown.sample()
            • LookUp
              • LookUp.act()
              • LookUp.sample()
            • MoveForward
              • MoveForward.act()
              • MoveForward.sample()
            • MoveTangentially
              • MoveTangentially.act()
              • MoveTangentially.sample()
            • OrientHorizontal
              • OrientHorizontal.act()
              • OrientHorizontal.sample()
            • OrientVertical
              • OrientVertical.act()
              • OrientVertical.sample()
            • SetAgentPitch
              • SetAgentPitch.act()
              • SetAgentPitch.sample()
            • SetAgentPose
              • SetAgentPose.act()
              • SetAgentPose.sample()
            • SetSensorPitch
              • SetSensorPitch.act()
              • SetSensorPitch.sample()
            • SetSensorPose
              • SetSensorPose.act()
              • SetSensorPose.sample()
            • SetSensorRotation
              • SetSensorRotation.act()
              • SetSensorRotation.sample()
            • SetYaw
              • SetYaw.act()
              • SetYaw.sample()
            • TurnLeft
              • TurnLeft.act()
              • TurnLeft.sample()
            • TurnRight
              • TurnRight.act()
              • TurnRight.sample()
          • tbp.monty.frameworks.actions.actuator
            • Actuator
              • Actuator.actuate_look_down()
              • Actuator.actuate_look_up()
              • Actuator.actuate_move_forward()
              • Actuator.actuate_move_tangentially()
              • Actuator.actuate_orient_horizontal()
              • Actuator.actuate_orient_vertical()
              • Actuator.actuate_set_agent_pitch()
              • Actuator.actuate_set_agent_pose()
              • Actuator.actuate_set_sensor_pitch()
              • Actuator.actuate_set_sensor_pose()
              • Actuator.actuate_set_sensor_rotation()
              • Actuator.actuate_set_yaw()
              • Actuator.actuate_turn_left()
              • Actuator.actuate_turn_right()
        • tbp.monty.frameworks.config_utils
          • tbp.monty.frameworks.config_utils.cmd_parser
            • create_cmd_parser()
            • create_cmd_parser_parallel()
            • create_rerun_parser()
          • tbp.monty.frameworks.config_utils.config_args
          • tbp.monty.frameworks.config_utils.make_dataset_configs
          • tbp.monty.frameworks.config_utils.policy_setup_utils
            • BasePolicyConfig
              • BasePolicyConfig.action_sampler_args
              • BasePolicyConfig.action_sampler_class
              • BasePolicyConfig.agent_id
              • BasePolicyConfig.file_name
              • BasePolicyConfig.switch_frequency
            • InformedPolicyConfig
              • InformedPolicyConfig.action_sampler_args
              • InformedPolicyConfig.action_sampler_class
              • InformedPolicyConfig.agent_id
              • InformedPolicyConfig.desired_object_distance
              • InformedPolicyConfig.file_name
              • InformedPolicyConfig.good_view_percentage
              • InformedPolicyConfig.min_perc_on_obj
              • InformedPolicyConfig.switch_frequency
              • InformedPolicyConfig.use_goal_state_driven_actions
            • NaiveScanPolicyConfig
              • NaiveScanPolicyConfig.fixed_amount
              • NaiveScanPolicyConfig.use_goal_state_driven_actions
            • SurfaceCurveInformedPolicyConfig
              • SurfaceCurveInformedPolicyConfig.desired_object_distance
              • SurfaceCurveInformedPolicyConfig.max_pc_bias_steps
              • SurfaceCurveInformedPolicyConfig.min_general_steps
              • SurfaceCurveInformedPolicyConfig.min_heading_steps
              • SurfaceCurveInformedPolicyConfig.pc_alpha
            • SurfacePolicyConfig
              • SurfacePolicyConfig.alpha
              • SurfacePolicyConfig.desired_object_distance
            • generate_action_list()
            • make_base_policy_config()
            • make_curv_surface_policy_config()
            • make_informed_policy_config()
            • make_naive_scan_policy_config()
            • make_surface_policy_config()
        • tbp.monty.frameworks.environment_utils
          • tbp.monty.frameworks.environment_utils.graph_utils
            • get_edge_index()
          • tbp.monty.frameworks.environment_utils.habitat_utils
            • get_bounding_corners()
          • tbp.monty.frameworks.environment_utils.server
            • MontyRequestHandler
              • MontyRequestHandler.do_PUT()
          • tbp.monty.frameworks.environment_utils.transforms
            • AddNoiseToRawDepthImage
            • DepthTo3DLocations
              • DepthTo3DLocations.agent_id
              • DepthTo3DLocations.resolution
              • DepthTo3DLocations.zoom
              • DepthTo3DLocations.hfov
              • DepthTo3DLocations.semantic_sensor
              • DepthTo3DLocations.depth_sensor
              • DepthTo3DLocations.world_coord
              • DepthTo3DLocations.get_all_points
              • DepthTo3DLocations.depth_clip_sensors
              • DepthTo3DLocations.clip_value
              • DepthTo3DLocations.clip()
              • DepthTo3DLocations.get_on_surface_th()
              • DepthTo3DLocations.get_semantic_from_depth()
            • GaussianSmoothing
              • GaussianSmoothing.conv2d()
              • GaussianSmoothing.create_kernel()
              • GaussianSmoothing.get_padded_img()
            • MissingToMaxDepth
        • tbp.monty.frameworks.environments
          • tbp.monty.frameworks.environments.embodied_data
          • tbp.monty.frameworks.environments.embodied_environment
            • ActionSpace
              • ActionSpace.sample()
            • EmbodiedEnvironment
              • EmbodiedEnvironment.close()
              • EmbodiedEnvironment.get_state()
              • EmbodiedEnvironment.reset()
              • EmbodiedEnvironment.step()
              • EmbodiedEnvironment.action_space
          • tbp.monty.frameworks.environments.habitat
            • AgentConfig
              • AgentConfig.agent_args
              • AgentConfig.agent_type
            • HabitatActionSpace
              • HabitatActionSpace.sample()
            • HabitatEnvironment
              • HabitatEnvironment.agents
              • HabitatEnvironment.objects
              • HabitatEnvironment.scene_id
              • HabitatEnvironment.seed
              • HabitatEnvironment.data_path
              • HabitatEnvironment.close()
              • HabitatEnvironment.get_state()
              • HabitatEnvironment.reset()
              • HabitatEnvironment.step()
              • HabitatEnvironment.action_space
            • MultiSensorAgentArgs
              • MultiSensorAgentArgs.action_space_type
              • MultiSensorAgentArgs.agent_id
              • MultiSensorAgentArgs.height
              • MultiSensorAgentArgs.position
              • MultiSensorAgentArgs.positions
              • MultiSensorAgentArgs.resolutions
              • MultiSensorAgentArgs.rotation
              • MultiSensorAgentArgs.rotation_step
              • MultiSensorAgentArgs.rotations
              • MultiSensorAgentArgs.semantics
              • MultiSensorAgentArgs.sensor_ids
              • MultiSensorAgentArgs.translation_step
              • MultiSensorAgentArgs.zooms
            • ObjectConfig
              • ObjectConfig.enable_physics
              • ObjectConfig.name
              • ObjectConfig.object_to_avoid
              • ObjectConfig.position
              • ObjectConfig.primary_target_bb
              • ObjectConfig.rotation
              • ObjectConfig.scale
              • ObjectConfig.semantic_id
            • SingleSensorAgentArgs
              • SingleSensorAgentArgs.action_space
              • SingleSensorAgentArgs.action_space_type
              • SingleSensorAgentArgs.agent_id
              • SingleSensorAgentArgs.agent_position
              • SingleSensorAgentArgs.height
              • SingleSensorAgentArgs.resolution
              • SingleSensorAgentArgs.rotation
              • SingleSensorAgentArgs.rotation_step
              • SingleSensorAgentArgs.semantic
              • SingleSensorAgentArgs.sensor_id
              • SingleSensorAgentArgs.sensor_position
              • SingleSensorAgentArgs.translation_step
              • SingleSensorAgentArgs.zoom
          • tbp.monty.frameworks.environments.real_robots
            • RealRobotsEnvironment
              • RealRobotsEnvironment.close()
              • RealRobotsEnvironment.reset()
              • RealRobotsEnvironment.step()
              • RealRobotsEnvironment.action_space
          • tbp.monty.frameworks.environments.two_d_data
            • OmniglotEnvironment
              • OmniglotEnvironment.close()
              • OmniglotEnvironment.get_image_patch()
              • OmniglotEnvironment.get_state()
              • OmniglotEnvironment.load_new_character_data()
              • OmniglotEnvironment.motor_to_locations()
              • OmniglotEnvironment.reset()
              • OmniglotEnvironment.step()
              • OmniglotEnvironment.switch_to_object()
              • OmniglotEnvironment.action_space
            • SaccadeOnImageEnvironment
              • SaccadeOnImageEnvironment.close()
              • SaccadeOnImageEnvironment.get_3d_coordinates_from_pixel_indices()
              • SaccadeOnImageEnvironment.get_3d_scene_point_cloud()
              • SaccadeOnImageEnvironment.get_image_patch()
              • SaccadeOnImageEnvironment.get_move_area()
              • SaccadeOnImageEnvironment.get_next_loc()
              • SaccadeOnImageEnvironment.get_state()
              • SaccadeOnImageEnvironment.load_depth_data()
              • SaccadeOnImageEnvironment.load_new_scene_data()
              • SaccadeOnImageEnvironment.load_rgb_data()
              • SaccadeOnImageEnvironment.process_depth_data()
              • SaccadeOnImageEnvironment.reset()
              • SaccadeOnImageEnvironment.step()
              • SaccadeOnImageEnvironment.switch_to_object()
              • SaccadeOnImageEnvironment.action_space
            • SaccadeOnImageFromStreamEnvironment
              • SaccadeOnImageFromStreamEnvironment.load_new_scene_data()
              • SaccadeOnImageFromStreamEnvironment.switch_to_scene()
          • tbp.monty.frameworks.environments.ycb
        • tbp.monty.frameworks.experiments
          • tbp.monty.frameworks.experiments.data_collection_experiments
          • tbp.monty.frameworks.experiments.monty_experiment
          • tbp.monty.frameworks.experiments.object_recognition_experiments
          • tbp.monty.frameworks.experiments.pretraining_experiments
          • tbp.monty.frameworks.experiments.profile
        • tbp.monty.frameworks.loggers
          • tbp.monty.frameworks.loggers.exp_logger
            • BaseMontyLogger
              • BaseMontyLogger.close()
              • BaseMontyLogger.flush()
              • BaseMontyLogger.post_episode()
              • BaseMontyLogger.post_epoch()
              • BaseMontyLogger.post_eval()
              • BaseMontyLogger.post_step()
              • BaseMontyLogger.post_train()
              • BaseMontyLogger.pre_episode()
              • BaseMontyLogger.pre_epoch()
              • BaseMontyLogger.pre_eval()
              • BaseMontyLogger.pre_step()
              • BaseMontyLogger.pre_train()
            • LoggingCallbackHandler
              • LoggingCallbackHandler.call_event()
              • LoggingCallbackHandler.close()
              • LoggingCallbackHandler.post_episode()
              • LoggingCallbackHandler.post_epoch()
              • LoggingCallbackHandler.post_eval()
              • LoggingCallbackHandler.post_step()
              • LoggingCallbackHandler.post_train()
              • LoggingCallbackHandler.pre_episode()
              • LoggingCallbackHandler.pre_epoch()
              • LoggingCallbackHandler.pre_eval()
              • LoggingCallbackHandler.pre_step()
              • LoggingCallbackHandler.pre_train()
              • LoggingCallbackHandler.logger_list
            • TestLogger
              • TestLogger.close()
              • TestLogger.post_episode()
              • TestLogger.post_epoch()
              • TestLogger.post_eval()
              • TestLogger.post_train()
              • TestLogger.pre_episode()
              • TestLogger.pre_epoch()
              • TestLogger.pre_eval()
              • TestLogger.pre_train()
          • tbp.monty.frameworks.loggers.graph_matching_loggers
            • BasicGraphMatchingLogger
              • BasicGraphMatchingLogger.flush()
              • BasicGraphMatchingLogger.get_formatted_overall_stats()
              • BasicGraphMatchingLogger.log_episode()
              • BasicGraphMatchingLogger.maybe_log()
              • BasicGraphMatchingLogger.post_episode()
              • BasicGraphMatchingLogger.update_episode_data()
              • BasicGraphMatchingLogger.update_overall_stats()
            • DetailedGraphMatchingLogger
              • DetailedGraphMatchingLogger.log_episode()
              • DetailedGraphMatchingLogger.post_episode()
              • DetailedGraphMatchingLogger.update_episode_data()
            • SelectiveEvidenceLogger
              • SelectiveEvidenceLogger.log_episode()
              • SelectiveEvidenceLogger.post_episode()
              • SelectiveEvidenceLogger.update_episode_data()
          • tbp.monty.frameworks.loggers.monty_handlers
            • BasicCSVStatsHandler
              • BasicCSVStatsHandler.close()
              • BasicCSVStatsHandler.log_level()
              • BasicCSVStatsHandler.move_columns_to_front()
              • BasicCSVStatsHandler.report_episode()
            • DetailedJSONHandler
              • DetailedJSONHandler.close()
              • DetailedJSONHandler.log_level()
              • DetailedJSONHandler.report_episode()
            • MontyHandler
              • MontyHandler.close()
              • MontyHandler.log_level()
              • MontyHandler.report_episode()
            • ReproduceEpisodeHandler
              • ReproduceEpisodeHandler.close()
              • ReproduceEpisodeHandler.log_level()
              • ReproduceEpisodeHandler.report_episode()
          • tbp.monty.frameworks.loggers.wandb_handlers
        • tbp.monty.frameworks.models
          • tbp.monty.frameworks.models.abstract_monty_classes
            • GoalStateGenerator
              • GoalStateGenerator.get_output_goal_state()
              • GoalStateGenerator.set_driving_goal_state()
              • GoalStateGenerator.step_gsg()
            • LMMemory
              • LMMemory.load_state_dict()
              • LMMemory.memory_consolidation()
              • LMMemory.state_dict()
              • LMMemory.update_memory()
            • LearningModule
              • LearningModule.exploratory_step()
              • LearningModule.get_output()
              • LearningModule.load_state_dict()
              • LearningModule.matching_step()
              • LearningModule.post_episode()
              • LearningModule.pre_episode()
              • LearningModule.propose_goal_state()
              • LearningModule.receive_votes()
              • LearningModule.reset()
              • LearningModule.send_out_vote()
              • LearningModule.set_experiment_mode()
              • LearningModule.state_dict()
            • Monty
              • Monty.aggregate_sensory_inputs()
              • Monty.is_done()
              • Monty.load_state_dict()
              • Monty.post_episode()
              • Monty.pre_episode()
              • Monty.set_experiment_mode()
              • Monty.state_dict()
              • Monty.step()
            • ObjectModel
              • ObjectModel.build_model()
              • ObjectModel.update_model()
            • SensorModule
              • SensorModule.post_episode()
              • SensorModule.pre_episode()
              • SensorModule.state_dict()
              • SensorModule.step()
              • SensorModule.update_state()
          • tbp.monty.frameworks.models.buffer
            • BaseBuffer
              • BaseBuffer.append()
              • BaseBuffer.reset()
            • BufferEncoder
              • BufferEncoder.default()
            • FeatureAtLocationBuffer
              • FeatureAtLocationBuffer.add_overall_stats()
              • FeatureAtLocationBuffer.append()
              • FeatureAtLocationBuffer.append_input_states()
              • FeatureAtLocationBuffer.get_all_features_on_object()
              • FeatureAtLocationBuffer.get_all_input_states()
              • FeatureAtLocationBuffer.get_all_locations_on_object()
              • FeatureAtLocationBuffer.get_buffer_len_by_channel()
              • FeatureAtLocationBuffer.get_current_displacement()
              • FeatureAtLocationBuffer.get_current_features()
              • FeatureAtLocationBuffer.get_current_location()
              • FeatureAtLocationBuffer.get_current_pose()
              • FeatureAtLocationBuffer.get_current_ppf()
              • FeatureAtLocationBuffer.get_currently_on_object()
              • FeatureAtLocationBuffer.get_first_displacement_len()
              • FeatureAtLocationBuffer.get_first_sensory_input_channel()
              • FeatureAtLocationBuffer.get_infos_for_graph_update()
              • FeatureAtLocationBuffer.get_last_obs_processed()
              • FeatureAtLocationBuffer.get_matching_step_when_output_goal_set()
              • FeatureAtLocationBuffer.get_nth_displacement()
              • FeatureAtLocationBuffer.get_num_goal_states_generated()
              • FeatureAtLocationBuffer.get_num_matching_steps()
              • FeatureAtLocationBuffer.get_num_observations_on_object()
              • FeatureAtLocationBuffer.get_num_steps_post_output_goal_generated()
              • FeatureAtLocationBuffer.get_previous_input_states()
              • FeatureAtLocationBuffer.reset()
              • FeatureAtLocationBuffer.set_individual_ts()
              • FeatureAtLocationBuffer.update_last_stats_entry()
              • FeatureAtLocationBuffer.update_stats()
          • tbp.monty.frameworks.models.displacement_matching
            • DisplacementGraphLM
              • DisplacementGraphLM.get_object_rotation()
              • DisplacementGraphLM.get_object_scale()
              • DisplacementGraphLM.get_unique_pose_if_available()
              • DisplacementGraphLM.reset()
            • DisplacementGraphMemory
              • DisplacementGraphMemory.get_initial_hypotheses()
              • DisplacementGraphMemory.load_state_dict()
          • tbp.monty.frameworks.models.evidence_matching
            • EvidenceGraphLM
              • EvidenceGraphLM.collect_stats_to_save()
              • EvidenceGraphLM.get_all_evidences()
              • EvidenceGraphLM.get_current_mlh()
              • EvidenceGraphLM.get_evidence_for_each_graph()
              • EvidenceGraphLM.get_mlh_for_object()
              • EvidenceGraphLM.get_output()
              • EvidenceGraphLM.get_possible_hypothesis_ids()
              • EvidenceGraphLM.get_possible_matches()
              • EvidenceGraphLM.get_possible_poses()
              • EvidenceGraphLM.get_top_two_mlh_ids()
              • EvidenceGraphLM.get_top_two_pose_hypotheses_for_graph_id()
              • EvidenceGraphLM.get_unique_pose_if_available()
              • EvidenceGraphLM.receive_votes()
              • EvidenceGraphLM.reset()
              • EvidenceGraphLM.send_out_vote()
              • EvidenceGraphLM.set_detected_object()
            • EvidenceGraphMemory
              • EvidenceGraphMemory.get_initial_hypotheses()
              • EvidenceGraphMemory.get_rotation_features_at_all_nodes()
            • MontyForEvidenceGraphMatching
              • MontyForEvidenceGraphMatching.switch_to_exploratory_step()
          • tbp.monty.frameworks.models.evidence_sdr_matching
            • EncoderSDR
              • EncoderSDR.sdr_length
              • EncoderSDR.sdr_on_bits
              • EncoderSDR.lr
              • EncoderSDR.n_epochs
              • EncoderSDR.stability
              • EncoderSDR.log_flag
              • EncoderSDR.add_objects()
              • EncoderSDR.binarize()
              • EncoderSDR.get_sdr()
              • EncoderSDR.optimize()
              • EncoderSDR.train_sdrs()
              • EncoderSDR.n_objects
              • EncoderSDR.sdrs
            • EvidenceSDRGraphLM
            • EvidenceSDRLMMixin
              • EvidenceSDRLMMixin.collect_evidences()
              • EvidenceSDRLMMixin.post_episode()
            • EvidenceSDRTargetOverlaps
              • EvidenceSDRTargetOverlaps.add_evidence()
              • EvidenceSDRTargetOverlaps.add_objects()
              • EvidenceSDRTargetOverlaps.add_overlaps()
              • EvidenceSDRTargetOverlaps.map_to_overlaps()
              • EvidenceSDRTargetOverlaps.overlaps
            • LoggerSDR
              • LoggerSDR.log_episode()
          • tbp.monty.frameworks.models.feature_location_matching
            • FeatureGraphLM
              • FeatureGraphLM.get_object_rotation()
              • FeatureGraphLM.get_unique_pose_if_available()
              • FeatureGraphLM.receive_votes()
              • FeatureGraphLM.reset()
              • FeatureGraphLM.send_out_vote()
            • FeatureGraphMemory
              • FeatureGraphMemory.get_initial_hypotheses()
              • FeatureGraphMemory.get_nodes_with_matching_features()
              • FeatureGraphMemory.get_rotation_features_at_node()
          • tbp.monty.frameworks.models.goal_state_generation
            • EvidenceGoalStateGenerator
              • EvidenceGoalStateGenerator.reset()
            • GraphGoalStateGenerator
              • GraphGoalStateGenerator.get_output_goal_state()
              • GraphGoalStateGenerator.reset()
              • GraphGoalStateGenerator.set_driving_goal_state()
              • GraphGoalStateGenerator.step_gsg()
          • tbp.monty.frameworks.models.graph_matching
            • GraphLM
              • GraphLM.add_lm_processing_to_buffer_stats()
              • GraphLM.collect_stats_to_save()
              • GraphLM.exploratory_step()
              • GraphLM.get_all_known_object_ids()
              • GraphLM.get_graph()
              • GraphLM.get_input_channels_in_graph()
              • GraphLM.get_object_scale()
              • GraphLM.get_output()
              • GraphLM.get_possible_locations()
              • GraphLM.get_possible_matches()
              • GraphLM.get_possible_paths()
              • GraphLM.get_possible_poses()
              • GraphLM.get_unique_pose_if_available()
              • GraphLM.load_state_dict()
              • GraphLM.matching_step()
              • GraphLM.post_episode()
              • GraphLM.pre_episode()
              • GraphLM.propose_goal_state()
              • GraphLM.receive_votes()
              • GraphLM.reset()
              • GraphLM.send_out_vote()
              • GraphLM.set_detected_object()
              • GraphLM.set_experiment_mode()
              • GraphLM.set_individual_ts()
              • GraphLM.state_dict()
              • GraphLM.update_terminal_condition()
            • GraphMemory
              • GraphMemory.get_all_models_in_memory()
              • GraphMemory.get_feature_array()
              • GraphMemory.get_feature_order()
              • GraphMemory.get_features_at_node()
              • GraphMemory.get_graph()
              • GraphMemory.get_graph_node_ids()
              • GraphMemory.get_initial_hypotheses()
              • GraphMemory.get_input_channels_in_graph()
              • GraphMemory.get_locations_in_graph()
              • GraphMemory.get_memory_ids()
              • GraphMemory.get_num_nodes_in_graph()
              • GraphMemory.initialize_feature_arrays()
              • GraphMemory.load_state_dict()
              • GraphMemory.memory_consolidation()
              • GraphMemory.remove_graph_from_memory()
              • GraphMemory.state_dict()
              • GraphMemory.update_memory()
            • MontyForGraphMatching
              • MontyForGraphMatching.check_if_any_lms_updated()
              • MontyForGraphMatching.check_terminal_conditions()
              • MontyForGraphMatching.deal_with_time_out()
              • MontyForGraphMatching.load_state_dict_from_parallel()
              • MontyForGraphMatching.pre_episode()
              • MontyForGraphMatching.reset()
              • MontyForGraphMatching.send_vote_to_lm()
              • MontyForGraphMatching.set_is_done()
              • MontyForGraphMatching.update_stats_after_vote()
              • MontyForGraphMatching.LOGGING_REGISTRY
          • tbp.monty.frameworks.models.monty_base
            • LearningModuleBase
              • LearningModuleBase.exploratory_step()
              • LearningModuleBase.get_output()
              • LearningModuleBase.load_state_dict()
              • LearningModuleBase.matching_step()
              • LearningModuleBase.post_episode()
              • LearningModuleBase.pre_episode()
              • LearningModuleBase.propose_goal_state()
              • LearningModuleBase.receive_votes()
              • LearningModuleBase.reset()
              • LearningModuleBase.send_out_vote()
              • LearningModuleBase.set_experiment_mode()
              • LearningModuleBase.state_dict()
            • MontyBase
              • MontyBase.aggregate_sensory_inputs()
              • MontyBase.check_reached_max_matching_steps()
              • MontyBase.deal_with_time_out()
              • MontyBase.get_agent_state()
              • MontyBase.get_observations()
              • MontyBase.load_state_dict()
              • MontyBase.pass_features_directly_to_motor_system()
              • MontyBase.post_episode()
              • MontyBase.pre_episode()
              • MontyBase.reset_episode_steps()
              • MontyBase.set_done()
              • MontyBase.set_experiment_mode()
              • MontyBase.state_dict()
              • MontyBase.step()
              • MontyBase.switch_to_exploratory_step()
              • MontyBase.switch_to_matching_step()
              • MontyBase.update_step_counters()
              • MontyBase.LOGGING_REGISTRY
              • MontyBase.exceeded_min_steps
              • MontyBase.is_done
              • MontyBase.is_motor_only_step
              • MontyBase.min_steps
              • MontyBase.step_type_count
            • SensorModuleBase
              • SensorModuleBase.post_episode()
              • SensorModuleBase.pre_episode()
              • SensorModuleBase.set_experiment_mode()
              • SensorModuleBase.state_dict()
              • SensorModuleBase.step()
              • SensorModuleBase.update_state()
          • tbp.monty.frameworks.models.motor_policies
          • tbp.monty.frameworks.models.object_model
            • GridTooSmallError
            • GraphObjectModel
              • GraphObjectModel.add_ppf_to_graph()
              • GraphObjectModel.build_model()
              • GraphObjectModel.get_values_for_feature()
              • GraphObjectModel.set_graph()
              • GraphObjectModel.update_model()
              • GraphObjectModel.edge_attr
              • GraphObjectModel.edge_index
              • GraphObjectModel.feature_ids_in_graph
              • GraphObjectModel.feature_mapping
              • GraphObjectModel.norm
              • GraphObjectModel.num_nodes
              • GraphObjectModel.pos
              • GraphObjectModel.x
            • GridObjectModel
              • GridObjectModel.build_model()
              • GridObjectModel.find_nearest_neighbors()
              • GridObjectModel.set_graph()
              • GridObjectModel.update_model()
          • tbp.monty.frameworks.models.sensor_modules
            • DetailedLoggingSM
              • DetailedLoggingSM.extract_and_add_features()
              • DetailedLoggingSM.observations_to_comunication_protocol()
              • DetailedLoggingSM.pre_episode()
              • DetailedLoggingSM.state_dict()
              • DetailedLoggingSM.step()
            • FeatureChangeSM
              • FeatureChangeSM.check_feature_change()
              • FeatureChangeSM.pre_episode()
              • FeatureChangeSM.step()
            • HabitatDistantPatchSM
              • HabitatDistantPatchSM.pre_episode()
              • HabitatDistantPatchSM.state_dict()
              • HabitatDistantPatchSM.step()
              • HabitatDistantPatchSM.update_state()
            • HabitatSurfacePatchSM
            • NoiseMixin
              • NoiseMixin.add_noise_to_feat_value()
              • NoiseMixin.add_noise_to_sensor_data()
          • tbp.monty.frameworks.models.states
            • GoalState
            • State
              • State.location
              • State.morphological_features
              • State.non_morphological_features
              • State.confidence
              • State.use_state
              • State.sender_id
              • State.sender_type
              • State.get_curvature_directions()
              • State.get_feature_by_name()
              • State.get_nth_pose_vector()
              • State.get_on_object()
              • State.get_point_normal()
              • State.get_pose_vectors()
              • State.set_displacement()
              • State.transform_morphological_features()
        • tbp.monty.frameworks.utils
          • tbp.monty.frameworks.utils.communication_utils
            • get_first_sensory_state()
            • get_state_from_channel()
          • tbp.monty.frameworks.utils.dataclass_utils
            • as_dataclass_dict()
            • create_dataclass_args()
            • from_dataclass_dict()
          • tbp.monty.frameworks.utils.follow_up_configs
          • tbp.monty.frameworks.utils.graph_matching_utils
            • add_pose_features_to_tolerances()
            • create_exponential_kernel()
            • detect_new_object_exponential()
            • detect_new_object_k_steps()
            • find_step_on_new_object()
            • get_correct_k_n()
            • get_custom_distances()
            • get_initial_possible_poses()
            • get_relevant_curvature()
            • get_scaled_evidences()
            • get_uniform_initial_possible_poses()
            • get_unique_paths()
            • is_in_ranges()
            • process_delta_evidence_values()
          • tbp.monty.frameworks.utils.logging_utils
            • add_evidence_lm_episode_stats()
            • add_policy_episode_stats()
            • add_pose_lm_episode_stats()
            • calculate_fpr()
            • calculate_performance()
            • calculate_tpr()
            • check_detection_accuracy_at_step()
            • check_rotation_accuracy()
            • compute_unsupervised_stats()
            • deserialize_json_chunks()
            • format_columns_for_wandb()
            • get_graph_lm_episode_stats()
            • get_object_graph_stats()
            • get_overall_pose_error()
            • get_pose_error()
            • get_reverse_rotation()
            • get_rgba_frames_single_sm()
            • get_stats_per_lm()
            • get_time_stats()
            • get_unique_euler_poses()
            • lm_stats_to_dataframe()
            • load_models_from_dir()
            • load_stats()
            • matches_to_target_str()
            • maybe_rename_existing_directory()
            • maybe_rename_existing_file()
            • print_overall_stats()
            • print_unsupervised_stats()
            • target_data_to_dict()
            • total_size()
          • tbp.monty.frameworks.utils.object_model_utils
            • NumpyGraph
            • already_in_list()
            • build_point_cloud_graph()
            • circular_mean()
            • expand_index_dims()
            • get_cubic_patches()
            • get_most_common_bool()
            • get_values_from_dense_last_dim()
            • increment_sparse_tensor_by_count()
            • pose_vector_mean()
            • remove_close_points()
            • torch_graph_to_numpy()
          • tbp.monty.frameworks.utils.plot_utils
          • tbp.monty.frameworks.utils.profile_utils
            • bar_chart_cumtime()
            • bar_chart_tottime()
            • drop_filename()
            • get_data_from_df()
            • get_total_time()
            • linebreak_long_strings()
            • print_top_k_functions()
            • sort_by_cumtime()
            • sort_by_tottime()
          • tbp.monty.frameworks.utils.sensor_processing
            • get_center_neighbors()
            • get_curvature_at_point()
            • get_pixel_dist_to_center()
            • get_point_normal_naive()
            • get_point_normal_ordinary_least_squares()
            • get_point_normal_total_least_squares()
            • get_principal_curvatures()
            • get_weight_matrix()
            • log_sign()
            • point_pair_features()
            • scale_clip()
          • tbp.monty.frameworks.utils.spatial_arithmetics
            • align_multiple_orthonormal_vectors()
            • align_orthonormal_vectors()
            • apply_rf_transform_to_points()
            • check_orthonormal()
            • euler_to_quats()
            • get_angle()
            • get_angle_beefed_up()
            • get_angle_torch()
            • get_angles_for_all_hypotheses()
            • get_more_directions_in_plane()
            • get_right_hand_angle()
            • get_unique_rotations()
            • non_singular_mat()
            • pose_is_new()
            • rot_mats_to_quats()
            • rotate_multiple_pose_dependent_features()
            • rotate_pose_dependent_features()
            • rotations_to_quats()
          • tbp.monty.frameworks.utils.transform_utils
        • tbp.monty.frameworks.run
          • main()
          • merge_args()
          • print_config()
          • run()
        • tbp.monty.frameworks.run_env
          • setup_env()
        • tbp.monty.frameworks.run_parallel
      • tbp.monty.simulators
        • tbp.monty.simulators.habitat
          • tbp.monty.simulators.habitat.actions
            • SetAgentPitch
            • SetAgentPose
            • SetSensorPitch
            • SetSensorPose
            • SetSensorRotation
            • SetYaw
          • tbp.monty.simulators.habitat.actuator
            • HabitatActuator
              • HabitatActuator.action_name()
              • HabitatActuator.actuate()
              • HabitatActuator.actuate_look_down()
              • HabitatActuator.actuate_look_up()
              • HabitatActuator.actuate_move_forward()
              • HabitatActuator.actuate_move_tangentially()
              • HabitatActuator.actuate_orient_horizontal()
              • HabitatActuator.actuate_orient_vertical()
              • HabitatActuator.actuate_set_agent_pitch()
              • HabitatActuator.actuate_set_agent_pose()
              • HabitatActuator.actuate_set_sensor_pitch()
              • HabitatActuator.actuate_set_sensor_pose()
              • HabitatActuator.actuate_set_sensor_rotation()
              • HabitatActuator.actuate_set_yaw()
              • HabitatActuator.actuate_turn_left()
              • HabitatActuator.actuate_turn_right()
            • HabitatActuatorRequirements
              • HabitatActuatorRequirements.get_agent()
            • HabitatParameterizer
              • HabitatParameterizer.parameterize()
          • tbp.monty.simulators.habitat.agents
            • HabitatAgent
              • HabitatAgent.agent_id
              • HabitatAgent.position
              • HabitatAgent.rotation
              • HabitatAgent.height
              • HabitatAgent.get_spec()
              • HabitatAgent.initialize()
              • HabitatAgent.process_observations()
            • MultiSensorAgent
              • MultiSensorAgent.agent_id
              • MultiSensorAgent.sensor_ids
              • MultiSensorAgent.resolutions
              • MultiSensorAgent.positions
              • MultiSensorAgent.rotations
              • MultiSensorAgent.zooms
              • MultiSensorAgent.semantics
              • MultiSensorAgent.height
              • MultiSensorAgent.rotation_step
              • MultiSensorAgent.translation_step
              • MultiSensorAgent.action_space_type
              • MultiSensorAgent.get_spec()
              • MultiSensorAgent.initialize()
            • SingleSensorAgent
              • SingleSensorAgent.get_spec()
              • SingleSensorAgent.initialize()
          • tbp.monty.simulators.habitat.sensors
            • RGBDSensorConfig
              • RGBDSensorConfig.sensor_id
              • RGBDSensorConfig.resolution
              • RGBDSensorConfig.position
              • RGBDSensorConfig.rotation
              • RGBDSensorConfig.zoom
              • RGBDSensorConfig.get_specs()
              • RGBDSensorConfig.resolution
              • RGBDSensorConfig.zoom
            • SemanticSensorConfig
              • SemanticSensorConfig.sensor_id
              • SemanticSensorConfig.resolution
              • SemanticSensorConfig.position
              • SemanticSensorConfig.rotation
              • SemanticSensorConfig.zoom
              • SemanticSensorConfig.get_specs()
              • SemanticSensorConfig.resolution
              • SemanticSensorConfig.zoom
            • SensorConfig
              • SensorConfig.sensor_id
              • SensorConfig.position
              • SensorConfig.rotation
              • SensorConfig.get_specs()
              • SensorConfig.process_observations()
              • SensorConfig.position
              • SensorConfig.rotation
              • SensorConfig.sensor_id
          • tbp.monty.simulators.habitat.simulator
            • HabitatSim
              • HabitatSim.agents
              • HabitatSim.data_path
              • HabitatSim.scene_id
              • HabitatSim.seed
              • HabitatSim.enable_physics
              • HabitatSim.add_object()
              • HabitatSim.apply_action()
              • HabitatSim.check_viewpoint_collision()
              • HabitatSim.close()
              • HabitatSim.find_non_colliding_positions()
              • HabitatSim.get_action_space()
              • HabitatSim.get_agent()
              • HabitatSim.get_num_objects()
              • HabitatSim.get_observations()
              • HabitatSim.get_states()
              • HabitatSim.initialize_agent()
              • HabitatSim.non_conflicting_vector()
              • HabitatSim.process_observations()
              • HabitatSim.remove_all_objects()
              • HabitatSim.reset()
            • PRIMITIVE_OBJECT_TYPES
        • tbp.monty.simulators.resources
          • tbp.monty.simulators.resources.tacto
        • tbp.monty.simulators.tacto
          • tbp.monty.simulators.tacto.agents
            • TactoFingerAgent
              • TactoFingerAgent.agent_id
              • TactoFingerAgent.position
              • TactoFingerAgent.rotation
              • TactoFingerAgent.height
              • TactoFingerAgent.rotation_step
              • TactoFingerAgent.translation_step
              • TactoFingerAgent.config
              • TactoFingerAgent.get_spec()
          • tbp.monty.simulators.tacto.config
            • TactoSensorSpec
              • TactoSensorSpec.name
              • TactoSensorSpec.camera
              • TactoSensorSpec.gel
              • TactoSensorSpec.lights
              • TactoSensorSpec.noise
              • TactoSensorSpec.force
              • TactoSensorSpec.from_yaml()
              • TactoSensorSpec.camera
              • TactoSensorSpec.force
              • TactoSensorSpec.gel
              • TactoSensorSpec.lights
              • TactoSensorSpec.name
              • TactoSensorSpec.noise
          • tbp.monty.simulators.tacto.sensors
            • TactoSensor
              • TactoSensor.sensor_id
              • TactoSensor.resolution
              • TactoSensor.position
              • TactoSensor.rotation
              • TactoSensor.config
              • TactoSensor.get_specs()
              • TactoSensor.process_observations()
              • TactoSensor.config
              • TactoSensor.resolution
• License