tbp.monty.frameworks.actions

tbp.monty.frameworks.actions.action_samplers

class ActionSampler(rng: Generator | None = None, actions: list[type[Action]] | None = None)

Bases: object

An Action factory that samples from a set of available action types.

sample(agent_id: str) → Action

Sample a random action from the available action types.

Returns:

A random action from the available action types.

Return type:

Action

class ConstantSampler(absolute_degrees: float = 0.0, actions: list[type[Action]] | None = None, direction: VectorXYZ | None = None, location: VectorXYZ | None = None, rng: Generator | None = None, rotation_degrees: float = 5.0, rotation_quat: QuaternionWXYZ | None = None, translation_distance: float = 0.004, **kwargs: Any)

Bases: ActionSampler

An Action factory using constant, prespecified action parameters.

This Action factory samples actions with constant parameters. The values of action parameters used are set at initialization time and remain the same for all actions created by this factory. For example, if you specify rotation_degrees=5.0, all actions created by this factory that take a rotation_degrees parameter will have it set to 5.0.

When sampling an Action, only applicable parameters are used. For example, when sampling a MoveForward action, only the ConstantCreator’s translation_distance parameter is used to determine the action’s distance parameter.

sample_look_down(agent_id: str) → LookDown

sample_look_up(agent_id: str) → LookUp

sample_move_forward(agent_id: str) → MoveForward

sample_move_tangentially(agent_id: str) → MoveTangentially

sample_orient_horizontal(agent_id: str) → OrientHorizontal

sample_orient_vertical(agent_id: str) → OrientVertical

sample_set_agent_pitch(agent_id: str) → SetAgentPitch

sample_set_agent_pose(agent_id: str) → SetAgentPose

sample_set_sensor_pitch(agent_id: str) → SetSensorPitch

sample_set_sensor_pose(agent_id: str) → SetSensorPose

sample_set_sensor_rotation(agent_id: str) → SetSensorRotation

sample_set_yaw(agent_id: str) → SetYaw

sample_turn_left(agent_id: str) → TurnLeft

sample_turn_right(agent_id: str) → TurnRight

class UniformlyDistributedSampler(actions: list[type[Action]] | None = None, max_absolute_degrees: float = 360.0, min_absolute_degrees: float = 0.0, max_rotation_degrees: float = 20.0, min_rotation_degrees: float = 0.0, max_translation: float = 0.05, min_translation: float = 0.05, rng: Generator | None = None, **kwargs: Any)

Bases: ActionSampler

An Action factory using uniformly distributed action creation parameters.

This Action factory samples actions with parameters that are uniformly distributed within a given range. The range of values for each parameter is set at initialization time and remains the same for all actions created by this factory.

When sampling an Action, only applicable parameters are used. For example, when sampling a MoveForward action, only the UniformlyDistributedCreator’s translation_high and translation_low parameters are used to determine the action’s distance parameter.

sample_look_down(agent_id: str) → LookDown

sample_look_up(agent_id: str) → LookUp

sample_move_forward(agent_id: str) → MoveForward

sample_move_tangentially(agent_id: str) → MoveTangentially

sample_orient_horizontal(agent_id: str) → OrientHorizontal

sample_orient_vertical(agent_id: str) → OrientVertical

sample_set_agent_pitch(agent_id: str) → SetAgentPitch

sample_set_agent_pose(agent_id: str) → SetAgentPose

sample_set_sensor_pitch(agent_id: str) → SetSensorPitch

sample_set_sensor_pose(agent_id: str) → SetSensorPose

sample_set_sensor_rotation(agent_id: str) → SetSensorRotation

sample_set_yaw(agent_id: str) → SetYaw

sample_turn_left(agent_id: str) → TurnLeft

sample_turn_right(agent_id: str) → TurnRight

tbp.monty.frameworks.actions.actions

class Action(agent_id: str)

Bases: Protocol

An action that can be taken by an agent.

Actions are generated by the MotorSystem and are executed by an Actuator.

classmethod action_name() → str

Generate action name based on class.

Used in static configuration, e.g., FakeAction.action_name().

Returns:

The action name in snake_case.

agent_id: str

The ID of the agent that will take this action.

property name: str

Used for checking action name on an Action instance.

class LookDown(agent_id: str, rotation_degrees: float, constraint_degrees: float = 90.0)

Bases: Action

Rotate the agent downwards by a specified number of degrees.

act(actuator: LookDownActuator) → None

static sample(agent_id: str, sampler: LookDownActionSampler) → LookDown

agent_id: str

The ID of the agent that will take this action.

class LookDownActionSampler(*args, **kwargs)

Bases: Protocol

sample_look_down(agent_id: str) → LookDown

class LookDownActuator(*args, **kwargs)

Bases: Protocol

actuate_look_down(action: LookDown) → None

class LookUp(agent_id: str, rotation_degrees: float, constraint_degrees: float = 90.0)

Bases: Action

Rotate the agent upwards by a specified number of degrees.

act(actuator: LookUpActuator) → None

static sample(agent_id: str, sampler: LookUpActionSampler) → LookUp

agent_id: str

The ID of the agent that will take this action.

class LookUpActionSampler(*args, **kwargs)

Bases: Protocol

sample_look_up(agent_id: str) → LookUp

class LookUpActuator(*args, **kwargs)

Bases: Protocol

actuate_look_up(action: LookUp) → None

class MoveForward(agent_id: str, distance: float)

Bases: Action

Move the agent forward by a specified distance.

act(actuator: MoveForwardActuator) → None

static sample(agent_id: str, sampler: MoveForwardActionSampler) → MoveForward

agent_id: str

The ID of the agent that will take this action.

class MoveForwardActionSampler(*args, **kwargs)

Bases: Protocol

sample_move_forward(agent_id: str) → MoveForward

class MoveForwardActuator(*args, **kwargs)

Bases: Protocol

actuate_move_forward(action: MoveForward) → None

class MoveTangentially(agent_id: str, distance: float, direction: Tuple[float, float, float])

Bases: Action

Move the agent tangentially.

Moves the agent tangentially to the current orientation by a specified distance along a specified direction.

act(actuator: MoveTangentiallyActuator) → None

static sample(agent_id: str, sampler: MoveTangentiallyActionSampler) → MoveTangentially

agent_id: str

The ID of the agent that will take this action.

class MoveTangentiallyActionSampler(*args, **kwargs)

Bases: Protocol

sample_move_tangentially(agent_id: str) → MoveTangentially

class MoveTangentiallyActuator(*args, **kwargs)

Bases: Protocol

actuate_move_tangentially(action: MoveTangentially) → None

class OrientHorizontal(agent_id: str, rotation_degrees: float, left_distance: float, forward_distance: float)

Bases: Action

Move the agent in the horizontal plane.

Moves the agent in the horizontal plane compensating for the horizontal motion with a rotation in the horizontal plane.

act(actuator: OrientHorizontalActuator) → None

static sample(agent_id: str, sampler: OrientHorizontalActionSampler) → OrientHorizontal

agent_id: str

The ID of the agent that will take this action.

class OrientHorizontalActionSampler(*args, **kwargs)

Bases: Protocol

sample_orient_horizontal(agent_id: str) → OrientHorizontal

class OrientHorizontalActuator(*args, **kwargs)

Bases: Protocol

actuate_orient_horizontal(action: OrientHorizontal) → None

class OrientVertical(agent_id: str, rotation_degrees: float, down_distance: float, forward_distance: float)

Bases: Action

Move the agent in the vertical plane.

Moves the agent in the vertical plane compensating for the vertical motion with a rotation in the vertical plane.

act(actuator: OrientVerticalActuator) → None

static sample(agent_id: str, sampler: OrientVerticalActionSampler) → OrientVertical

agent_id: str

The ID of the agent that will take this action.

class OrientVerticalActionSampler(*args, **kwargs)

Bases: Protocol

sample_orient_vertical(agent_id: str) → OrientVertical

class OrientVerticalActuator(*args, **kwargs)

Bases: Protocol

actuate_orient_vertical(action: OrientVertical) → None

class SetAgentPitch(agent_id: str, pitch_degrees: float)

Bases: Action

Set the agent pitch rotation in degrees.

Note that unless otherwise changed, the sensors maintain identity orientation with regard to the agent. So, this will also adjust the pitch of agent’s sensors with regard to the environment.

act(actuator: SetAgentPitchActuator) → None

static sample(agent_id: str, sampler: SetAgentPitchActionSampler) → SetAgentPitch

agent_id: str

The ID of the agent that will take this action.

class SetAgentPitchActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_agent_pitch(agent_id: str) → SetAgentPitch

class SetAgentPitchActuator(*args, **kwargs)

Bases: Protocol

actuate_set_agent_pitch(action: SetAgentPitch) → None

class SetAgentPose(agent_id: str, location: Tuple[float, float, float], rotation_quat: Tuple[float, float, float, float])

Bases: Action

Set the agent pose.

Set the agent pose to absolute location coordinates and orientation in the environment.

act(actuator: SetAgentPoseActuator) → None

static sample(agent_id: str, sampler: SetAgentPoseActionSampler) → SetAgentPose

agent_id: str

The ID of the agent that will take this action.

class SetAgentPoseActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_agent_pose(agent_id: str) → SetAgentPose

class SetAgentPoseActuator(*args, **kwargs)

Bases: Protocol

actuate_set_agent_pose(action: SetAgentPose) → None

class SetSensorPitch(agent_id: str, pitch_degrees: float)

Bases: Action

Set the sensor pitch rotation.

Note that this does not update the pitch of the agent. Imagine the body associated with the eye remaining in place, while the eye moves.

act(actuator: SetSensorPitchActuator) → None

static sample(agent_id: str, sampler: SetSensorPitchActionSampler) → SetSensorPitch

agent_id: str

The ID of the agent that will take this action.

class SetSensorPitchActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_sensor_pitch(agent_id: str) → SetSensorPitch

class SetSensorPitchActuator(*args, **kwargs)

Bases: Protocol

actuate_set_sensor_pitch(action: SetSensorPitch) → None

class SetSensorPose(agent_id: str, location: Tuple[float, float, float], rotation_quat: Tuple[float, float, float, float])

Bases: Action

Set the sensor pose.

Set the sensor pose to absolute location coordinates and orientation in the environment.

act(actuator: SetSensorPoseActuator) → None

static sample(agent_id: str, sampler: SetSensorPoseActionSampler) → SetSensorPose

agent_id: str

The ID of the agent that will take this action.

class SetSensorPoseActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_sensor_pose(agent_id: str) → SetSensorPose

class SetSensorPoseActuator(*args, **kwargs)

Bases: Protocol

actuate_set_sensor_pose(action: SetSensorPose) → None

class SetSensorRotation(agent_id: str, rotation_quat: Tuple[float, float, float, float])

Bases: Action

Set the sensor rotation relative to the agent.

act(actuator: SetSensorRotationActuator) → None

static sample(agent_id: str, sampler: SetSensorRotationActionSampler) → SetSensorRotation

agent_id: str

The ID of the agent that will take this action.

class SetSensorRotationActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_sensor_rotation(agent_id: str) → SetSensorRotation

class SetSensorRotationActuator(*args, **kwargs)

Bases: Protocol

actuate_set_sensor_rotation(action: SetSensorRotation) → None

class SetYaw(agent_id: str, rotation_degrees: float)

Bases: Action

Set the agent body yaw rotation.

act(actuator: SetYawActuator) → None

static sample(agent_id: str, sampler: SetYawActionSampler) → SetYaw

agent_id: str

The ID of the agent that will take this action.

class SetYawActionSampler(*args, **kwargs)

Bases: Protocol

sample_set_yaw(agent_id: str) → SetYaw

class SetYawActuator(*args, **kwargs)

Bases: Protocol

actuate_set_yaw(action: SetYaw) → None

class TurnLeft(agent_id: str, rotation_degrees: float)

Bases: Action

Rotate the agent to the left.

act(actuator: TurnLeftActuator) → None

static sample(agent_id: str, sampler: TurnLeftActionSampler) → TurnLeft

agent_id: str

The ID of the agent that will take this action.

class TurnLeftActionSampler(*args, **kwargs)

Bases: Protocol

sample_turn_left(agent_id: str) → TurnLeft

class TurnLeftActuator(*args, **kwargs)

Bases: Protocol

actuate_turn_left(action: TurnLeft) → None

class TurnRight(agent_id: str, rotation_degrees: float)

Bases: Action

Rotate the agent to the right.

act(actuator: TurnRightActuator) → None

static sample(agent_id: str, sampler: TurnRightActionSampler) → TurnRight

agent_id: str

The ID of the agent that will take this action.

class TurnRightActionSampler(*args, **kwargs)

Bases: Protocol

sample_turn_right(agent_id: str) → TurnRight

class TurnRightActuator(*args, **kwargs)

Bases: Protocol

actuate_turn_right(action: TurnRight) → None