tbp.monty

• tbp.monty.frameworks
  • tbp.monty.frameworks.actions
    • tbp.monty.frameworks.actions.action_samplers
      • ActionSampler
      • ConstantSampler
      • UniformlyDistributedSampler
    • tbp.monty.frameworks.actions.actions
      • Action
      • LookDown
      • LookUp
      • MoveForward
      • MoveTangentially
      • OrientHorizontal
      • OrientVertical
      • SetAgentPitch
      • SetAgentPose
      • SetSensorPitch
      • SetSensorPose
      • SetSensorRotation
      • SetYaw
      • TurnLeft
      • TurnRight
    • tbp.monty.frameworks.actions.actuator
      • Actuator
  • 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
      • DebugExperimentArgs
      • DefaultEvalObjectList
      • DefaultObjectInitializer
      • DefaultTrainObjectList
      • EnvInitArgsMontyWorldBrightScenes
      • EnvInitArgsMontyWorldDarkScenes
      • EnvInitArgsMontyWorldHandIntrusionScenes
      • EnvInitArgsMontyWorldMultiObjectScenes
      • EnvInitArgsMontyWorldStandardScenes
      • EnvironmentDataLoaderPerObjectEvalArgs
      • EnvironmentDataLoaderPerObjectTrainArgs
      • EnvironmentDataloaderMultiObjectArgs
      • EnvironmentDataloaderPerObjectArgs
      • EvalExperimentArgs
      • ExperimentArgs
      • FiveLMMountConfig
      • FixedRotationEnvironmentDataLoaderPerObjectEvalArgs
      • FixedRotationEnvironmentDataLoaderPerObjectTrainArgs
      • InformedEnvironmentDataLoaderEvalArgs
      • InformedEnvironmentDataLoaderTrainArgs
      • InformedEnvironmentDataloaderMultiObjectArgs
      • MultiLMMountConfig
      • NotYCBEvalObjectList
      • NotYCBTrainObjectList
      • OmniglotDataloaderArgs
      • OmniglotDatasetArgs
      • PatchAndViewFinderMountConfig
      • PatchAndViewFinderMountLowResConfig
      • PatchAndViewFinderMultiObjectMountConfig
      • PatchAndViewSensorAgentMapping
      • PredefinedObjectInitializer
      • RandomRotationObjectInitializer
      • SensorAgentMapping
      • SimpleMountSensorAgentMapping
      • SingleSensorAgentMapping
      • SurfaceAndViewFinderMountConfig
      • TwoCameraMountConfig
      • TwoLMStackedDistantMountConfig
      • TwoLMStackedSurfaceMountConfig
      • WorldImageDataloaderArgs
      • WorldImageDatasetArgs
      • WorldImageFromStreamDatasetArgs
      • get_env_dataloader_per_object_by_idx()
      • get_object_names_by_idx()
      • get_omniglot_eval_dataloader()
      • get_omniglot_train_dataloader()
      • make_multi_sensor_mount_config()
      • make_sensor_positions_on_grid()
    • tbp.monty.frameworks.config_utils.policy_setup_utils
      • BasePolicyConfig
      • InformedPolicyConfig
      • NaiveScanPolicyConfig
      • SurfaceCurveInformedPolicyConfig
      • SurfacePolicyConfig
      • 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.server
      • MontyRequestHandler
    • tbp.monty.frameworks.environment_utils.transforms
      • AddNoiseToRawDepthImage
      • DepthTo3DLocations
      • GaussianSmoothing
      • MissingToMaxDepth
  • tbp.monty.frameworks.environments
    • tbp.monty.frameworks.environments.embodied_data
      • EnvironmentDataLoader
      • EnvironmentDataLoaderPerObject
      • EnvironmentDataset
      • InformedEnvironmentDataLoader
      • OmniglotDataLoader
      • SaccadeOnImageDataLoader
      • SaccadeOnImageFromStreamDataLoader
    • tbp.monty.frameworks.environments.embodied_environment
      • ActionSpace
      • EmbodiedEnvironment
    • tbp.monty.frameworks.environments.real_robots
      • RealRobotsEnvironment
    • tbp.monty.frameworks.environments.two_d_data
      • OmniglotEnvironment
      • SaccadeOnImageEnvironment
      • SaccadeOnImageFromStreamEnvironment
    • 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
      • LoggingCallbackHandler
      • TestLogger
    • tbp.monty.frameworks.loggers.graph_matching_loggers
      • BasicGraphMatchingLogger
      • DetailedGraphMatchingLogger
      • SelectiveEvidenceLogger
    • tbp.monty.frameworks.loggers.monty_handlers
      • BasicCSVStatsHandler
      • DetailedJSONHandler
      • MontyHandler
      • ReproduceEpisodeHandler
    • tbp.monty.frameworks.loggers.wandb_handlers
  • tbp.monty.frameworks.models
    • tbp.monty.frameworks.models.mixins
      • tbp.monty.frameworks.models.mixins.no_reset_evidence
    • tbp.monty.frameworks.models.abstract_monty_classes
      • GoalStateGenerator
      • LMMemory
      • LearningModule
      • Monty
      • ObjectModel
      • SensorModule
    • tbp.monty.frameworks.models.buffer
      • BaseBuffer
      • BufferEncoder
      • FeatureAtLocationBuffer
    • tbp.monty.frameworks.models.displacement_matching
      • DisplacementGraphLM
      • DisplacementGraphMemory
    • tbp.monty.frameworks.models.evidence_matching
      • EvidenceGraphLM
      • EvidenceGraphMemory
      • MontyForEvidenceGraphMatching
    • tbp.monty.frameworks.models.evidence_sdr_matching
      • EncoderSDR
      • EvidenceSDRGraphLM
      • EvidenceSDRLMMixin
      • EvidenceSDRTargetOverlaps
      • LoggerSDR
    • tbp.monty.frameworks.models.feature_location_matching
      • FeatureGraphLM
      • FeatureGraphMemory
    • tbp.monty.frameworks.models.goal_state_generation
      • EvidenceGoalStateGenerator
      • GraphGoalStateGenerator
    • tbp.monty.frameworks.models.graph_matching
      • GraphLM
      • GraphMemory
      • MontyForGraphMatching
    • tbp.monty.frameworks.models.monty_base
      • LearningModuleBase
      • MontyBase
      • SensorModuleBase
    • tbp.monty.frameworks.models.motor_policies
      • BasePolicy
      • GetGoodView
      • InformedPolicy
      • JumpToGoalStateMixin
      • MotorPolicy
      • NaiveScanPolicy
      • PositioningProcedure
      • PositioningProcedureResult
      • SurfacePolicy
      • SurfacePolicyCurvatureInformed
      • enforce_pi_bounds()
      • get_perc_on_obj()
      • get_perc_on_obj_semantic()
      • projected_angle_from_vec()
      • projected_vec_from_angle()
      • read_action_file()
      • theta_change()
      • write_action_file()
    • tbp.monty.frameworks.models.motor_system
      • MotorSystem
    • tbp.monty.frameworks.models.motor_system_state
      • AgentState
      • MotorSystemState
      • ProprioceptiveState
      • SensorState
    • tbp.monty.frameworks.models.no_reset_evidence_matching
      • MontyForNoResetEvidenceGraphMatching
      • NoResetEvidenceGraphLM
    • tbp.monty.frameworks.models.object_model
      • GridTooSmallError
      • GraphObjectModel
      • GridObjectModel
    • tbp.monty.frameworks.models.sensor_modules
      • DetailedLoggingSM
      • FeatureChangeSM
      • HabitatDistantPatchSM
      • HabitatSurfacePatchSM
      • NoiseMixin
    • tbp.monty.frameworks.models.states
      • GoalState
      • State
      • encode_goal_state()
  • 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.evidence_matching
      • ChannelMapper
    • 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_pose_error()
      • compute_unsupervised_stats()
      • deserialize_json_chunks()
      • format_columns_for_wandb()
      • get_graph_lm_episode_stats()
      • get_object_graph_stats()
      • get_overall_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
      • find_transform_instance()
      • numpy_to_scipy_quat()
      • scipy_to_numpy_quat()
  • 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
      • HabitatActuatorRequirements
      • HabitatParameterizer
    • tbp.monty.simulators.habitat.agents
      • HabitatAgent
      • MultiSensorAgent
      • SingleSensorAgent
    • tbp.monty.simulators.habitat.configs
      • EnvInitArgs
      • EnvInitArgsFiveLMMount
      • EnvInitArgsMontyWorldPatchViewMount
      • EnvInitArgsMontyWorldSurfaceViewMount
      • EnvInitArgsMultiLMMount
      • EnvInitArgsPatchViewFinderMultiObjectMount
      • EnvInitArgsPatchViewMount
      • EnvInitArgsPatchViewMountLowRes
      • EnvInitArgsShapenetPatchViewMount
      • EnvInitArgsSimpleMount
      • EnvInitArgsSinglePTZ
      • EnvInitArgsSurfaceViewMount
      • EnvInitArgsTwoLMDistantStackedMount
      • EnvInitArgsTwoLMSurfaceStackedMount
      • FiveLMMountHabitatDatasetArgs
      • MultiLMMountHabitatDatasetArgs
      • NoisyPatchViewFinderMountHabitatDatasetArgs
      • NoisySurfaceViewFinderMountHabitatDatasetArgs
      • ObjectConfig
      • PatchViewFinderLowResMountHabitatDatasetArgs
      • PatchViewFinderMontyWorldMountHabitatDatasetArgs
      • PatchViewFinderMountHabitatDatasetArgs
      • PatchViewFinderMultiObjectMountHabitatDatasetArgs
      • PatchViewFinderShapenetMountHabitatDatasetArgs
      • SimpleMountHabitatDatasetArgs
      • SinglePTZHabitatDatasetArgs
      • SurfaceViewFinderMontyWorldMountHabitatDatasetArgs
      • SurfaceViewFinderMountHabitatDatasetArgs
      • TwoLMStackedDistantMountHabitatDatasetArgs
      • TwoLMStackedSurfaceMountHabitatDatasetArgs
      • make_multi_sensor_habitat_dataset_args()
    • tbp.monty.simulators.habitat.environment
      • AgentConfig
      • HabitatActionSpace
      • HabitatEnvironment
      • MultiSensorAgentArgs
      • ObjectConfig
      • SingleSensorAgentArgs
    • tbp.monty.simulators.habitat.environment_utils
      • get_bounding_corners()
    • tbp.monty.simulators.habitat.sensors
      • RGBDSensorConfig
      • SemanticSensorConfig
      • SensorConfig
    • tbp.monty.simulators.habitat.simulator
      • HabitatSim
      • PRIMITIVE_OBJECT_TYPES
  • tbp.monty.simulators.resources
    • tbp.monty.simulators.resources.tacto
  • tbp.monty.simulators.tacto
    • tbp.monty.simulators.tacto.agents
      • TactoFingerAgent
    • tbp.monty.simulators.tacto.config
      • TactoSensorSpec
    • tbp.monty.simulators.tacto.sensors
      • TactoSensor