Agent Configuration

HoloOcean agents are declared in a list in the scenario dictionary. Each agent is defined using a new dictionary in the list.

Note

The first agent in the agents array is the “main agent”.

"agents":[
   {
      "agent_name": "uav0",
      "agent_type": "{agent types}",
      "sensors": [
         "array of sensor objects"
      ],
      "location": [1.0, 2.0, 3.0],
      "rotation": [1.0, 2.0, 3.0],
      "location_randomization": [1, 2, 3],
      "rotation_randomization": [10, 10, 10],
      "control_scheme": "{control scheme type}",
   },
   {
      "agent_name": "uav1",
      ...
   }
]

Below is a description of the keys in the agent dictionary:

Agent Name

agent_name is a string that specifies the name of the agent. This name is used to identify the agent when interacting with the environment.

Agent Type

agent_type is a string that specifies the type of agent. This table gives the current valid arguments for agent_type:

Agent Type	String in agent_type
HoveringAUV	`HoveringAUV`
SurfaceVessel	`SurfaceVessel`
TorpedoAUV	`TorpedoAUV`
CougUV	`CougUV`
BlueROV2	`BlueROV`
SphereAgent	`Sphere`
TurtleAgent	`TurtleAgent`
FixedWing	`FixedWing`
UAV Agent	`UAV`

Details on each agent can be found at the individual agent pages in HoloOcean Agents. This list will be updated as more agents are added to HoloOcean.

Sensors

sensors is an array of sensor objects that are attached to the agent. Each sensor is defined using a new dictionary in the list. For details on configuring and using sensors, see Sensor Configuration.

Location and Rotation

These keys define the location and orientation of the agent in the world, measured in meters and degrees respectively. The location is in the format [dx, dy, dz] and the rotation is [roll, pitch, yaw], rotated about XYZ fixed axes, ie R_z R_y R_x.

Note

Location uses HoloOcean world coordinates, not Unreal Engine level coordinates!
HoloOcean coordinates are right handed in meters.
See Units and Coordinates in HoloOcean for details.

Location Randomization

location_randomization and rotation_randomization are optional. If provided, the agent’s start location and/or rotation will vary by a random amount sampled uniformly from the specified range. Ranndomization in each direction is sampled independently.

The location randomization value is measured in meters, in the format [dx, dy, dz]. The rotation randomization is in the format [roll, pitch, yaw], rotated about the XYZ fixed axes (i.e. R_z*R_y*R_x).

Control Scheme

control_scheme is a string that specifies the control scheme (represented as an integer) used by the agent.

Control schemes determine how commands sent to the agent are interpreted. Most agents have a control scheme that exposes their thrusters, fins, and so forth to direct commands. Other control schemes implement convenient features, such as position PID controllers. A Custom Dynamics control scheme is available for users to fine-tune the motion of the vehicle.

For more details on control schemes, see Control Schemes.