src/holodeck/agents.py

"""Definitions for different agents that can be controlled from Holodeck"""
import math
from functools import reduce

import numpy as np
from holodeck.spaces import ContinuousActionSpace, DiscreteActionSpace
from holodeck.sensors import SensorDefinition, SensorFactory, RGBCamera
from holodeck.command import AddSensorCommand, RemoveSensorCommand
from . import joint_constraints


class ControlSchemes:
    """All allowed control schemes.

    Attributes:
        ANDROID_TORQUES (int): Default Android control scheme. Specify a torque for each joint.
        CONTINUOUS_SPHERE_DEFAULT (int): Default ContinuousSphere control scheme.
            Takes two commands, [forward_delta, turn_delta].
        DISCRETE_SPHERE_DEFAULT (int): Default DiscreteSphere control scheme. Takes a value, 0-4,
            which corresponds with forward, backward, right, and left.
        NAV_TARGET_LOCATION (int): Default NavAgent control scheme. Takes a target xyz coordinate.
        UAV_TORQUES (int): Default UAV control scheme. Takes torques for roll, pitch, and yaw, as
            well as thrust.
        UAV_ROLL_PITCH_YAW_RATE_ALT (int): Control scheme for UAV. Takes roll, pitch, yaw rate, and
            altitude targets.
        HAND_AGENT_MAX_TORQUES (int): Default Android control scheme.
            Specify a torque for each joint.
    """

    # Android Control Schemes
    ANDROID_DIRECT_TORQUES = 0
    ANDROID_MAX_SCALED_TORQUES = 1

    # Sphere Agent Control Schemes
    SPHERE_DISCRETE = 0
    SPHERE_CONTINUOUS = 1

    # Nav Agent Control Schemes
    NAV_TARGET_LOCATION = 0

    # Turtle agent
    TURTLE_DIRECT_TORQUES = 0

    # UAV Control Schemes
    UAV_TORQUES = 0
    UAV_ROLL_PITCH_YAW_RATE_ALT = 1

    # HandAgent Control Schemes
    HAND_AGENT_MAX_TORQUES = 0
    HAND_AGENT_MAX_SCALED_TORQUES = 1
    HAND_AGENT_MAX_TORQUES_FLOAT = 2


class TeleportFlags:
    """The constant values of valid teleport bit flags."""

    TELEPORT_LOCATION = 0x1
    TELEPORT_ROTATE = 0x2
    TELEPORT_SET_PHYSICS_STATE = 0x4


class HolodeckAgent:
    """A learning agent in Holodeck

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

    Args:
        client (:class:`~holodeck.holodeckclient.HolodeckClient`): The HolodeckClient that this
            agent belongs with.
        name (:obj:`str`, optional): The name of the agent. Must be unique from other agents in
            the same environment.
        sensors (:obj:`dict` of (:obj:`str`, :class:`~holodeck.sensors.HolodeckSensor`)): A list
            of HolodeckSensors to read from this agent.

    Attributes:
        name (:obj:`str`): The name of the agent.
        sensors (dict of (string, :class:`~holodeck.sensors.HolodeckSensor`)): List of
            HolodeckSensors on this agent.
        agent_state_dict (dict): A dictionary that maps sensor names to sensor observation data.
    """

    def __init__(self, client, name="DefaultAgent"):
        self.name = name
        self._client = client
        self.agent_state_dict = dict()
        self.sensors = dict()

        self._num_control_schemes = len(self.control_schemes)

        self._max_control_scheme_length = max(
            map(
                lambda x: reduce(lambda i, j: i * j, x[1].buffer_shape),
                self.control_schemes,
            )
        )

        self._action_buffer = self._client.malloc(
            name, [self._max_control_scheme_length], np.float32
        )
        # Teleport bit flags: See values from the TeleportFlags class.
        self._teleport_type_buffer = self._client.malloc(
            name + "_teleport_flag", [1], np.uint8
        )
        self._teleport_buffer = self._client.malloc(
            name + "_teleport_command", [12], np.float32
        )
        self._control_scheme_buffer = self._client.malloc(
            name + "_control_scheme", [1], np.uint8
        )
        self._current_control_scheme = 0
        self.set_control_scheme(0)

    def clean_up_resources(self):
        if hasattr(self, "_action_buffer"):
            del self._action_buffer
        if hasattr(self, "_teleport_type_buffer"):
            del self._teleport_type_buffer
        if hasattr(self, "_teleport_buffer"):
            del self._teleport_buffer
        if hasattr(self, "_control_scheme_buffer"):
            del self._control_scheme_buffer

        for key in list(self.agent_state_dict.keys()):
            del self.agent_state_dict[key]

        for key in list(self.sensors.keys()):
            self.sensors[key].clean_up_resources()
            del self.sensors[key]

    def act(self, action):
        """Sets the command for the agent. Action depends on the agent type and current control
        scheme.

        Args:
            action(:obj:`np.ndarray`): The action to take.
        """
        self.__act__(action)

    def clear_action(self):
        """Sets the action to zeros, effectively removing any previous actions."""
        np.copyto(self._action_buffer, np.zeros(self._action_buffer.shape))

    def set_control_scheme(self, index):
        """Sets the control scheme for the agent. See :class:`ControlSchemes`.

        Args:
            index (:obj:`int`): The control scheme to use. Should be set with an enum from
                :class:`ControlSchemes`.
        """
        self._current_control_scheme = index % self._num_control_schemes
        self._control_scheme_buffer[0] = self._current_control_scheme

    def teleport(self, location=None, rotation=None):
        """Teleports the agent to a specific location, with a specific rotation.

        Args:
            location (np.ndarray, optional): An array with three elements specifying the target
                world coordinates ``[x, y, z]`` in meters (see :ref:`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.

        """
        if location is not None:
            np.copyto(self._teleport_buffer[0:3], location)
            self._teleport_type_buffer[0] |= TeleportFlags.TELEPORT_LOCATION
        if rotation is not None:
            np.copyto(self._teleport_buffer[3:6], rotation)
            self._teleport_type_buffer[0] |= TeleportFlags.TELEPORT_ROTATE

    def set_physics_state(self, location, rotation, velocity, angular_velocity):
        """Sets the location, rotation, velocity and angular velocity of an agent.

        Args:
            location (np.ndarray): New location (``[x, y, z]`` (see :ref:`coordinate-system`))
            rotation (np.ndarray): New rotation (``[roll, pitch, yaw]``, see (see :ref:`rotations`))
            velocity (np.ndarray): New velocity (``[x, y, z]`` (see :ref:`coordinate-system`))
            angular_velocity (np.ndarray): New angular velocity (``[x, y, z]`` in **degrees**
                (see :ref:`coordinate-system`))

        """
        np.copyto(self._teleport_buffer[0:3], location)
        np.copyto(self._teleport_buffer[3:6], rotation)
        np.copyto(self._teleport_buffer[6:9], velocity)
        np.copyto(self._teleport_buffer[9:12], angular_velocity)
        self._teleport_type_buffer[0] = TeleportFlags.TELEPORT_SET_PHYSICS_STATE

    def add_sensors(self, sensor_defs):
        """Adds a sensor to a particular agent object and attaches an instance of the sensor to the
        agent in the world.

        Args:
            sensor_defs (:class:`~holodeck.sensors.HolodeckSensor` or
                         list of :class:`~holodeck.sensors.HolodeckSensor`):
                Sensors to add to the agent.
        """
        if not isinstance(sensor_defs, list):
            sensor_defs = [sensor_defs]

        for sensor_def in sensor_defs:
            if sensor_def.agent_name == self.name:
                sensor = SensorFactory.build_sensor(self._client, sensor_def)
                self.sensors[sensor_def.sensor_name] = sensor
                self.agent_state_dict[sensor_def.sensor_name] = sensor.sensor_data

                if not sensor_def.existing:
                    command_to_send = AddSensorCommand(sensor_def)
                    self._client.command_center.enqueue_command(command_to_send)

    def remove_sensors(self, sensor_defs):
        """Removes a sensor from a particular agent object and detaches it from the agent in the
        world.

        Args:
            sensor_defs (:class:`~holodeck.sensors.HolodeckSensor` or
                         list of :class:`~holodeck.sensors.HolodeckSensor`):
                Sensors to remove from the agent.
        """
        if not isinstance(sensor_defs, list):
            sensor_defs = [sensor_defs]

        for sensor_def in sensor_defs:
            self.sensors.pop(sensor_def.sensor_name, None)
            self.agent_state_dict.pop(sensor_def.sensor_name, None)
            command_to_send = RemoveSensorCommand(self.name, sensor_def.sensor_name)
            self._client.command_center.enqueue_command(command_to_send)

    def has_camera(self):
        """Indicates whether this agent has a camera or not.

        Returns:
            :obj:`bool`: If the agent has a sensor or not
        """
        for sensor_type in self.sensors.items():
            if sensor_type is RGBCamera:
                return True

        return False

    @property
    def action_space(self):
        """Gets the action space for the current agent and control scheme.

        Returns:
            :class:`~holodeck.spaces.ActionSpace`: The action space for this agent and control
                scheme.
        """
        return self.control_schemes[self._current_control_scheme][1]

    @property
    def control_schemes(self):
        """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 :obj:`ActionSpace` for the control scheme.

        Returns:
            (:obj:`str`, :class:`~holodeck.spaces.ActionSpace`):
                Each tuple contains a short description and the ActionSpace
        """
        raise NotImplementedError("Child class must implement this function")

    def get_joint_constraints(self, 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.

        Returns:
            (:obj )
        """
        raise NotImplementedError("Child class must implement this function")

    def __act__(self, action):
        # Allow for smaller arrays to be provided as input
        if len(self._action_buffer) > len(action):
            action = np.copy(action)
            action.resize(self._action_buffer.shape)

        # The default act function is to copy the data,
        # but if needed it can be overridden
        np.copyto(self._action_buffer, action)

    def __repr__(self):
        return self.name


class UavAgent(HolodeckAgent):
    """A UAV (quadcopter) agent

    **Action Space:**

    Has two possible continuous action control schemes

    1. [pitch_torque, roll_torque, yaw_torque, thrust] and
    2. [pitch_target, roll_target, yaw_rate_target, altitude_target]

    See :ref:`uav-agent` for more details.

    Inherits from :class:`HolodeckAgent`.
    """

    # constants in Uav.h in holodeck-engine
    __MAX_ROLL = 6.5080
    __MIN_ROLL = -__MAX_ROLL

    __MAX_PITCH = 5.087
    __MIN_PITCH = -__MAX_PITCH

    __MAX_YAW_RATE = 0.8
    __MIN_YAW_RATE = -__MAX_YAW_RATE

    __MAX_FORCE = 59.844
    __MIN_FORCE = -__MAX_FORCE

    agent_type = "UAV"

    @property
    def control_schemes(self):
        torques_min = [
            self.__MIN_PITCH,
            self.__MIN_ROLL,
            self.__MIN_YAW_RATE,
            self.__MIN_FORCE,
        ]
        torques_max = [
            self.__MAX_PITCH,
            self.__MAX_ROLL,
            self.__MAX_YAW_RATE,
            self.__MAX_FORCE,
        ]
        no_min = [-math.inf, -math.inf, -math.inf, -math.inf]
        no_max = [math.inf, math.inf, math.inf, math.inf]
        return [
            (
                "[pitch_torque, roll_torque, yaw_torque, thrust]",
                ContinuousActionSpace([4], low=torques_min, high=torques_max),
            ),
            (
                "[pitch_target, roll_target, yaw_rate_target, altitude_target]",
                ContinuousActionSpace([4], low=no_min, high=no_max),
            ),
        ]

    def __repr__(self):
        return "UavAgent " + self.name

    def get_joint_constraints(self, joint_name):
        return None


class SphereAgent(HolodeckAgent):
    """A basic sphere robot.

    See :ref:`sphere-agent` for more details.

    **Action Space:**

    Has two possible control schemes, one discrete and one continuous:

    +-------------------+---------+----------------------+
    | Control Scheme    | Value   | Action               |
    +-------------------+---------+----------------------+
    | Discrete (``0``)  | ``[0]`` | Move forward         |
    |                   +---------+----------------------+
    |                   | ``[1]`` | Move backward        |
    |                   +---------+----------------------+
    |                   | ``[2]`` | Turn right           |
    |                   +---------+----------------------+
    |                   | ``[3]`` | Turn left            |
    +-------------------+---------+----------------------+
    | Continuous (``1``)| ``[forward_speed, rot_speed]`` |
    +-------------------+--------------------------------+

    Inherits from :class:`HolodeckAgent`.
    """

    # constants in SphereRobot.h in holodeck-engine
    __DISCRETE_MIN = 0
    __DISCRETE_MAX = 4

    __MAX_ROTATION_SPEED = 20
    __MIN_ROTATION_SPEED = -__MAX_ROTATION_SPEED

    __MAX_FORWARD_SPEED = 20
    __MIN_FORWARD_SPEED = -__MAX_FORWARD_SPEED

    agent_type = "SphereRobot"

    @property
    def control_schemes(self):
        cont_min = [self.__MIN_FORWARD_SPEED, self.__MIN_ROTATION_SPEED]
        cont_max = [self.__MAX_FORWARD_SPEED, self.__MAX_ROTATION_SPEED]
        return [
            (
                "0: Move forward\n1: Move backward\n2: Turn right\n3: Turn left",
                DiscreteActionSpace(
                    [1],
                    low=self.__DISCRETE_MIN,
                    high=self.__DISCRETE_MAX,
                    buffer_shape=[2],
                ),
            ),
            (
                "[forward_movement, rotation]",
                ContinuousActionSpace([2], low=cont_min, high=cont_max),
            ),
        ]

    def get_joint_constraints(self, joint_name):
        return None

    def __act__(self, action):
        if self._current_control_scheme is ControlSchemes.SPHERE_CONTINUOUS:
            np.copyto(self._action_buffer, action)
        elif self._current_control_scheme is ControlSchemes.SPHERE_DISCRETE:
            # Move forward .185 meters (to match initial release)
            # Turn 10/-10 degrees (to match initial release)
            actions = np.array([[0.185, 0], [-0.185, 0], [0, 10], [0, -10]])
            to_act = np.array(actions[action, :])
            np.copyto(self._action_buffer, to_act)

    def __repr__(self):
        return "SphereAgent " + self.name


class AndroidAgent(HolodeckAgent):
    """A humanoid android agent.

    Can be controlled via torques supplied to its joints.

    See :ref:`android-agent` for more details.

    **Action Space:**

    94 dimensional vector of continuous values representing torques to be
    applied at each joint. The layout of joints can be found here:

    There are 18 joints with 3 DOF, 10 with 2 DOF, and 20 with 1 DOF.

    Inherits from :class:`HolodeckAgent`.
    """

    # constants in Android.h in holodeck-engine
    __MAX_TORQUE = 20
    __MIN_TORQUE = -__MAX_TORQUE
    __JOINTS_VECTOR_SIZE = 94

    agent_type = "Android"

    @property
    def control_schemes(self):
        direct_min = [self.__MIN_TORQUE for _ in range(self.__JOINTS_VECTOR_SIZE)]
        direct_max = [self.__MAX_TORQUE for _ in range(self.__JOINTS_VECTOR_SIZE)]
        scaled_min = [-1 for _ in range(self.__JOINTS_VECTOR_SIZE)]
        scaled_max = [1 for _ in range(self.__JOINTS_VECTOR_SIZE)]

        return [
            (
                "[Raw Bone Torques] * 94",
                ContinuousActionSpace(
                    [self.__JOINTS_VECTOR_SIZE], low=direct_min, high=direct_max
                ),
            ),
            (
                "[-1 to 1] * 94, where 1 is the maximum torque for a given "
                "joint (based on mass of bone)",
                ContinuousActionSpace(
                    [self.__JOINTS_VECTOR_SIZE], low=scaled_min, high=scaled_max
                ),
            ),
        ]

    def __repr__(self):
        return "AndroidAgent " + self.name

    @staticmethod
    def joint_ind(joint_name):
        """Gets the joint indices for a given name

        Args:
            joint_name (:obj:`str`): Name of the joint to look up

        Returns:
            (int): The index into the state array
        """
        return AndroidAgent._joint_indices[joint_name]

    def get_joint_constraints(self, joint_name):
        if joint_name in joint_constraints.android_agent_joints_constraints:
            return joint_constraints.android_agent_joints_constraints[joint_name]
        return None

    _joint_indices = {
        # Head, Spine, and Arm joints. Each has[swing1, swing2, twist]
        "head": 0,
        "neck_01": 3,
        "spine_02": 6,
        "spine_01": 9,
        "upperarm_l": 12,
        "lowerarm_l": 15,
        "hand_l": 18,
        "upperarm_r": 21,
        "lowerarm_r": 24,
        "hand_r": 27,
        # Leg Joints. Each has[swing1, swing2, twist]
        "thigh_l": 30,
        "calf_l": 33,
        "foot_l": 36,
        "ball_l": 39,
        "thigh_r": 42,
        "calf_r": 45,
        "foot_r": 48,
        "ball_r": 51,
        # First joint of each finger. Has only [swing1, swing2]
        "thumb_01_l": 54,
        "index_01_l": 56,
        "middle_01_l": 58,
        "ring_01_l": 60,
        "pinky_01_l": 62,
        "thumb_01_r": 64,
        "index_01_r": 66,
        "middle_01_r": 68,
        "ring_01_r": 70,
        "pinky_01_r": 72,
        # Second joint of each finger. Has only[swing1]
        "thumb_02_l": 74,
        "index_02_l": 75,
        "middle_02_l": 76,
        "ring_02_l": 77,
        "pinky_02_l": 78,
        "thumb_02_r": 79,
        "index_02_r": 80,
        "middle_02_r": 81,
        "ring_02_r": 82,
        "pinky_02_r": 83,
        # Third joint of each finger. Has only[swing1]
        "thumb_03_l": 84,
        "index_03_l": 85,
        "middle_03_l": 86,
        "ring_03_l": 87,
        "pinky_03_l": 88,
        "thumb_03_r": 89,
        "index_03_r": 90,
        "middle_03_r": 91,
        "ring_03_r": 92,
        "pinky_03_r": 93,
    }


class HandAgent(HolodeckAgent):
    """A floating hand agent.

    Can be controlled via torques supplied to its joints and moved around in
    three dimensions.

    See :ref:`hand-agent` for more details.

    **Action Space:**

    23 or 26 dimensional vector of continuous values representing torques to be
    applied at each joint. The layout of joints can be found here:
    :ref:`hand-joints`.

    Inherits from :class:`HolodeckAgent`.

    """

    # constants in HandAgent.h in holodeck-engine
    __MAX_MOVEMENT_METERS = 0.5
    __MIN_MOVEMENT_METERS = -__MAX_MOVEMENT_METERS

    __MAX_TORQUE = 20
    __MIN_TORQUE = -__MAX_TORQUE

    __JOINTS_DOF = 23
    __JOINTS_AND_DIST = 26

    agent_type = "HandAgent"

    @property
    def control_schemes(self):
        raw_min = [self.__MIN_TORQUE for _ in range(self.__JOINTS_DOF)]
        raw_max = [self.__MAX_TORQUE for _ in range(self.__JOINTS_DOF)]
        joint_min = [-1 for _ in range(self.__JOINTS_DOF)]
        joint_max = [1 for _ in range(self.__JOINTS_DOF)]

        scaled_min = [
            -1.0 if i < self.__JOINTS_DOF else self.__MIN_MOVEMENT_METERS
            for i in range(self.__JOINTS_AND_DIST)
        ]
        scaled_max = [
            1.0 if i < self.__JOINTS_DOF else self.__MAX_MOVEMENT_METERS
            for i in range(self.__JOINTS_AND_DIST)
        ]

        return [
            (
                "[Raw Bone Torques] * 23",
                ContinuousActionSpace([self.__JOINTS_DOF], low=raw_min, high=raw_max),
            ),
            (
                "[-1 to 1] * 23, where 1 is the maximum torque for the given index"
                "joint (based on mass of bone)",
                ContinuousActionSpace(
                    [self.__JOINTS_DOF], low=joint_min, high=joint_max
                ),
            ),
            (
                "[-1 to 1] * 23, scaled torques, then [x, y, z] transform",
                ContinuousActionSpace(
                    [self.__JOINTS_AND_DIST], low=scaled_min, high=scaled_max
                ),
            ),
        ]

    def __repr__(self):
        return "HandAgent " + self.name

    @staticmethod
    def joint_ind(joint_name):
        """Gets the joint indices for a given name

        Args:
            joint_name (:obj:`str`): Name of the joint to look up

        Returns:
            (int): The index into the state array
        """
        return HandAgent._joint_indices[joint_name]

    def get_joint_constraints(self, joint_name):
        if joint_name in joint_constraints.hand_agent_joints_constraints:
            return joint_constraints.hand_agent_joints_constraints[joint_name]
        return None

    _joint_indices = {
        # Head, Spine, and Arm joints. Each has[swing1, swing2, twist]
        "hand_r": 0,
        # First joint of each finger. Has only [swing1, swing2]
        "thumb_01_r": 3,
        "index_01_r": 5,
        "middle_01_r": 7,
        "ring_01_r": 9,
        "pinky_01_r": 11,
        # Second joint of each finger. Has only[swing1]
        "thumb_02_r": 12,
        "index_02_r": 13,
        "middle_02_r": 14,
        "ring_02_r": 15,
        "pinky_02_r": 16,
        # Third joint of each finger. Has only[swing1]
        "thumb_03_r": 17,
        "index_03_r": 18,
        "middle_03_r": 19,
        "ring_03_r": 20,
        "pinky_03_r": 21,
    }


class NavAgent(HolodeckAgent):
    """A humanoid character capable of intelligent navigation.

    See :ref:`nav-agent` for more details.

    **Action Space:**

    Continuous control scheme of the form ``[x_target, y_target, z_target]``.
    (see :ref:`coordinate-system`)

    Inherits from :class:`HolodeckAgent`.

    """

    # constants in NavAgent.h in holodeck-engine
    __MAX_DISTANCE = 0.5
    __MIN_DISTANCE = -__MAX_DISTANCE

    agent_type = "NavAgent"

    @property
    def control_schemes(self):
        low = [self.__MIN_DISTANCE for _ in range(3)]
        high = [self.__MAX_DISTANCE for _ in range(3)]
        return [
            (
                "[x_target, y_target, z_target]",
                ContinuousActionSpace([3], low=low, high=high),
            )
        ]

    def get_joint_constraints(self, joint_name):
        return None

    def __repr__(self):
        return "NavAgent " + self.name

    def __act__(self, action):
        np.copyto(self._action_buffer, np.array(action))


class TurtleAgent(HolodeckAgent):
    """A simple turtle bot.

    See :ref:`turtle-agent` for more details.

    **Action Space**:

    ``[forward_force, rot_force]``

    - ``forward_force`` is capped at 160 in either direction
    - ``rot_force`` is capped at 35 either direction

    Inherits from :class:`HolodeckAgent`.
    """

    # constants in TurtleAgent.h in holodeck-engine
    __MAX_THRUST = 160.0
    __MIN_THRUST = -__MAX_THRUST

    __MAX_YAW = 35.0
    __MIN_YAW = -__MAX_YAW

    agent_type = "TurtleAgent"

    @property
    def control_schemes(self):
        low = [self.__MIN_THRUST, self.__MIN_YAW]
        high = [self.__MAX_THRUST, self.__MAX_YAW]
        return [
            (
                "[forward_force, rot_force]",
                ContinuousActionSpace([2], low=low, high=high),
            )
        ]

    def get_joint_constraints(self, joint_name):
        return None

    def __repr__(self):
        return "TurtleAgent " + self.name

    def __act__(self, action):
        np.copyto(self._action_buffer, np.array(action))
        np.copyto(self._action_buffer, action)


class AgentDefinition:
    """Represents information needed to initialize agent.

    Args:
        agent_name (:obj:`str`): The name of the agent to control.
        agent_type (:obj:`str` or type): The type of HolodeckAgent to control, string or class
            reference.
        max_height (:obj:'float'): The max height that the agent can reach before upwards movement is limited.
        sensors (:class:`~holodeck.sensors.SensorDefinition` or class type (if no duplicate
            sensors)): A list of HolodeckSensors to read from this agent.
        starting_loc (:obj:`list` of :obj:`float`): Starting ``[x, y, z]`` location for agent
            (see :ref:`coordinate-system`)
        starting_rot (:obj:`list` of :obj:`float`): Starting ``[roll, pitch, yaw]``
            rotation for agent (see :ref:`rotations`)
        existing (:obj:`bool`): If the agent exists in the world or not (deprecated)
    """

    _type_keys = {
        "SphereAgent": SphereAgent,
        "UavAgent": UavAgent,
        "NavAgent": NavAgent,
        "AndroidAgent": AndroidAgent,
        "HandAgent": HandAgent,
        "TurtleAgent": TurtleAgent,
    }

    def __init__(
        self,
        agent_name,
        agent_type,
        max_height,
        sensors=None,
        starting_loc=(0, 0, 0),
        starting_rot=(0, 0, 0),
        existing=False,
        is_main_agent=False,
    ):
        self.starting_loc = starting_loc
        self.starting_rot = starting_rot
        self.existing = existing
        self.max_height = max_height
        self.sensors = sensors or list()
        self.is_main_agent = is_main_agent
        for i, sensor_def in enumerate(self.sensors):
            if not isinstance(sensor_def, SensorDefinition):
                self.sensors[i] = SensorDefinition(
                    agent_name, agent_type, sensor_def.sensor_type, sensor_def
                )
        self.name = agent_name

        if isinstance(agent_type, str):
            self.type = AgentDefinition._type_keys[agent_type]
        else:
            self.type = agent_type


class AgentFactory:
    """Creates an agent object"""

    @staticmethod
    def build_agent(client, agent_def):
        """Constructs an agent

        Args:
            client (:class:`holodeck.holodeckclient.HolodeckClient`): HolodeckClient agent is
                associated with
            agent_def (:class:`AgentDefinition`): Definition of the agent to instantiate

        Returns:

        """
        return agent_def.type(client, agent_def.name)