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5. Utilities
Vikash Kumar edited this page Apr 29, 2023
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RoboHive
provides a rich set of utilities to accelerate research prototyping.
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examine_env - Entry point to examine
RoboHive
environments using random exploration or pretraiend policies with as variety of options to save and plot resulting rollout data - examine_sim - helpful utlities to examine robohive simulations without the environment definitions
- inverset_kinematics - utility that enables computation of inverse kinematics on MuJoCo models.
- min_jerk -- utility to calculte minimum jerk trajectories between two end points
- path_utils - utilities to examine, plot and manipulation rollout paths
- logger/examine_logs - utility to examine, plot and manipulation traces from our logger. Utility to record/examine rollout (record/ render/ playback/ recover) on an environment
- quat_math - a library of quaternion algebra
- dict_utils - Helpful utilities to manipulate datasets leveraging python dictionaries
- tensor_utils - Helpful utilities to manipulate datasets leveraging tensors
- vector_utils - Helpful utilities to on vectors
- xml_utils - Helpful utilities to manipulate xmls
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prompt_utils - Utility script to control the information verbosity produced by RoboHive. Set environment variable
ROBOHIVE_VERBOSITY=INFO(default)/WARN/ERROR/ONCE/NONE
to control the verbosity.
RoboHive: A unified framework for robot learning