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5. Utilities

Vikash Kumar edited this page Apr 29, 2023 · 3 revisions

RoboHive provides a rich set of utilities to accelerate research prototyping.

Env/Sim utils

  • 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

Dataset utils

  • 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

Algebra

  • quat_math - a library of quaternion algebra

Data utils

  • 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

Mics utils

  • 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.
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