robits.dataset package

Subpackages

• robits.dataset.io package
  • Submodules
  • robits.dataset.io.reader module
    • DatasetReader
      • DatasetReader.load()
      • DatasetReader.load_camera_data()
      • DatasetReader.num_items
      • DatasetReader.read_entry()
      • DatasetReader.validate()
  • robits.dataset.io.recorder module
    • DatasetRecorder
      • DatasetRecorder.do_recording()
      • DatasetRecorder.start_recording()
      • DatasetRecorder.stop_recording()
  • robits.dataset.io.stats_writer module
    • StatsWriter
      • StatsWriter.compute_stats()
      • StatsWriter.has_stats()
      • StatsWriter.load_stats()
      • StatsWriter.write_stats()
  • robits.dataset.io.writer module
    • DatasetWriter
      • DatasetWriter.do_write()
      • DatasetWriter.finalize_write()
      • DatasetWriter.get_demo_path()
      • DatasetWriter.prepare_write()
      • DatasetWriter.write_obs()

Submodules

robits.dataset.camera module

class robits.dataset.camera.DatasetCamera(camera_name: str, dataset: Dataset | str, **kwargs)

Bases: CameraBase

Replay camera images from a dataset.

property camera_name: str

Name of the camera

Returns:

The camera name

property extrinsics: Any

Retrieve the extrinsics of the camera.

Returns:

The camera extrinsics.

get_camera_data() → Tuple[CameraData, Dict[str, Any]]

Get the current camera data from the dataset.

Returns:

A tuple containing the camera images and the metadata

property idx: int

Get the current index in the dataset.

Returns:

The index of the current entry.

property intrinsics: Any

Retrieve the intrinsics of the camera.

Returns:

The camera intrinsics.

robits.dataset.robot module

class robits.dataset.robot.DatasetRobot(cameras: List[CameraBase] | List[str] | None = None, *args, **kwargs)

Bases: UnimanualRobot

A robot that replays actions and sensor data from a dataset.

property eef_matrix

The 4x4 matrix of the current end-effector pose

Returns:

The pose of the robot as matrix

property eef_pose

The pose of the end-effector as (position, quaternion). Quaternion format is xyzw

Returns:

The pose of the robot as tuple

get_proprioception_data(include_eef: bool = True, include_gripper_obs: bool = True) → Dict[str, Any]

See also

UnimanualRobot.get_proprioception_data()

property idx

Get the current index in the dataset.

Returns:

The index of the current entry.

stop()