RoBits API

• robits.agents package
  • Submodules
  • robits.agents.base_agent module
    • BaseAgent
      • BaseAgent.agent_name
      • BaseAgent.get_action()
      • BaseAgent.lang_goal
      • BaseAgent.prepare_observation()
  • robits.agents.mello_agent module
    • MelloAgent
      • MelloAgent.get_action()
      • MelloAgent.get_mello_data()
      • MelloAgent.get_mello_joint_positions()
      • MelloAgent.wait_for_pose()
    • MelloConfig
      • MelloConfig.initial_joint_positions
      • MelloConfig.max_delta
  • robits.agents.sam2act_agent module
• robits.app package
  • Submodules
  • robits.app.extrinsics_app module
    • CameraCalibrationApp
      • CameraCalibrationApp.compose()
      • CameraCalibrationApp.draw_registration_result()
      • CameraCalibrationApp.estimate_transformation()
      • CameraCalibrationApp.get_transformation()
      • CameraCalibrationApp.on_button_pressed()
      • CameraCalibrationApp.on_mount()
      • CameraCalibrationApp.on_shutdown()
      • CameraCalibrationApp.on_slider_changed()
      • CameraCalibrationApp.save_camera_calibration()
      • CameraCalibrationApp.update_sliders()
    • SimplePCDViewer
      • SimplePCDViewer.apply_transformation()
      • SimplePCDViewer.get_table()
      • SimplePCDViewer.run()
      • SimplePCDViewer.show_table()
      • SimplePCDViewer.stop()
      • SimplePCDViewer.update_point_cloud()
• robits.audio package
  • Submodules
  • robits.audio.audio module
    • CmdAudioRecorder
      • CmdAudioRecorder.commands
      • CmdAudioRecorder.start_recording()
      • CmdAudioRecorder.stop_recording()
    • OpenAIWhisper
    • SdAudioRecorder
      • SdAudioRecorder.frames
      • SdAudioRecorder.start_recording()
      • SdAudioRecorder.stop_recording()
  • robits.audio.cache_utils module
    • disk_cache()
    • get_cache_filename()
    • text_to_cache_filename_fn()
  • robits.audio.speech module
    • CmdAudioPlayer
      • CmdAudioPlayer.commands
      • CmdAudioPlayer.play()
    • CmdSpeech
      • CmdSpeech.commands
      • CmdSpeech.say()
    • CoquiTTS
      • CoquiTTS.say()
      • CoquiTTS.synthesize_speech()
    • OpenAIAPI
      • OpenAIAPI.say()
      • OpenAIAPI.synthesize_speech()
    • get_default_player_backend()
  • robits.audio.utils module
    • AudioHandler
      • AudioHandler.emit()
    • play_attention_sound()
    • play_audio()
    • play_camera_shutter()
    • play_error_sound()
    • play_info_sound()
    • play_sound_sound()
• robits.cli package
  • Subpackages
    • robits.cli.agents namespace
      • Submodules
      • robits.cli.agents.mello_cli module
      • robits.cli.agents.sam2act_cli module
    • robits.cli.commands namespace
      • Submodules
      • robits.cli.commands.config_cli module
      • robits.cli.commands.dataset_cli module
      • robits.cli.commands.move_cli module
      • robits.cli.commands.scene_visu module
      • robits.cli.commands.service_cli module
      • robits.cli.commands.speech_cli module
    • robits.cli.devices namespace
      • Submodules
      • robits.cli.devices.camera_cli module
      • robits.cli.devices.gripper_cli module
      • robits.cli.devices.panda_cli module
      • robits.cli.devices.robot_cli module
  • Submodules
  • robits.cli.base_cli module
  • robits.cli.cli_options module
    • build_robot_from_param()
    • robot()
  • robits.cli.cli_utils module
    • prompt_for_action()
    • setup_cli()
  • robits.cli.main module
• robits.core package
  • Subpackages
    • robits.core.abc package
      • Submodules
      • robits.core.abc.audio module
      • robits.core.abc.camera module
      • robits.core.abc.control module
      • robits.core.abc.gripper module
      • robits.core.abc.robot module
      • robits.core.abc.speech module
    • robits.core.data_model package
      • Submodules
      • robits.core.data_model.action module
      • robits.core.data_model.camera_capture module
      • robits.core.data_model.dataset module
  • Submodules
  • robits.core.compat module
  • robits.core.config module
    • AudioConfig
      • AudioConfig.audio_backend_name
      • AudioConfig.kwargs
    • BaseConfig
      • BaseConfig.from_dict()
      • BaseConfig.get_default_parameters()
      • BaseConfig.kwargs
      • BaseConfig.save_config()
      • BaseConfig.to_dict()
      • BaseConfig.to_json()
    • CameraCalibration
      • CameraCalibration.camera_name
      • CameraCalibration.date_updated
      • CameraCalibration.extrinsics
      • CameraCalibration.height
      • CameraCalibration.intrinsics
      • CameraCalibration.kwargs
      • CameraCalibration.width
    • CameraConfig
      • CameraConfig.camera_name
      • CameraConfig.depth
      • CameraConfig.height
      • CameraConfig.hz
      • CameraConfig.kwargs
      • CameraConfig.point_cloud
      • CameraConfig.rgb
      • CameraConfig.width
    • ConfigTypes
      • ConfigTypes.audio
      • ConfigTypes.camera
      • ConfigTypes.camera_calibration
      • ConfigTypes.gripper
      • ConfigTypes.main
      • ConfigTypes.robot
      • ConfigTypes.speech
    • GripperConfig
      • GripperConfig.gripper_name
      • GripperConfig.kwargs
    • MainConfig
      • MainConfig.default_cache_dir
      • MainConfig.kwargs
      • MainConfig.max_scene_bounds
      • MainConfig.min_scene_bounds
    • RobotConfig
      • RobotConfig.cameras
      • RobotConfig.default_joint_positions
      • RobotConfig.gripper
      • RobotConfig.joint_names
      • RobotConfig.kwargs
      • RobotConfig.robot_name
      • RobotConfig.transform_robot_to_world
    • SpeechConfig
      • SpeechConfig.cache_path
      • SpeechConfig.kwargs
  • robits.core.config_manager module
    • ConfigFinder
      • ConfigFinder.find_config()
      • ConfigFinder.list()
      • ConfigFinder.name
      • ConfigFinder.path
    • ConfigManager
      • ConfigManager.available_audio_backends
      • ConfigManager.available_bimanual_robots
      • ConfigManager.available_camera_calibrations
      • ConfigManager.available_cameras
      • ConfigManager.available_grippers
      • ConfigManager.available_robots
      • ConfigManager.available_speech_backends
      • ConfigManager.from_dict()
      • ConfigManager.get()
      • ConfigManager.get_config_path()
      • ConfigManager.get_main_config()
      • ConfigManager.get_user_config_dir()
      • ConfigManager.list()
      • ConfigManager.load_dict()
    • PackageResourceFinder
      • PackageResourceFinder.find_config()
      • PackageResourceFinder.list()
      • PackageResourceFinder.name
      • PackageResourceFinder.path
    • WorkspaceConfigFinder
      • WorkspaceConfigFinder.find_config()
      • WorkspaceConfigFinder.list()
      • WorkspaceConfigFinder.name
      • WorkspaceConfigFinder.path
  • robits.core.factory module
    • AudioFactory
      • AudioFactory.build()
    • BaseFactory
      • BaseFactory.build()
      • BaseFactory.build_instance()
      • BaseFactory.load_config_dict()
    • CameraFactory
      • CameraFactory.build()
    • GripperFactory
      • GripperFactory.build()
    • RobitsFactory
      • RobitsFactory.build()
    • RobotFactory
      • RobotFactory.build()
    • SpeechFactory
      • SpeechFactory.build()
  • robits.core.utils module
    • CustomDecoder
    • FrequencyTimer
      • FrequencyTimer.reset()
      • FrequencyTimer.wait_for_cycle()
    • MiscJSONEncoder
      • MiscJSONEncoder.default()
    • NumpyJSONEncoder
      • NumpyJSONEncoder.default()
    • check_bounds()
• robits.dataset package
  • Subpackages
    • robits.dataset.io package
      • Submodules
      • robits.dataset.io.reader module
      • robits.dataset.io.recorder module
      • robits.dataset.io.stats_writer module
      • robits.dataset.io.writer module
  • Submodules
  • robits.dataset.camera module
    • DatasetCamera
      • DatasetCamera.camera_name
      • DatasetCamera.extrinsics
      • DatasetCamera.get_camera_data()
      • DatasetCamera.idx
      • DatasetCamera.intrinsics
  • robits.dataset.robot module
    • DatasetRobot
      • DatasetRobot.eef_matrix
      • DatasetRobot.eef_pose
      • DatasetRobot.get_proprioception_data()
      • DatasetRobot.idx
      • DatasetRobot.stop()
• robits.real package
  • Subpackages
    • robits.real.franka package
      • Submodules
      • robits.real.franka.control module
      • robits.real.franka.franka_web_client module
      • robits.real.franka.gripper module
      • robits.real.franka.robot module
    • robits.real.ur package
      • Submodules
      • robits.real.ur.control module
      • robits.real.ur.robot module
    • robits.real.xarm package
      • Submodules
      • robits.real.xarm.control module
      • robits.real.xarm.gripper module
      • robits.real.xarm.robot module
  • Submodules
  • robits.real.realsense_camera module
    • RealsenseCamera
      • RealsenseCamera.camera_name
      • RealsenseCamera.depth_scale
      • RealsenseCamera.extract_intrinsics()
      • RealsenseCamera.get_camera_data()
      • RealsenseCamera.is_wrist_camera()
      • RealsenseCamera.list_camera_info()
  • robits.real.robotiq_gripper module
    • RobotiqGripper
      • RobotiqGripper.close()
      • RobotiqGripper.get_gripper_type_name()
      • RobotiqGripper.get_info()
      • RobotiqGripper.get_obs()
      • RobotiqGripper.get_pos_raw()
      • RobotiqGripper.gripper_name
      • RobotiqGripper.is_active()
      • RobotiqGripper.is_open()
      • RobotiqGripper.load_calibration()
      • RobotiqGripper.normalized_width
      • RobotiqGripper.open()
      • RobotiqGripper.read_calibration()
      • RobotiqGripper.set_pos()
• robits.remote package
  • Subpackages
    • robits.remote.client package
      • Submodules
      • robits.remote.client.camera module
      • robits.remote.client.client_base module
      • robits.remote.client.gripper module
      • robits.remote.client.robot module
    • robits.remote.server package
      • Submodules
      • robits.remote.server.camera module
      • robits.remote.server.gripper module
      • robits.remote.server.robot module
      • robits.remote.server.server_base module
• robits.sim package
  • Submodules
  • robits.sim.blueprints module
    • Attachment
      • Attachment.attachment_offset
      • Attachment.attachment_site
      • Attachment.gripper_path
      • Attachment.wrist_name
    • Blueprint
      • Blueprint.basename
      • Blueprint.parent_path
      • Blueprint.path
      • Blueprint.to_dict()
    • BlueprintGroup
      • BlueprintGroup.pose
    • CameraBlueprint
      • CameraBlueprint.extrinsics
      • CameraBlueprint.height
      • CameraBlueprint.intrinsics
      • CameraBlueprint.pose
      • CameraBlueprint.width
    • GeomBlueprint
      • GeomBlueprint.geom_type
      • GeomBlueprint.is_static
      • GeomBlueprint.mass
      • GeomBlueprint.pose
      • GeomBlueprint.rgba
      • GeomBlueprint.size
    • GripperBlueprint
      • GripperBlueprint.default_joint_positions
      • GripperBlueprint.model
    • MeshBlueprint
      • MeshBlueprint.is_static
      • MeshBlueprint.mesh_path
      • MeshBlueprint.pose
      • MeshBlueprint.scale
    • ObjectBlueprint
      • ObjectBlueprint.is_static
      • ObjectBlueprint.model_path
      • ObjectBlueprint.model_prefix_name
      • ObjectBlueprint.pose
    • Pose
      • Pose.euler
      • Pose.matrix
      • Pose.position
      • Pose.quaternion
      • Pose.quaternion_wxyz
      • Pose.to_dict()
      • Pose.with_euler()
      • Pose.with_position()
      • Pose.with_quat()
      • Pose.with_quat_wxyz()
    • RobotBlueprint
      • RobotBlueprint.attachment
      • RobotBlueprint.default_joint_positions
      • RobotBlueprint.model
      • RobotBlueprint.pose
    • RobotDescriptionModel
      • RobotDescriptionModel.description_name
      • RobotDescriptionModel.model_prefix_name
      • RobotDescriptionModel.variant_name
    • blueprints_from_json()
    • convert_json_to_bp()
  • robits.sim.camera module
    • MujocoCamera
      • MujocoCamera.camera_name
      • MujocoCamera.extrinsics
      • MujocoCamera.get_camera_data()
      • MujocoCamera.intrinsics
      • MujocoCamera.intrinsics_from_model()
  • robits.sim.control module
    • MujocoCartesianControl
      • MujocoCartesianControl.start_controller()
      • MujocoCartesianControl.stop_controller()
      • MujocoCartesianControl.update()
    • MujocoControlManager
      • MujocoControlManager.move_home()
      • MujocoControlManager.stop()
    • MujocoPositionControl
      • MujocoPositionControl.start_controller()
      • MujocoPositionControl.stop_controller()
      • MujocoPositionControl.update()
  • robits.sim.env module
    • MujocoEnv
      • MujocoEnv.get()
      • MujocoEnv.get_collisions()
      • MujocoEnv.get_joint_to_actuator_mapping()
      • MujocoEnv.get_scene_info()
      • MujocoEnv.num_free_joints
      • MujocoEnv.render_cameras()
      • MujocoEnv.sim_control_loop()
  • robits.sim.env_client module
    • MujocoEnvClient
      • MujocoEnvClient.data
      • MujocoEnvClient.env
      • MujocoEnvClient.model
      • MujocoEnvClient.viewer
    • MujocoJointControlClient
      • MujocoJointControlClient.actuator_ids
      • MujocoJointControlClient.ctrl_max
      • MujocoJointControlClient.ctrl_min
      • MujocoJointControlClient.get_current_joint_positions()
      • MujocoJointControlClient.joint_ids
      • MujocoJointControlClient.qpos_indices
      • MujocoJointControlClient.qvel_indices
  • robits.sim.env_design module
    • EnvDesigner
      • EnvDesigner.add()
      • EnvDesigner.add_blocks()
      • EnvDesigner.add_floor()
      • EnvDesigner.finalize()
      • EnvDesigner.from_json()
      • EnvDesigner.get()
      • EnvDesigner.get_camera_names()
      • EnvDesigner.remove()
      • EnvDesigner.to_json()
      • EnvDesigner.update()
  • robits.sim.gripper module
    • MujocoGripper
      • MujocoGripper.close()
      • MujocoGripper.get_info()
      • MujocoGripper.get_obs()
      • MujocoGripper.gripper_name
      • MujocoGripper.is_open()
      • MujocoGripper.open()
      • MujocoGripper.set_pos()
  • robits.sim.model_factory module
    • SceneBuilder
      • SceneBuilder.add()
      • SceneBuilder.add_camera()
      • SceneBuilder.add_default_assets()
      • SceneBuilder.add_geom()
      • SceneBuilder.add_gripper()
      • SceneBuilder.add_group()
      • SceneBuilder.add_mesh()
      • SceneBuilder.add_mocap()
      • SceneBuilder.add_object()
      • SceneBuilder.add_robot()
      • SceneBuilder.attach_gripper()
      • SceneBuilder.build_from_blueprints()
      • SceneBuilder.export_with_assets()
      • SceneBuilder.get_parent()
      • SceneBuilder.get_top_level_parent()
      • SceneBuilder.merge_all_keyframes_into_home()
  • robits.sim.robot module
    • BimanualMujocoRobot
      • BimanualMujocoRobot.control
    • MujocoRobot
      • MujocoRobot.control
      • MujocoRobot.eef_matrix
      • MujocoRobot.eef_matrix_by_site()
      • MujocoRobot.eef_pose
      • MujocoRobot.eef_pose_by_site()
      • MujocoRobot.get_info()
      • MujocoRobot.get_proprioception_data()
      • MujocoRobot.robot_name
      • MujocoRobot.site
  • robits.sim.utils module
• robits.tools namespace
  • Submodules
  • robits.tools.visualize_dataset module
• robits.utils package
  • Submodules
  • robits.utils.process_utils module
    • ProcessMonitor
      • ProcessMonitor.filter_by_cmdline()
      • ProcessMonitor.kill()
      • ProcessMonitor.list()
      • ProcessMonitor.status()
      • ProcessMonitor.terminate()
  • robits.utils.service_launcher module
  • robits.utils.system_utils module
    • has_rt_support()
    • ping_host()
  • robits.utils.transform_utils module
    • mat2pose()
    • pose2mat()
    • transform_pose()
  • robits.utils.vision_utils module
    • camera_parameters_to_open3d()
    • depth_to_pcd()
    • get_camera_data_resized()
• robits.vis namespace
  • Submodules
  • robits.vis.scene_visualizer module
    • SceneVisualizer
      • SceneVisualizer.close()
      • SceneVisualizer.render()
      • SceneVisualizer.set_output()
      • SceneVisualizer.show()
      • SceneVisualizer.update_action()
      • SceneVisualizer.update_pose()
      • SceneVisualizer.update_scene()
• robits.vlm package
  • Submodules
  • robits.vlm.openai_vlm module
    • ChatGPT
      • ChatGPT.query()
    • PromptBuilder
      • PromptBuilder.add_image()
      • PromptBuilder.add_instruction()
      • PromptBuilder.build()
  • robits.vlm.vlm_cli module