Index

A

actuator_ids (robits.sim.env_client.MujocoJointControlClient property) add() (robits.sim.env_design.EnvDesigner method) (robits.sim.model_factory.SceneBuilder method) add_blocks() (robits.sim.env_design.EnvDesigner method) add_camera() (robits.sim.model_factory.SceneBuilder method) add_default_assets() (robits.sim.model_factory.SceneBuilder method) add_floor() (robits.sim.env_design.EnvDesigner method) add_geom() (robits.sim.model_factory.SceneBuilder method) add_gripper() (robits.sim.model_factory.SceneBuilder method) add_group() (robits.sim.model_factory.SceneBuilder method) add_image() (robits.vlm.openai_vlm.PromptBuilder method) add_instruction() (robits.vlm.openai_vlm.PromptBuilder method) add_mesh() (robits.sim.model_factory.SceneBuilder method) add_mocap() (robits.sim.model_factory.SceneBuilder method) add_object() (robits.sim.model_factory.SceneBuilder method) add_robot() (robits.sim.model_factory.SceneBuilder method) agent_name (robits.agents.base_agent.BaseAgent attribute) apply_transformation() (robits.app.extrinsics_app.SimplePCDViewer method)

attach_gripper() (robits.sim.model_factory.SceneBuilder method) Attachment (class in robits.sim.blueprints) attachment (robits.sim.blueprints.RobotBlueprint attribute) attachment_offset (robits.sim.blueprints.Attachment attribute) attachment_site (robits.sim.blueprints.Attachment attribute) audio (robits.core.config.ConfigTypes attribute) audio_backend_name (robits.core.config.AudioConfig attribute) AudioBase (class in robits.core.abc.audio) AudioConfig (class in robits.core.config) AudioFactory (class in robits.core.factory) AudioHandler (class in robits.audio.utils) available_audio_backends (robits.core.config_manager.ConfigManager property) available_bimanual_robots (robits.core.config_manager.ConfigManager property) available_camera_calibrations (robits.core.config_manager.ConfigManager property) available_cameras (robits.core.config_manager.ConfigManager property) available_grippers (robits.core.config_manager.ConfigManager property) available_robots (robits.core.config_manager.ConfigManager property) available_speech_backends (robits.core.config_manager.ConfigManager property)

B

BaseAgent (class in robits.agents.base_agent) BaseConfig (class in robits.core.config) BaseFactory (class in robits.core.factory) basename (robits.sim.blueprints.Blueprint property) BimanualAction (class in robits.core.data_model.action) BimanualControlManager (class in robits.core.abc.control) BimanualMujocoRobot (class in robits.sim.robot) BimanualRobot (class in robits.core.abc.robot) Blueprint (class in robits.sim.blueprints) BlueprintGroup (class in robits.sim.blueprints) blueprints_from_json() (in module robits.sim.blueprints)

build() (robits.core.factory.AudioFactory method) (robits.core.factory.BaseFactory method) (robits.core.factory.CameraFactory method) (robits.core.factory.GripperFactory method) (robits.core.factory.RobitsFactory method) (robits.core.factory.RobotFactory method) (robits.core.factory.SpeechFactory method) (robits.vlm.openai_vlm.PromptBuilder method) build_from_blueprints() (robits.sim.model_factory.SceneBuilder method) build_instance() (robits.core.factory.BaseFactory method) build_robot_from_param() (in module robits.cli.cli_options)

C

cache_path (robits.core.config.SpeechConfig attribute) calibration (robits.core.abc.camera.CameraBase property) call() (robits.remote.client.client_base.ZMQClient method) camera (robits.core.config.ConfigTypes attribute) camera_calibration (robits.core.config.ConfigTypes attribute) camera_data (robits.core.data_model.dataset.Entry attribute) camera_data() (robits.core.data_model.camera_capture.CameraData method) camera_info (robits.core.data_model.dataset.Entry attribute) camera_name (robits.core.abc.camera.CameraBase property) (robits.core.config.CameraCalibration attribute) (robits.core.config.CameraConfig attribute) (robits.dataset.camera.DatasetCamera property) (robits.real.realsense_camera.RealsenseCamera property) (robits.remote.client.camera.CameraZMQClient property) (robits.sim.camera.MujocoCamera property) camera_parameters_to_open3d() (in module robits.utils.vision_utils) CameraBase (class in robits.core.abc.camera) CameraBlueprint (class in robits.sim.blueprints) CameraCalibration (class in robits.core.config) CameraCalibrationApp (class in robits.app.extrinsics_app) CameraConfig (class in robits.core.config) CameraData (class in robits.core.data_model.camera_capture) CameraFactory (class in robits.core.factory) cameras (robits.core.config.RobotConfig attribute) CameraZMQClient (class in robits.remote.client.camera) CameraZMQServer (class in robits.remote.server.camera) cartesian (robits.core.abc.control.ControlTypes attribute) CartesianAction (class in robits.core.data_model.action) ChatGPT (class in robits.vlm.openai_vlm) check_bounds() (in module robits.core.utils) close() (robits.core.abc.gripper.GripperBase method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.remote.client.gripper.GripperZMQClient method) (robits.sim.gripper.MujocoGripper method) (robits.vis.scene_visualizer.SceneVisualizer method)

CmdAudioPlayer (class in robits.audio.speech) CmdAudioRecorder (class in robits.audio.audio) CmdSpeech (class in robits.audio.speech) commands (robits.audio.audio.CmdAudioRecorder attribute) (robits.audio.speech.CmdAudioPlayer attribute) (robits.audio.speech.CmdSpeech attribute) compose() (robits.app.extrinsics_app.CameraCalibrationApp method) compute_stats() (robits.dataset.io.stats_writer.StatsWriter method) ConfigFinder (class in robits.core.config_manager) ConfigManager (class in robits.core.config_manager) ConfigTypes (class in robits.core.config) configure() (robits.core.abc.control.ControllerBase method) connect_to_robot() (robits.real.franka.robot.Franka method) control (robits.sim.robot.BimanualMujocoRobot property) (robits.sim.robot.MujocoRobot property) control_arm() (robits.real.franka.robot.Franka method) (robits.remote.client.robot.RobotZMQClient method) control_hand() (robits.real.franka.robot.Franka method) (robits.remote.client.robot.RobotZMQClient method) control_types (in module robits.core.abc.control) ControllerBase (class in robits.core.abc.control) ControlManager (class in robits.core.abc.control) ControlTypes (class in robits.core.abc.control) convert_json_to_bp() (in module robits.sim.blueprints) CoquiTTS (class in robits.audio.speech) ctrl_max (robits.sim.env_client.MujocoJointControlClient property) ctrl_min (robits.sim.env_client.MujocoJointControlClient property) CustomDecoder (class in robits.core.utils)

D

data (robits.sim.env_client.MujocoEnvClient property) Dataset (class in robits.core.data_model.dataset) DatasetCamera (class in robits.dataset.camera) DatasetReader (class in robits.dataset.io.reader) DatasetRecorder (class in robits.dataset.io.recorder) DatasetRobot (class in robits.dataset.robot) DatasetWriter (class in robits.dataset.io.writer) date_updated (robits.core.config.CameraCalibration attribute) default() (robits.core.utils.MiscJSONEncoder method) (robits.core.utils.NumpyJSONEncoder method) default_cache_dir (robits.core.config.MainConfig attribute) default_joint_positions (robits.core.config.RobotConfig attribute) (robits.sim.blueprints.GripperBlueprint attribute) (robits.sim.blueprints.RobotBlueprint attribute)

depth (robits.core.config.CameraConfig attribute) depth_image (robits.core.data_model.camera_capture.CameraData attribute) depth_scale (robits.real.realsense_camera.RealsenseCamera property) depth_to_pcd() (in module robits.utils.vision_utils) description_name (robits.sim.blueprints.RobotDescriptionModel attribute) disk_cache() (in module robits.audio.cache_utils) do_recording() (robits.dataset.io.recorder.DatasetRecorder method) do_write() (robits.dataset.io.writer.DatasetWriter method) draw_registration_result() (robits.app.extrinsics_app.CameraCalibrationApp method) DummyRobot (class in robits.core.abc.robot)

E

eef_matrix (robits.core.abc.robot.DummyRobot property) (robits.core.abc.robot.RobotBase property) (robits.dataset.robot.DatasetRobot property) (robits.real.franka.robot.Franka property) (robits.remote.client.robot.RobotZMQClient property) (robits.sim.robot.MujocoRobot property) eef_matrix_by_site() (robits.sim.robot.MujocoRobot method) eef_pose (robits.core.abc.robot.DummyRobot property) (robits.core.abc.robot.RobotBase property) (robits.dataset.robot.DatasetRobot property) (robits.real.franka.robot.Franka property) (robits.remote.client.robot.RobotZMQClient property) (robits.sim.robot.MujocoRobot property) eef_pose_by_site() (robits.sim.robot.MujocoRobot method)

emit() (robits.audio.utils.AudioHandler method) entries (robits.core.data_model.dataset.Dataset attribute) Entry (class in robits.core.data_model.dataset) env (robits.sim.env_client.MujocoEnvClient property) EnvDesigner (class in robits.sim.env_design) estimate_transformation() (robits.app.extrinsics_app.CameraCalibrationApp method) euler (robits.sim.blueprints.Pose property) export_with_assets() (robits.sim.model_factory.SceneBuilder method) extract_intrinsics() (robits.real.realsense_camera.RealsenseCamera method) extrinsics (robits.core.abc.camera.CameraBase property) (robits.core.config.CameraCalibration attribute) (robits.dataset.camera.DatasetCamera property) (robits.remote.client.camera.CameraZMQClient property) (robits.sim.blueprints.CameraBlueprint property) (robits.sim.camera.MujocoCamera property)

F

filter_by_cmdline() (robits.utils.process_utils.ProcessMonitor class method) finalize() (robits.sim.env_design.EnvDesigner method) finalize_write() (robits.dataset.io.writer.DatasetWriter method) find_config() (robits.core.config_manager.ConfigFinder method) (robits.core.config_manager.PackageResourceFinder method) (robits.core.config_manager.WorkspaceConfigFinder method) frames (robits.audio.audio.SdAudioRecorder attribute) Franka (class in robits.real.franka.robot) FrankaGripper (class in robits.real.franka.gripper) FrankaWebClient (class in robits.real.franka.franka_web_client)

FrankyCartesianControl (class in robits.real.franka.control) FrankyControlManager (class in robits.real.franka.control) FrankyPositionControl (class in robits.real.franka.control) FrequencyTimer (class in robits.core.utils) from_dict() (robits.core.config.BaseConfig class method) (robits.core.config_manager.ConfigManager method) from_json() (robits.sim.env_design.EnvDesigner method) from_matrix() (robits.core.data_model.action.CartesianAction class method) from_numpy() (robits.core.data_model.action.BimanualAction class method) (robits.core.data_model.action.CartesianAction class method)

G

geom_type (robits.sim.blueprints.GeomBlueprint attribute) GeomBlueprint (class in robits.sim.blueprints) get() (robits.core.config_manager.ConfigManager class method) (robits.sim.env.MujocoEnv class method) (robits.sim.env_design.EnvDesigner class method) get_action() (robits.agents.base_agent.BaseAgent method) (robits.agents.mello_agent.MelloAgent method) get_cache_filename() (in module robits.audio.cache_utils) get_camera_data() (robits.core.abc.camera.CameraBase method) (robits.dataset.camera.DatasetCamera method) (robits.real.realsense_camera.RealsenseCamera method) (robits.remote.client.camera.CameraZMQClient method) (robits.sim.camera.MujocoCamera method) get_camera_data_resized() (in module robits.utils.vision_utils) get_camera_names() (robits.sim.env_design.EnvDesigner method) get_collisions() (robits.sim.env.MujocoEnv method) get_config_path() (robits.core.config_manager.ConfigManager method) get_current_joint_positions() (robits.sim.env_client.MujocoJointControlClient method) get_default_parameters() (robits.core.config.BaseConfig class method) get_default_player_backend() (in module robits.audio.speech) get_demo_path() (robits.dataset.io.writer.DatasetWriter method) get_gripper_name() (robits.remote.client.gripper.GripperZMQClient method) get_gripper_type_name() (robits.real.franka.gripper.FrankaGripper class method) (robits.real.robotiq_gripper.RobotiqGripper class method) get_info() (robits.core.abc.camera.CameraBase method) (robits.core.abc.gripper.GripperBase method) (robits.core.abc.robot.RobotBase method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.franka.robot.Franka method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.remote.client.camera.CameraZMQClient method) (robits.remote.client.gripper.GripperZMQClient method) (robits.remote.client.robot.RobotZMQClient method) (robits.sim.gripper.MujocoGripper method) (robits.sim.robot.MujocoRobot method) get_joint_to_actuator_mapping() (robits.sim.env.MujocoEnv method) get_main_config() (robits.core.config_manager.ConfigManager method) get_mello_data() (robits.agents.mello_agent.MelloAgent method)

get_mello_joint_positions() (robits.agents.mello_agent.MelloAgent method) get_obs() (robits.core.abc.gripper.GripperBase method) (robits.core.abc.robot.BimanualRobot method) (robits.core.abc.robot.UnimanualRobot method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.remote.client.gripper.GripperZMQClient method) (robits.sim.gripper.MujocoGripper method) get_parent() (robits.sim.model_factory.SceneBuilder method) get_pos_raw() (robits.real.robotiq_gripper.RobotiqGripper method) get_proprioception_data() (robits.core.abc.robot.DummyRobot method) (robits.core.abc.robot.RobotBase method) (robits.dataset.robot.DatasetRobot method) (robits.real.franka.robot.Franka method) (robits.remote.client.robot.RobotZMQClient method) (robits.sim.robot.MujocoRobot method) get_robot_name() (robits.remote.client.robot.RobotZMQClient method) get_running_services() (in module robits.cli.commands.service_cli) get_scene_info() (robits.sim.env.MujocoEnv method) get_table() (robits.app.extrinsics_app.SimplePCDViewer method) get_top_level_parent() (robits.sim.model_factory.SceneBuilder method) get_transformation() (robits.app.extrinsics_app.CameraCalibrationApp method) get_user_config_dir() (robits.core.config_manager.ConfigManager method) get_vision_data() (robits.core.abc.robot.Perception method) gripper (robits.core.config.ConfigTypes attribute) (robits.core.config.RobotConfig attribute) gripper_name (robits.core.abc.gripper.GripperBase property) (robits.core.config.GripperConfig attribute) (robits.real.franka.gripper.FrankaGripper property) (robits.real.robotiq_gripper.RobotiqGripper property) (robits.sim.gripper.MujocoGripper property) gripper_path (robits.sim.blueprints.Attachment attribute) GripperBase (class in robits.core.abc.gripper) GripperBlueprint (class in robits.sim.blueprints) GripperConfig (class in robits.core.config) GripperFactory (class in robits.core.factory) GripperZMQClient (class in robits.remote.client.gripper) GripperZMQServer (class in robits.remote.server.gripper)

H

hand_open (robits.core.data_model.action.CartesianAction attribute) has_images() (robits.core.data_model.camera_capture.CameraData method) has_point_cloud() (robits.core.data_model.camera_capture.CameraData method) has_rt_support() (in module robits.utils.system_utils)

has_stats() (robits.dataset.io.stats_writer.StatsWriter method) height (robits.core.config.CameraCalibration attribute) (robits.core.config.CameraConfig attribute) (robits.sim.blueprints.CameraBlueprint attribute) hz (robits.core.config.CameraConfig attribute)

I

idx (robits.dataset.camera.DatasetCamera property) (robits.dataset.robot.DatasetRobot property) initial_joint_positions (robits.agents.mello_agent.MelloConfig attribute) intrinsics (robits.core.abc.camera.CameraBase property) (robits.core.config.CameraCalibration attribute) (robits.dataset.camera.DatasetCamera property) (robits.remote.client.camera.CameraZMQClient property) (robits.sim.blueprints.CameraBlueprint attribute) (robits.sim.camera.MujocoCamera property) intrinsics_from_model() (robits.sim.camera.MujocoCamera method) is_active (robits.real.franka.gripper.FrankaGripper property)

is_active() (robits.real.robotiq_gripper.RobotiqGripper method) is_open() (robits.core.abc.gripper.GripperBase method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.remote.client.gripper.GripperZMQClient method) (robits.sim.gripper.MujocoGripper method) is_static (robits.sim.blueprints.GeomBlueprint attribute) (robits.sim.blueprints.MeshBlueprint attribute) (robits.sim.blueprints.ObjectBlueprint attribute) is_wrist_camera() (robits.core.abc.camera.CameraBase method) (robits.real.realsense_camera.RealsenseCamera method)

J

joint_ids (robits.sim.env_client.MujocoJointControlClient property)

joint_names (robits.core.config.RobotConfig attribute)

K

kill() (robits.utils.process_utils.ProcessMonitor method) kwargs (robits.core.config.AudioConfig attribute) (robits.core.config.BaseConfig attribute) (robits.core.config.CameraCalibration attribute) (robits.core.config.CameraConfig attribute) (robits.core.config.GripperConfig attribute) (robits.core.config.MainConfig attribute) (robits.core.config.RobotConfig attribute) (robits.core.config.SpeechConfig attribute)

L

lang_goal (robits.agents.base_agent.BaseAgent attribute) left_action (robits.core.data_model.action.BimanualAction attribute) list() (robits.core.config_manager.ConfigFinder method) (robits.core.config_manager.ConfigManager method) (robits.core.config_manager.PackageResourceFinder method) (robits.core.config_manager.WorkspaceConfigFinder method) (robits.utils.process_utils.ProcessMonitor method) list_camera_info() (robits.real.realsense_camera.RealsenseCamera class method)

listen() (robits.remote.server.server_base.ZMQServerBase method) load() (robits.dataset.io.reader.DatasetReader method) load_calibration() (robits.real.robotiq_gripper.RobotiqGripper method) load_camera_data() (robits.dataset.io.reader.DatasetReader method) load_config_dict() (robits.core.factory.BaseFactory method) load_dict() (robits.core.config_manager.ConfigManager method) load_stats() (robits.dataset.io.stats_writer.StatsWriter method) lock_brakes() (robits.real.franka.franka_web_client.FrankaWebClient method)

M

main (robits.core.config.ConfigTypes attribute) MainConfig (class in robits.core.config) mass (robits.sim.blueprints.GeomBlueprint attribute) mat2pose() (in module robits.utils.transform_utils) matrix (robits.sim.blueprints.Pose attribute) max_delta (robits.agents.mello_agent.MelloConfig attribute) max_joint_position (robits.real.franka.gripper.FrankaGripper property) max_scene_bounds (robits.core.config.MainConfig attribute) MelloAgent (class in robits.agents.mello_agent) MelloConfig (class in robits.agents.mello_agent) merge_all_keyframes_into_home() (robits.sim.model_factory.SceneBuilder method) mesh_path (robits.sim.blueprints.MeshBlueprint attribute) MeshBlueprint (class in robits.sim.blueprints) metadata (robits.core.data_model.dataset.Dataset attribute) min_scene_bounds (robits.core.config.MainConfig attribute) MiscJSONEncoder (class in robits.core.utils) model (robits.sim.blueprints.GripperBlueprint attribute) (robits.sim.blueprints.RobotBlueprint attribute) (robits.sim.env_client.MujocoEnvClient property) model_path (robits.sim.blueprints.ObjectBlueprint attribute) model_prefix_name (robits.sim.blueprints.ObjectBlueprint attribute) (robits.sim.blueprints.RobotDescriptionModel attribute) module robits.agents robits.agents.base_agent robits.agents.mello_agent robits.app robits.app.extrinsics_app robits.audio robits.audio.audio robits.audio.cache_utils robits.audio.speech robits.audio.utils robits.cli robits.cli.agents robits.cli.agents.mello_cli robits.cli.base_cli robits.cli.cli_options robits.cli.cli_utils robits.cli.commands robits.cli.commands.config_cli robits.cli.commands.dataset_cli robits.cli.commands.move_cli robits.cli.commands.scene_visu robits.cli.commands.service_cli robits.cli.commands.speech_cli robits.cli.devices robits.cli.devices.camera_cli robits.cli.devices.gripper_cli robits.cli.devices.panda_cli robits.cli.devices.robot_cli robits.cli.main robits.core robits.core.abc robits.core.abc.audio robits.core.abc.camera robits.core.abc.control robits.core.abc.gripper robits.core.abc.robot robits.core.abc.speech robits.core.compat robits.core.config robits.core.config_manager robits.core.data_model robits.core.data_model.action robits.core.data_model.camera_capture robits.core.data_model.dataset robits.core.factory robits.core.utils robits.dataset robits.dataset.camera robits.dataset.io robits.dataset.io.reader robits.dataset.io.recorder robits.dataset.io.stats_writer robits.dataset.io.writer robits.dataset.robot robits.real robits.real.franka robits.real.franka.control robits.real.franka.franka_web_client robits.real.franka.gripper robits.real.franka.robot robits.real.realsense_camera robits.real.robotiq_gripper robits.remote robits.remote.client robits.remote.client.camera robits.remote.client.client_base robits.remote.client.gripper robits.remote.client.robot robits.remote.server robits.remote.server.camera robits.remote.server.gripper robits.remote.server.robot robits.remote.server.server_base robits.sim robits.sim.blueprints robits.sim.camera robits.sim.control robits.sim.env robits.sim.env_client robits.sim.env_design robits.sim.gripper robits.sim.model_factory robits.sim.robot robits.tools robits.tools.visualize_dataset robits.utils robits.utils.process_utils robits.utils.service_launcher robits.utils.system_utils robits.utils.transform_utils robits.utils.vision_utils robits.vis robits.vis.scene_visualizer robits.vlm robits.vlm.openai_vlm robits.vlm.vlm_cli

motion_planning (robits.core.abc.control.ControlTypes attribute) move_home() (robits.core.abc.control.BimanualControlManager method) (robits.core.abc.control.ControlManager method) (robits.real.franka.control.FrankyControlManager method) (robits.remote.client.robot.RemoteControlManager method) (robits.sim.control.MujocoControlManager method) MujocoCamera (class in robits.sim.camera) MujocoCartesianControl (class in robits.sim.control) MujocoControlManager (class in robits.sim.control) MujocoEnv (class in robits.sim.env) MujocoEnvClient (class in robits.sim.env_client) MujocoGripper (class in robits.sim.gripper) MujocoJointControlClient (class in robits.sim.env_client) MujocoPositionControl (class in robits.sim.control) MujocoRobot (class in robits.sim.robot)

N

name (robits.core.config_manager.ConfigFinder property) (robits.core.config_manager.PackageResourceFinder property) (robits.core.config_manager.WorkspaceConfigFinder property) normalized_width (robits.real.franka.gripper.FrankaGripper property) (robits.real.robotiq_gripper.RobotiqGripper property)

np_colors (robits.core.data_model.camera_capture.CameraData attribute) np_xyz_points (robits.core.data_model.camera_capture.CameraData attribute) num_free_joints (robits.sim.env.MujocoEnv property) num_items (robits.dataset.io.reader.DatasetReader property) NumpyJSONEncoder (class in robits.core.utils)

O

ObjectBlueprint (class in robits.sim.blueprints) on_button_pressed() (robits.app.extrinsics_app.CameraCalibrationApp method) on_mount() (robits.app.extrinsics_app.CameraCalibrationApp method) on_shutdown() (robits.app.extrinsics_app.CameraCalibrationApp method) on_slider_changed() (robits.app.extrinsics_app.CameraCalibrationApp method) open() (robits.core.abc.gripper.GripperBase method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.remote.client.gripper.GripperZMQClient method) (robits.sim.gripper.MujocoGripper method)

OpenAIAPI (class in robits.audio.speech) OpenAIWhisper (class in robits.audio.audio) outfile (robits.core.abc.audio.RecorderBase attribute)

P

PackageResourceFinder (class in robits.core.config_manager) parent_path (robits.sim.blueprints.Blueprint property) parse() (robits.core.data_model.action.CartesianAction class method) path (robits.core.config_manager.ConfigFinder property) (robits.core.config_manager.PackageResourceFinder property) (robits.core.config_manager.WorkspaceConfigFinder property) (robits.sim.blueprints.Blueprint attribute) Perception (class in robits.core.abc.robot) ping_host() (in module robits.utils.system_utils) play() (robits.audio.speech.CmdAudioPlayer method) play_attention_sound() (in module robits.audio.utils) play_audio() (in module robits.audio.utils) play_camera_shutter() (in module robits.audio.utils) play_error_sound() (in module robits.audio.utils) play_info_sound() (in module robits.audio.utils) play_sound_sound() (in module robits.audio.utils) point_cloud (robits.core.config.CameraConfig attribute) (robits.core.data_model.camera_capture.CameraData property) Pose (class in robits.sim.blueprints)

pose (robits.sim.blueprints.BlueprintGroup attribute) (robits.sim.blueprints.CameraBlueprint attribute) (robits.sim.blueprints.GeomBlueprint attribute) (robits.sim.blueprints.MeshBlueprint attribute) (robits.sim.blueprints.ObjectBlueprint attribute) (robits.sim.blueprints.RobotBlueprint attribute) pose2mat() (in module robits.utils.transform_utils) position (robits.core.abc.control.ControlTypes attribute) (robits.core.data_model.action.CartesianAction attribute) (robits.sim.blueprints.Pose property) position_as_tuple (robits.core.data_model.action.CartesianAction property) prepare_observation() (robits.agents.base_agent.BaseAgent method) prepare_write() (robits.dataset.io.writer.DatasetWriter method) previous_config (robits.core.abc.control.ControllerBase attribute) process() (robits.core.abc.audio.AudioBase method) ProcessMonitor (class in robits.utils.process_utils) prompt_for_action() (in module robits.cli.cli_utils) PromptBuilder (class in robits.vlm.openai_vlm) proprioception (robits.core.data_model.dataset.Entry attribute)

Q

qpos_indices (robits.sim.env_client.MujocoJointControlClient property) quaternion (robits.core.data_model.action.CartesianAction attribute) (robits.sim.blueprints.Pose property)

quaternion_as_tuple (robits.core.data_model.action.CartesianAction property) quaternion_wxyz (robits.sim.blueprints.Pose property) query() (robits.vlm.openai_vlm.ChatGPT method) qvel_indices (robits.sim.env_client.MujocoJointControlClient property)

R

read_calibration() (robits.real.robotiq_gripper.RobotiqGripper method) read_entry() (robits.dataset.io.reader.DatasetReader method) RealsenseCamera (class in robits.real.realsense_camera) recorder (robits.core.abc.audio.AudioBase attribute) RecorderBase (class in robits.core.abc.audio) register_controller() (robits.core.abc.control.ControlManager method) RemoteController (class in robits.remote.client.robot) RemoteControlManager (class in robits.remote.client.robot) remove() (robits.sim.env_design.EnvDesigner method) render() (robits.vis.scene_visualizer.SceneVisualizer method) render_cameras() (robits.sim.env.MujocoEnv method) reset() (robits.core.utils.FrequencyTimer method) reset_configuration() (robits.core.abc.control.ControllerBase method) rgb (robits.core.config.CameraConfig attribute) rgb_image (robits.core.data_model.camera_capture.CameraData attribute) rgba (robits.sim.blueprints.GeomBlueprint attribute) right_action (robits.core.data_model.action.BimanualAction attribute) robits.agents module robits.agents.base_agent module robits.agents.mello_agent module robits.app module robits.app.extrinsics_app module robits.audio module robits.audio.audio module robits.audio.cache_utils module robits.audio.speech module robits.audio.utils module robits.cli module robits.cli.agents module robits.cli.agents.mello_cli module robits.cli.base_cli module robits.cli.cli_options module robits.cli.cli_utils module robits.cli.commands module 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 module robits.cli.devices.camera_cli module robits.cli.devices.gripper_cli module robits.cli.devices.panda_cli module robits.cli.devices.robot_cli module robits.cli.main module robits.core module robits.core.abc module 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.compat module robits.core.config module robits.core.config_manager module robits.core.data_model module robits.core.data_model.action module robits.core.data_model.camera_capture module robits.core.data_model.dataset module robits.core.factory module robits.core.utils module robits.dataset module robits.dataset.camera module

robits.dataset.io module robits.dataset.io.reader module robits.dataset.io.recorder module robits.dataset.io.stats_writer module robits.dataset.io.writer module robits.dataset.robot module robits.real module robits.real.franka module robits.real.franka.control module robits.real.franka.franka_web_client module robits.real.franka.gripper module robits.real.franka.robot module robits.real.realsense_camera module robits.real.robotiq_gripper module robits.remote module robits.remote.client module robits.remote.client.camera module robits.remote.client.client_base module robits.remote.client.gripper module robits.remote.client.robot module robits.remote.server module robits.remote.server.camera module robits.remote.server.gripper module robits.remote.server.robot module robits.remote.server.server_base module robits.sim module robits.sim.blueprints module robits.sim.camera module robits.sim.control module robits.sim.env module robits.sim.env_client module robits.sim.env_design module robits.sim.gripper module robits.sim.model_factory module robits.sim.robot module robits.tools module robits.tools.visualize_dataset module robits.utils module robits.utils.process_utils module robits.utils.service_launcher module robits.utils.system_utils module robits.utils.transform_utils module robits.utils.vision_utils module robits.vis module robits.vis.scene_visualizer module robits.vlm module robits.vlm.openai_vlm module robits.vlm.vlm_cli module RobitsFactory (class in robits.core.factory) robot (robits.core.config.ConfigTypes attribute) robot() (in module robits.cli.cli_options) robot_name (robits.core.abc.robot.DummyRobot property) (robits.core.abc.robot.RobotBase property) (robits.core.config.RobotConfig attribute) (robits.real.franka.robot.Franka property) (robits.sim.robot.MujocoRobot property) RobotBase (class in robits.core.abc.robot) RobotBlueprint (class in robits.sim.blueprints) RobotConfig (class in robits.core.config) RobotDescriptionModel (class in robits.sim.blueprints) RobotFactory (class in robits.core.factory) RobotiqGripper (class in robits.real.robotiq_gripper) RobotZMQClient (class in robits.remote.client.robot) RobotZMQServer (class in robits.remote.server.robot) rot_matrix (robits.core.data_model.action.CartesianAction property) run() (robits.app.extrinsics_app.SimplePCDViewer method)

S

save_calibration() (robits.core.abc.camera.CameraBase method) save_camera_calibration() (robits.app.extrinsics_app.CameraCalibrationApp method) save_config() (robits.core.config.BaseConfig method) save_current_config() (robits.core.abc.control.ControllerBase method) say() (robits.audio.speech.CmdSpeech method) (robits.audio.speech.CoquiTTS method) (robits.audio.speech.OpenAIAPI method) (robits.core.abc.speech.SpeechBase method) scale (robits.sim.blueprints.MeshBlueprint attribute) SceneBuilder (class in robits.sim.model_factory) SceneVisualizer (class in robits.vis.scene_visualizer) SdAudioRecorder (class in robits.audio.audio) seq (robits.core.data_model.dataset.Entry attribute) set_asynchronous() (robits.core.abc.control.ControllerBase method) set_impedance_from_config() (robits.real.franka.control.FrankyControlManager method) set_joint_impedance() (robits.real.franka.control.FrankyControlManager method) set_output() (robits.vis.scene_visualizer.SceneVisualizer method) set_pos() (robits.core.abc.gripper.GripperBase method) (robits.real.franka.gripper.FrankaGripper method) (robits.real.robotiq_gripper.RobotiqGripper method) (robits.sim.gripper.MujocoGripper method) set_synchronous() (robits.core.abc.control.ControllerBase method) setup_cli() (in module robits.cli.cli_utils) show() (robits.vis.scene_visualizer.SceneVisualizer method) show_table() (robits.app.extrinsics_app.SimplePCDViewer method) sim_control_loop() (robits.sim.env.MujocoEnv method) SimplePCDViewer (class in robits.app.extrinsics_app) site (robits.sim.robot.MujocoRobot property) size (robits.sim.blueprints.GeomBlueprint attribute) speech (robits.core.config.ConfigTypes attribute)

SpeechBase (class in robits.core.abc.speech) SpeechConfig (class in robits.core.config) SpeechFactory (class in robits.core.factory) start_controller() (robits.core.abc.control.ControllerBase method) (robits.real.franka.control.FrankyCartesianControl method) (robits.real.franka.control.FrankyPositionControl method) (robits.sim.control.MujocoCartesianControl method) (robits.sim.control.MujocoPositionControl method) start_recording() (robits.audio.audio.CmdAudioRecorder method) (robits.audio.audio.SdAudioRecorder method) (robits.core.abc.audio.RecorderBase method) (robits.dataset.io.recorder.DatasetRecorder method) StatsWriter (class in robits.dataset.io.stats_writer) status() (robits.utils.process_utils.ProcessMonitor method) stop() (robits.app.extrinsics_app.SimplePCDViewer method) (robits.core.abc.control.ControlManager method) (robits.dataset.robot.DatasetRobot method) (robits.real.franka.control.FrankyControlManager method) (robits.remote.server.server_base.ZMQServerBase method) (robits.sim.control.MujocoControlManager method) stop_controller() (robits.core.abc.control.ControllerBase method) (robits.real.franka.control.FrankyCartesianControl method) (robits.real.franka.control.FrankyPositionControl method) (robits.sim.control.MujocoCartesianControl method) (robits.sim.control.MujocoPositionControl method) stop_recording() (robits.audio.audio.CmdAudioRecorder method) (robits.audio.audio.SdAudioRecorder method) (robits.core.abc.audio.RecorderBase method) (robits.dataset.io.recorder.DatasetRecorder method) synthesize_speech() (robits.audio.speech.CoquiTTS method) (robits.audio.speech.OpenAIAPI method)

T

terminate() (robits.utils.process_utils.ProcessMonitor method) text_to_cache_filename_fn() (in module robits.audio.cache_utils) timed_cache() (in module robits.real.franka.gripper) to_dict() (robits.core.config.BaseConfig method) (robits.core.data_model.camera_capture.CameraData method) (robits.sim.blueprints.Blueprint method) (robits.sim.blueprints.Pose method)

to_json() (robits.core.config.BaseConfig method) (robits.sim.env_design.EnvDesigner method) to_matrix() (robits.core.data_model.action.CartesianAction method) to_numpy() (robits.core.data_model.action.BimanualAction method) (robits.core.data_model.action.CartesianAction method) transform_pose() (in module robits.utils.transform_utils) transform_robot_to_world (robits.core.config.RobotConfig attribute) transform_world_to_robot (robits.core.abc.robot.RobotBase property)

U

UnimanualRobot (class in robits.core.abc.robot) unlock_brakes() (robits.real.franka.franka_web_client.FrankaWebClient method) update() (robits.core.abc.control.ControllerBase method) (robits.real.franka.control.FrankyCartesianControl method) (robits.real.franka.control.FrankyPositionControl method) (robits.remote.client.robot.RemoteController method) (robits.sim.control.MujocoCartesianControl method) (robits.sim.control.MujocoPositionControl method) (robits.sim.env_design.EnvDesigner method)

update_action() (robits.vis.scene_visualizer.SceneVisualizer method) update_point_cloud() (robits.app.extrinsics_app.SimplePCDViewer method) update_pose() (robits.vis.scene_visualizer.SceneVisualizer method) update_scene() (robits.vis.scene_visualizer.SceneVisualizer method) update_sliders() (robits.app.extrinsics_app.CameraCalibrationApp method) update_wrist_camera_extrinsics() (robits.core.abc.robot.UnimanualRobot method)

V

validate() (robits.dataset.io.reader.DatasetReader method)

variant_name (robits.sim.blueprints.RobotDescriptionModel attribute) viewer (robits.sim.env_client.MujocoEnvClient property)

W

wait_for_cycle() (robits.core.utils.FrequencyTimer method) wait_for_pose() (robits.agents.mello_agent.MelloAgent method) width (robits.core.config.CameraCalibration attribute) (robits.core.config.CameraConfig attribute) (robits.sim.blueprints.CameraBlueprint attribute) with_euler() (robits.sim.blueprints.Pose method)

with_position() (robits.sim.blueprints.Pose method) with_quat() (robits.sim.blueprints.Pose method) with_quat_wxyz() (robits.sim.blueprints.Pose method) WorkspaceConfigFinder (class in robits.core.config_manager) wrist_name (robits.sim.blueprints.Attachment attribute) write_obs() (robits.dataset.io.writer.DatasetWriter method) write_stats() (robits.dataset.io.stats_writer.StatsWriter method)

Z

ZMQClient (class in robits.remote.client.client_base)

ZMQServerBase (class in robits.remote.server.server_base)