mirage.benchmark.robosuite.evaluate_policy_demo_source_robot_server.Robot

class mirage.benchmark.robosuite.evaluate_policy_demo_source_robot_server.Robot(robot_name=None, ckpt_path=None, render=False, video_path=None, rollout_horizon=None, seed=None, dataset_path=None, demo_path=None, inpaint_enabled=False, save_paired_images=False, save_paired_images_folder_path=None, device=None, save_failed_demos=False, gripper_types=None, save_stats_path=None)

Bases: object

__init__(robot_name=None, ckpt_path=None, render=False, video_path=None, rollout_horizon=None, seed=None, dataset_path=None, demo_path=None, inpaint_enabled=False, save_paired_images=False, save_paired_images_folder_path=None, device=None, save_failed_demos=False, gripper_types=None, save_stats_path=None)

_summary_

Args:

robot_name (string, optional): one of [Sawyer, UR5e, Panda, Kinova3, Jaco, IIWA]. If None, then the robot name is read from the checkpoint. ckpt_path (string, optional): render (bool, optional): video_path (string, optional): rollout_horizon (int, optional): seed (int, optional): connection (socket, optional):

Methods

__init__([robot_name, ckpt_path, render, ...])	_summary_
compute_eef_pose()	return a 7D or 14D pose vector
compute_pose_error(target_pose)
drive_robot_to_target_pose([target_pose, ...])
get_object_state()
initialize_robot()
run_experiments(seeds[, ...])	target_robot_delta_action only affects the target robot.
set_object_state([set_to_target_object_state])
set_seed(seed)
step(action[, use_delta, blocking, ...])	If not blocking, action is EEF (delta) pose (6DOF) + gripper If blocking, action is EEF target state (7DOF using quarternion) + gripper

compute_eef_pose()

return a 7D or 14D pose vector

run_experiments(seeds, rollout_num_episodes=1, video_skip=5, camera_names='agentview', dataset_obs=False, save_stats_path=None, tracking_error_threshold=0.003, num_iter_max=100, target_robot_delta_action=False, inpaint_online_eval=False)

target_robot_delta_action only affects the target robot. Default is to track the absolute pose of the source robot.

step(action, use_delta=True, blocking=False, tracking_error_threshold=0.003, num_iter_max=100, goal_pose=None, name='Source Robot')

If not blocking, action is EEF (delta) pose (6DOF) + gripper If blocking, action is EEF target state (7DOF using quarternion) + gripper