5. Utilities

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.