Index

A

action_to_gripper_action() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.RobosuiteInterface method) action_to_target_pose() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.RobosuiteInterface method) add_red_border_to_frame() (in module mimicgen.utils.misc_utils) add_subtask() (mimicgen.configs.task_spec.MG_TaskSpec method)

add_waypoint_sequence() (mimicgen.datagen.waypoint.WaypointTrajectory method) add_waypoint_sequence_for_target_pose() (mimicgen.datagen.waypoint.WaypointTrajectory method) annotate_subtasks() (in module mimicgen.scripts.annotate_subtasks) annotate_subtasks_in_trajectory() (in module mimicgen.scripts.annotate_subtasks) assert_selection_strategy_exists() (in module mimicgen.datagen.selection_strategy) axisangle2quat() (in module mimicgen.utils.pose_utils)

B

bottom_offset (mimicgen.envs.robosuite.kitchen.StoveObjectNew property)

ButtonObjectNew (class in mimicgen.envs.robosuite.kitchen)

C

choose_mimicgen_environment() (in module mimicgen.scripts.demo_random_action) Coffee (class in mimicgen.envs.robosuite.coffee) Coffee_Config (class in mimicgen.configs.robosuite) Coffee_D0 (class in mimicgen.envs.robosuite.coffee) Coffee_D1 (class in mimicgen.envs.robosuite.coffee) Coffee_D2 (class in mimicgen.envs.robosuite.coffee) CoffeePreparation (class in mimicgen.envs.robosuite.coffee)

CoffeePreparation_Config (class in mimicgen.configs.robosuite) CoffeePreparation_D0 (class in mimicgen.envs.robosuite.coffee) CoffeePreparation_D1 (class in mimicgen.envs.robosuite.coffee) config_factory() (in module mimicgen.configs.config) config_generator_to_script_lines() (in module mimicgen.utils.file_utils) ConfigMeta (class in mimicgen.configs.config) create_env() (in module mimicgen.utils.robomimic_utils)

D

DataGenerator (class in mimicgen.datagen.data_generator) DatagenInfo (class in mimicgen.datagen.datagen_info) disable() (mimicgen.utils.misc_utils.RateMeasure method) (mimicgen.utils.misc_utils.Timer method)

download_file_from_hf() (in module mimicgen.utils.file_utils) download_url_from_gdrive() (in module mimicgen.utils.file_utils)

E

edit_model_xml() (mimicgen.envs.robosuite.hammer_cleanup.HammerCleanup_D0 method) (mimicgen.envs.robosuite.kitchen.Kitchen_D0 method) (mimicgen.envs.robosuite.nut_assembly.NutAssembly_D0 method) (mimicgen.envs.robosuite.nut_assembly.Square_D0 method) (mimicgen.envs.robosuite.single_arm_env_mg.SingleArmEnv_MG method) (mimicgen.envs.robosuite.stack.Stack_D0 method)

enable() (mimicgen.utils.misc_utils.RateMeasure method) (mimicgen.utils.misc_utils.Timer method) execute() (mimicgen.datagen.waypoint.WaypointTrajectory method) experiment_config() (mimicgen.configs.config.MG_Config method) extract_datagen_info_from_trajectory() (in module mimicgen.scripts.prepare_src_dataset)

F

from_json() (mimicgen.configs.task_spec.MG_TaskSpec class method)

from_poses() (mimicgen.datagen.waypoint.WaypointSequence class method)

G

generate() (mimicgen.datagen.data_generator.DataGenerator method) generate_all_configs() (in module mimicgen.scripts.generate_training_configs_for_public_datasets) generate_dataset() (in module mimicgen.scripts.generate_dataset) generate_experiment_config() (in module mimicgen.scripts.generate_training_configs_for_public_datasets) get() (mimicgen.utils.misc_utils.Grid method) get_all_demos_from_dataset() (in module mimicgen.utils.file_utils) get_all_registered_configs() (in module mimicgen.configs.config) get_datagen_info() (mimicgen.env_interfaces.base.MG_EnvInterface method) get_default_env_cameras() (in module mimicgen.utils.robomimic_utils) get_env_interface_info_from_dataset() (in module mimicgen.utils.file_utils) get_important_stats() (in module mimicgen.scripts.generate_dataset) get_object_pose() (mimicgen.env_interfaces.robosuite.RobosuiteInterface method) get_object_poses() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.MG_Coffee method) (mimicgen.env_interfaces.robosuite.MG_CoffeePreparation method) (mimicgen.env_interfaces.robosuite.MG_HammerCleanup method) (mimicgen.env_interfaces.robosuite.MG_Kitchen method) (mimicgen.env_interfaces.robosuite.MG_MugCleanup method) (mimicgen.env_interfaces.robosuite.MG_NutAssembly method) (mimicgen.env_interfaces.robosuite.MG_PickPlace method) (mimicgen.env_interfaces.robosuite.MG_Square method) (mimicgen.env_interfaces.robosuite.MG_Stack method) (mimicgen.env_interfaces.robosuite.MG_StackThree method) (mimicgen.env_interfaces.robosuite.MG_Threading method) (mimicgen.env_interfaces.robosuite.MG_ThreePieceAssembly method)

get_robot_eef_pose() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.RobosuiteInterface method) get_subtask_term_signals() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.MG_Coffee method) (mimicgen.env_interfaces.robosuite.MG_CoffeePreparation method) (mimicgen.env_interfaces.robosuite.MG_HammerCleanup method) (mimicgen.env_interfaces.robosuite.MG_Kitchen method) (mimicgen.env_interfaces.robosuite.MG_MugCleanup method) (mimicgen.env_interfaces.robosuite.MG_NutAssembly method) (mimicgen.env_interfaces.robosuite.MG_PickPlace method) (mimicgen.env_interfaces.robosuite.MG_Square method) (mimicgen.env_interfaces.robosuite.MG_Stack method) (mimicgen.env_interfaces.robosuite.MG_StackThree method) (mimicgen.env_interfaces.robosuite.MG_Threading method) (mimicgen.env_interfaces.robosuite.MG_ThreePieceAssembly method) Grid (class in mimicgen.utils.misc_utils)

H

HammerCleanup_Config (class in mimicgen.configs.robosuite) HammerCleanup_D0 (class in mimicgen.envs.robosuite.hammer_cleanup) HammerCleanup_D1 (class in mimicgen.envs.robosuite.hammer_cleanup)

handle_pygame_events() (in module mimicgen.scripts.annotate_subtasks) horizontal_radius (mimicgen.envs.robosuite.kitchen.ButtonObjectNew property) (mimicgen.envs.robosuite.kitchen.ServingRegionObjectNew property) (mimicgen.envs.robosuite.kitchen.StoveObjectNew property)

I

INTERFACE_TYPE (mimicgen.env_interfaces.base.MG_EnvInterface property) (mimicgen.env_interfaces.robosuite.RobosuiteInterface attribute)

interpolate_poses() (in module mimicgen.utils.pose_utils) interpolate_rotations() (in module mimicgen.utils.pose_utils)

K

Kitchen_Config (class in mimicgen.configs.robosuite)

Kitchen_D0 (class in mimicgen.envs.robosuite.kitchen) Kitchen_D1 (class in mimicgen.envs.robosuite.kitchen)

L

last_waypoint (mimicgen.datagen.waypoint.WaypointSequence property) (mimicgen.datagen.waypoint.WaypointTrajectory property)

M

main() (in module mimicgen.scripts.generate_config_templates) (in module mimicgen.scripts.generate_core_configs) (in module mimicgen.scripts.generate_core_training_configs) (in module mimicgen.scripts.generate_dataset) (in module mimicgen.scripts.generate_robot_transfer_configs) (in module mimicgen.scripts.generate_robot_transfer_training_configs) make_dataset_video() (in module mimicgen.utils.robomimic_utils) make_gen() (in module mimicgen.scripts.generate_core_training_configs) (in module mimicgen.scripts.generate_robot_transfer_training_configs) make_generator() (in module mimicgen.scripts.generate_core_configs) (in module mimicgen.scripts.generate_robot_transfer_configs) make_generators() (in module mimicgen.scripts.generate_core_configs) (in module mimicgen.scripts.generate_core_training_configs) (in module mimicgen.scripts.generate_robot_transfer_configs) (in module mimicgen.scripts.generate_robot_transfer_training_configs) make_interface() (in module mimicgen.env_interfaces.base) make_pose() (in module mimicgen.utils.pose_utils) make_print_logger() (in module mimicgen.utils.robomimic_utils) make_pygame_screen() (in module mimicgen.scripts.annotate_subtasks) make_reset_video() (in module mimicgen.scripts.get_reset_videos) make_selection_strategy() (in module mimicgen.datagen.selection_strategy) measure() (mimicgen.utils.misc_utils.RateMeasure method) merge() (mimicgen.datagen.waypoint.WaypointTrajectory method) merge_all_hdf5() (in module mimicgen.utils.file_utils) merge_hdf5s() (in module mimicgen.scripts.merge_hdf5) MG_Coffee (class in mimicgen.env_interfaces.robosuite) MG_CoffeePreparation (class in mimicgen.env_interfaces.robosuite) MG_Config (class in mimicgen.configs.config) MG_EnvInterface (class in mimicgen.env_interfaces.base) MG_EnvInterfaceMeta (class in mimicgen.env_interfaces.base) MG_HammerCleanup (class in mimicgen.env_interfaces.robosuite) MG_Kitchen (class in mimicgen.env_interfaces.robosuite) MG_MugCleanup (class in mimicgen.env_interfaces.robosuite) MG_NutAssembly (class in mimicgen.env_interfaces.robosuite) MG_PickPlace (class in mimicgen.env_interfaces.robosuite) MG_SelectionStrategy (class in mimicgen.datagen.selection_strategy) MG_SelectionStrategyMeta (class in mimicgen.datagen.selection_strategy) MG_Square (class in mimicgen.env_interfaces.robosuite) MG_Stack (class in mimicgen.env_interfaces.robosuite) MG_StackThree (class in mimicgen.env_interfaces.robosuite) MG_TaskSpec (class in mimicgen.configs.task_spec) MG_Threading (class in mimicgen.env_interfaces.robosuite) MG_ThreePieceAssembly (class in mimicgen.env_interfaces.robosuite) mimicgen module mimicgen.configs module mimicgen.configs.config module mimicgen.configs.robosuite module mimicgen.configs.task_spec module mimicgen.datagen module mimicgen.datagen.data_generator module mimicgen.datagen.datagen_info module mimicgen.datagen.selection_strategy module mimicgen.datagen.waypoint module mimicgen.env_interfaces module mimicgen.env_interfaces.base module mimicgen.env_interfaces.robosuite module mimicgen.envs module mimicgen.envs.robosuite module mimicgen.envs.robosuite.coffee module mimicgen.envs.robosuite.hammer_cleanup module mimicgen.envs.robosuite.kitchen module mimicgen.envs.robosuite.mug_cleanup module mimicgen.envs.robosuite.nut_assembly module mimicgen.envs.robosuite.pick_place module mimicgen.envs.robosuite.single_arm_env_mg module mimicgen.envs.robosuite.stack module mimicgen.envs.robosuite.threading module mimicgen.envs.robosuite.three_piece_assembly module mimicgen.scripts module mimicgen.scripts.annotate_subtasks module

mimicgen.scripts.demo_random_action module mimicgen.scripts.download_datasets module mimicgen.scripts.generate_config_templates module mimicgen.scripts.generate_core_configs module mimicgen.scripts.generate_core_training_configs module mimicgen.scripts.generate_dataset module mimicgen.scripts.generate_robot_transfer_configs module mimicgen.scripts.generate_robot_transfer_training_configs module mimicgen.scripts.generate_training_configs_for_public_datasets module mimicgen.scripts.get_reset_videos module mimicgen.scripts.get_source_info module mimicgen.scripts.merge_hdf5 module mimicgen.scripts.prepare_src_dataset module mimicgen.scripts.visualize_subtasks module mimicgen.utils module mimicgen.utils.config_utils module mimicgen.utils.file_utils module mimicgen.utils.misc_utils module mimicgen.utils.pose_utils module mimicgen.utils.robomimic_utils module modify_config_for_dataset() (in module mimicgen.scripts.generate_training_configs_for_public_datasets) module mimicgen mimicgen.configs mimicgen.configs.config mimicgen.configs.robosuite mimicgen.configs.task_spec mimicgen.datagen mimicgen.datagen.data_generator mimicgen.datagen.datagen_info mimicgen.datagen.selection_strategy mimicgen.datagen.waypoint mimicgen.env_interfaces mimicgen.env_interfaces.base mimicgen.env_interfaces.robosuite mimicgen.envs mimicgen.envs.robosuite mimicgen.envs.robosuite.coffee mimicgen.envs.robosuite.hammer_cleanup mimicgen.envs.robosuite.kitchen mimicgen.envs.robosuite.mug_cleanup mimicgen.envs.robosuite.nut_assembly mimicgen.envs.robosuite.pick_place mimicgen.envs.robosuite.single_arm_env_mg mimicgen.envs.robosuite.stack mimicgen.envs.robosuite.threading mimicgen.envs.robosuite.three_piece_assembly mimicgen.scripts mimicgen.scripts.annotate_subtasks mimicgen.scripts.demo_random_action mimicgen.scripts.download_datasets mimicgen.scripts.generate_config_templates mimicgen.scripts.generate_core_configs mimicgen.scripts.generate_core_training_configs mimicgen.scripts.generate_dataset mimicgen.scripts.generate_robot_transfer_configs mimicgen.scripts.generate_robot_transfer_training_configs mimicgen.scripts.generate_training_configs_for_public_datasets mimicgen.scripts.get_reset_videos mimicgen.scripts.get_source_info mimicgen.scripts.merge_hdf5 mimicgen.scripts.prepare_src_dataset mimicgen.scripts.visualize_subtasks mimicgen.utils mimicgen.utils.config_utils mimicgen.utils.file_utils mimicgen.utils.misc_utils mimicgen.utils.pose_utils mimicgen.utils.robomimic_utils MugCleanup (class in mimicgen.envs.robosuite.mug_cleanup) MugCleanup_Config (class in mimicgen.configs.robosuite) MugCleanup_D0 (class in mimicgen.envs.robosuite.mug_cleanup) MugCleanup_D1 (class in mimicgen.envs.robosuite.mug_cleanup) MugCleanup_O1 (class in mimicgen.envs.robosuite.mug_cleanup) MugCleanup_O2 (class in mimicgen.envs.robosuite.mug_cleanup)

N

NAME (mimicgen.configs.config.MG_Config property) (mimicgen.configs.robosuite.Coffee_Config attribute) (mimicgen.configs.robosuite.CoffeePreparation_Config attribute) (mimicgen.configs.robosuite.HammerCleanup_Config attribute) (mimicgen.configs.robosuite.Kitchen_Config attribute) (mimicgen.configs.robosuite.MugCleanup_Config attribute) (mimicgen.configs.robosuite.NutAssembly_Config attribute) (mimicgen.configs.robosuite.PickPlace_Config attribute) (mimicgen.configs.robosuite.Square_Config attribute) (mimicgen.configs.robosuite.Stack_Config attribute) (mimicgen.configs.robosuite.StackThree_Config attribute) (mimicgen.configs.robosuite.Threading_Config attribute) (mimicgen.configs.robosuite.ThreePieceAssembly_Config attribute) (mimicgen.datagen.selection_strategy.MG_SelectionStrategy property) (mimicgen.datagen.selection_strategy.NearestNeighborObjectStrategy attribute) (mimicgen.datagen.selection_strategy.NearestNeighborRobotDistanceStrategy attribute) (mimicgen.datagen.selection_strategy.RandomStrategy attribute)

NearestNeighborObjectStrategy (class in mimicgen.datagen.selection_strategy) NearestNeighborRobotDistanceStrategy (class in mimicgen.datagen.selection_strategy) next() (mimicgen.utils.misc_utils.Grid method) NutAssembly_Config (class in mimicgen.configs.robosuite) NutAssembly_D0 (class in mimicgen.envs.robosuite.nut_assembly)

O

obs_config() (mimicgen.configs.config.MG_Config method)

P

parse_source_dataset() (in module mimicgen.utils.file_utils) PickPlace_Config (class in mimicgen.configs.robosuite) PickPlace_D0 (class in mimicgen.envs.robosuite.pick_place) pop_first() (mimicgen.datagen.waypoint.WaypointTrajectory method)

pose_in_A_to_pose_in_B() (in module mimicgen.utils.pose_utils) pose_inv() (in module mimicgen.utils.pose_utils) prepare_src_dataset() (in module mimicgen.scripts.prepare_src_dataset) prev() (mimicgen.utils.misc_utils.Grid method) print_keyboard_commands() (in module mimicgen.scripts.annotate_subtasks)

Q

quat2axisangle() (in module mimicgen.utils.pose_utils)

quat_slerp() (in module mimicgen.utils.pose_utils)

R

randomize_subtask_boundaries() (mimicgen.datagen.data_generator.DataGenerator method) RandomStrategy (class in mimicgen.datagen.selection_strategy) Rate (class in mimicgen.utils.misc_utils) RateMeasure (class in mimicgen.utils.misc_utils) register_all_links() (in module mimicgen) register_dataset_link() (in module mimicgen) register_env_interface() (in module mimicgen.env_interfaces.base) register_selection_strategy() (in module mimicgen.datagen.selection_strategy)

report_stats() (mimicgen.utils.misc_utils.RateMeasure method) (mimicgen.utils.misc_utils.Timer method) reward() (mimicgen.envs.robosuite.coffee.Coffee method) (mimicgen.envs.robosuite.mug_cleanup.MugCleanup method) (mimicgen.envs.robosuite.stack.Stack_D0 method) (mimicgen.envs.robosuite.stack.StackThree method) (mimicgen.envs.robosuite.threading.Threading method) (mimicgen.envs.robosuite.three_piece_assembly.ThreePieceAssembly method) RobosuiteInterface (class in mimicgen.env_interfaces.robosuite)

S

select_source_demo() (mimicgen.datagen.data_generator.DataGenerator method) (mimicgen.datagen.selection_strategy.MG_SelectionStrategy method) (mimicgen.datagen.selection_strategy.NearestNeighborObjectStrategy method) (mimicgen.datagen.selection_strategy.NearestNeighborRobotDistanceStrategy method) (mimicgen.datagen.selection_strategy.RandomStrategy method) serialize() (mimicgen.configs.task_spec.MG_TaskSpec method) ServingRegionObjectNew (class in mimicgen.envs.robosuite.kitchen) set_basic_settings() (in module mimicgen.utils.config_utils) set_debug_settings() (in module mimicgen.utils.config_utils) set_learning_settings_for_bc_rnn() (in module mimicgen.utils.config_utils) set_obs_config() (in module mimicgen.scripts.generate_training_configs_for_public_datasets) set_obs_settings() (in module mimicgen.utils.config_utils) set_rnn_config() (in module mimicgen.scripts.generate_training_configs_for_public_datasets) set_subtask_settings() (in module mimicgen.utils.config_utils) SingleArmEnv_MG (class in mimicgen.envs.robosuite.single_arm_env_mg)

sleep() (mimicgen.utils.misc_utils.Rate method) split() (mimicgen.datagen.waypoint.WaypointSequence method) Square_Config (class in mimicgen.configs.robosuite) Square_D0 (class in mimicgen.envs.robosuite.nut_assembly) Square_D1 (class in mimicgen.envs.robosuite.nut_assembly) Square_D2 (class in mimicgen.envs.robosuite.nut_assembly) Stack_Config (class in mimicgen.configs.robosuite) Stack_D0 (class in mimicgen.envs.robosuite.stack) Stack_D1 (class in mimicgen.envs.robosuite.stack) StackThree (class in mimicgen.envs.robosuite.stack) StackThree_Config (class in mimicgen.configs.robosuite) StackThree_D0 (class in mimicgen.envs.robosuite.stack) StackThree_D1 (class in mimicgen.envs.robosuite.stack) staged_rewards() (mimicgen.envs.robosuite.stack.StackThree method) StoveObjectNew (class in mimicgen.envs.robosuite.kitchen)

T

target_pose_to_action() (mimicgen.env_interfaces.base.MG_EnvInterface method) (mimicgen.env_interfaces.robosuite.RobosuiteInterface method) task_config() (mimicgen.configs.config.MG_Config method) (mimicgen.configs.robosuite.Coffee_Config method) (mimicgen.configs.robosuite.CoffeePreparation_Config method) (mimicgen.configs.robosuite.HammerCleanup_Config method) (mimicgen.configs.robosuite.Kitchen_Config method) (mimicgen.configs.robosuite.MugCleanup_Config method) (mimicgen.configs.robosuite.NutAssembly_Config method) (mimicgen.configs.robosuite.PickPlace_Config method) (mimicgen.configs.robosuite.Square_Config method) (mimicgen.configs.robosuite.Stack_Config method) (mimicgen.configs.robosuite.StackThree_Config method) (mimicgen.configs.robosuite.Threading_Config method) (mimicgen.configs.robosuite.ThreePieceAssembly_Config method) Threading (class in mimicgen.envs.robosuite.threading) Threading_Config (class in mimicgen.configs.robosuite) Threading_D0 (class in mimicgen.envs.robosuite.threading) Threading_D1 (class in mimicgen.envs.robosuite.threading) Threading_D2 (class in mimicgen.envs.robosuite.threading) ThreePieceAssembly (class in mimicgen.envs.robosuite.three_piece_assembly) ThreePieceAssembly_Config (class in mimicgen.configs.robosuite)

ThreePieceAssembly_D0 (class in mimicgen.envs.robosuite.three_piece_assembly) ThreePieceAssembly_D1 (class in mimicgen.envs.robosuite.three_piece_assembly) ThreePieceAssembly_D2 (class in mimicgen.envs.robosuite.three_piece_assembly) tic() (mimicgen.utils.misc_utils.Timer method) timed() (mimicgen.utils.misc_utils.Timer method) Timer (class in mimicgen.utils.misc_utils) to_dict() (mimicgen.datagen.datagen_info.DatagenInfo method) toc() (mimicgen.utils.misc_utils.Timer method) top_offset (mimicgen.envs.robosuite.kitchen.StoveObjectNew property) transform_source_data_segment_using_object_pose() (in module mimicgen.utils.pose_utils) TYPE (mimicgen.configs.config.MG_Config property) (mimicgen.configs.robosuite.Coffee_Config attribute) (mimicgen.configs.robosuite.CoffeePreparation_Config attribute) (mimicgen.configs.robosuite.HammerCleanup_Config attribute) (mimicgen.configs.robosuite.Kitchen_Config attribute) (mimicgen.configs.robosuite.MugCleanup_Config attribute) (mimicgen.configs.robosuite.NutAssembly_Config attribute) (mimicgen.configs.robosuite.PickPlace_Config attribute) (mimicgen.configs.robosuite.Square_Config attribute) (mimicgen.configs.robosuite.Stack_Config attribute) (mimicgen.configs.robosuite.StackThree_Config attribute) (mimicgen.configs.robosuite.Threading_Config attribute) (mimicgen.configs.robosuite.ThreePieceAssembly_Config attribute)

U

unmake_pose() (in module mimicgen.utils.pose_utils)

update_hz() (mimicgen.utils.misc_utils.Rate method)

V

visualize() (mimicgen.envs.robosuite.coffee.Coffee method) (mimicgen.envs.robosuite.kitchen.Kitchen_D1 method) (mimicgen.envs.robosuite.mug_cleanup.MugCleanup method) (mimicgen.envs.robosuite.threading.Threading method) (mimicgen.envs.robosuite.three_piece_assembly.ThreePieceAssembly method)

visualize_subtasks() (in module mimicgen.scripts.visualize_subtasks) visualize_subtasks_with_env() (in module mimicgen.scripts.visualize_subtasks) visualize_subtasks_with_obs() (in module mimicgen.scripts.visualize_subtasks)

W

Waypoint (class in mimicgen.datagen.waypoint) WaypointSequence (class in mimicgen.datagen.waypoint)

WaypointTrajectory (class in mimicgen.datagen.waypoint) write_demo_to_hdf5() (in module mimicgen.utils.file_utils) write_json() (in module mimicgen.utils.file_utils)