Functions — github.com/RoboTwin-Platform/RoboTwin

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Functions4,415 in github.com/RoboTwin-Platform/RoboTwin

⨍ Functions 4,415◇ Types & classes 876↳ Endpoints 1

↓ 734 callersFunctionprint

(*args, **kwargs)

policy/ACT/detr/util/misc.py:382

↓ 280 callersMethodto

(self, device)

policy/ACT/detr/util/misc.py:300

↓ 259 callersMethodget

Get a numpy array with access to the shared memory

policy/DP/diffusion_policy/shared_memory/shared_ndarray.py:156

↓ 252 callersMethoditems

(self)

policy/DP/diffusion_policy/common/replay_buffer.py:439

↓ 237 callersMethodmove

Take action for the robot.

envs/_base_task.py:884

↓ 204 callersMethodget_pose

(self)

envs/utils/transforms.py:108

↓ 148 callersMethodload

Create a model with the given parameters.

policy/pi0/src/openpi/models/model.py:225

↓ 141 callersMethodfrom_pretrained

( cls, pretrained_checkpoint: Path, model_family: str, model_id: str,

policy/openvla-oft/prismatic/models/vlms/base_vlm.py:59

↓ 126 callersMethodkeys

(self)

policy/DP/diffusion_policy/common/replay_buffer.py:433

↓ 106 callersFunctionrand_pose

( xlim: np.ndarray, ylim: np.ndarray, zlim: np.ndarray = [0.741], ylim_prop=False, rotate_

envs/utils/rand_create_actor.py:8

↓ 97 callersMethodmove_by_displacement

( self, arm_tag: ArmTag, x: float = 0.0, y: float = 0.0, z: float = 0.

envs/_base_task.py:1350

↓ 85 callersMethodadd_prohibit_area

( self, actor: Actor | sapien.Entity | sapien.Pose | list | np.ndarray, padding=0.01,

envs/_base_task.py:649

↓ 84 callersMethodgrasp_actor

( self, actor: Actor, arm_tag: ArmTag, pre_grasp_dis=0.1, grasp_dis=0,

envs/_base_task.py:1167

↓ 74 callersFunctionprint

(*args, **kwargs)

policy/DexVLA/policy_heads/util/misc.py:370

↓ 67 callersMethodto

(self, device)

policy/DexVLA/dex_vla/external_vision_encoder/misc.py:289

↓ 65 callersMethodto

(self, device)

policy/DexVLA/policy_heads/util/misc.py:289

↓ 61 callersMethodformat

(self, record)

policy/pi0/scripts/train.py:42

↓ 58 callersMethodsave

(self, directory: epath.Path, args: "CallbackSave")

policy/pi0/src/openpi/training/checkpoints.py:135

↓ 57 callersMethodcopy

(self)

policy/LLaVA-VLA/llava/conversation.py:180

↓ 57 callersMethodwrite

(self, buf)

policy/LLaVA-VLA/llava/utils.py:73

↓ 56 callersFunctioncreate_actor

( scene, pose: sapien.Pose, modelname: str, scale=(1, 1, 1), convex=Fa

envs/utils/create_actor.py:501

↓ 55 callersMethodget_functional_point

Get the transformation matrix of given functional point of the actor.

envs/utils/actor_utils.py:72

↓ 50 callersMethod_init_task_env_

Initialization TODO - `self.FRAME_IDX`: The index of the file saved for the current scene. - `self.fcitx5-configtool`: Left g

envs/_base_task.py:42

↓ 49 callersMethodplace_actor

( self, actor: Actor, arm_tag: ArmTag, target_pose: list | np.ndarray,

envs/_base_task.py:1308

↓ 47 callersMethodload

(self)

policy/DP/diffusion_policy/shared_memory/shared_memory_util.py:27

↓ 42 callersMethodget_name

(self)

envs/utils/actor_utils.py:88

↓ 41 callersMethodadd

(self, value: int)

policy/DP/diffusion_policy/shared_memory/shared_memory_util.py:36

↓ 41 callersFunctionrank0_print

(*args)

policy/DexVLA/train_vla.py:170

↓ 41 callersMethodshape

(self)

policy/DP/diffusion_policy/shared_memory/shared_ndarray.py:153

↓ 40 callersFunctionprint

(*args, **kwargs)

policy/DexVLA/dex_vla/external_vision_encoder/misc.py:370

↓ 38 callersMethodset_mass

(self, mass)

envs/utils/actor_utils.py:94

↓ 33 callersMethodclose

(self)

policy/pi0/src/openpi/training/checkpoints.py:132

↓ 33 callersMethodextend

(self, data)

policy/DP/diffusion_policy/common/replay_buffer.py:561

↓ 32 callersMethodfrom_pretrained

(cls, pretrained_model_name_or_path: Union[str, os.PathLike], **kwargs)

policy/DexVLA/dex_vla/models/configuration_dex_vla.py:61

↓ 32 callersMethoditems

(self)

policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/common/replay_buffer.py:445

↓ 32 callersMethodmax

(self)

policy/ACT/detr/util/misc.py:74

↓ 29 callersMethodset_pose

更新点的位置

envs/utils/transforms.py:185

↓ 28 callersMethodis_right_gripper_open

(self)

envs/robot/robot.py:541

↓ 28 callersMethodvalues

(self)

policy/DP/diffusion_policy/common/replay_buffer.py:436

↓ 26 callersMethodis_left_gripper_open

(self)

envs/robot/robot.py:538

↓ 25 callersMethodtrain

(self)

policy/DP/diffusion_policy/model/bet/libraries/mingpt/trainer.py:61

↓ 24 callersMethoddecode

(self, x)

policy/pi0/src/openpi/models/gemma.py:150

↓ 24 callersMethodmax

(self)

policy/DexVLA/policy_heads/util/misc.py:73

↓ 23 callersMethodget_config

(self)

envs/camera/camera.py:295

↓ 22 callersFunctionrank0_print

(*args)

policy/TinyVLA/train_vla.py:25

↓ 22 callersMethodrender

()

script/create_object_data.py:598

↓ 21 callersMethodget_model

(self)

policy/LLaVA-VLA/llava/model/llava_arch.py:136

↓ 21 callersFunctionrecursive_dict_list_tuple_apply

Recursively apply functions to a nested dictionary or list or tuple, given a dictionary of {data_type: function_to_apply}. Args:

policy/DP/diffusion_policy/model/common/tensor_util.py:11

↓ 21 callersFunctionrecursive_dict_list_tuple_apply

Recursively apply functions to a nested dictionary or list or tuple, given a dictionary of {data_type: function_to_apply}. Args:

policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/model/common/tensor_util.py:11

↓ 20 callersMethodback_to_origin

(self, arm_tag: ArmTag)

envs/_base_task.py:1390

↓ 20 callersMethodget_obs

(self)

envs/_base_task.py:437

↓ 20 callersMethodlog

(self, global_step: int, metrics: Dict[str, Union[int, float]])

policy/openvla-oft/prismatic/training/metrics.py:141

↓ 20 callersMethodrelease_lock

(self)

policy/RDT/data/filelock.py:21

↓ 20 callersFunctiontokenizer_image_token

(prompt, tokenizer, image_token_index=IMAGE_TOKEN_INDEX, return_tensors=None)

policy/LLaVA-VLA/llava/mm_utils.py:187

↓ 20 callersMethodupdate

(self, **kwargs)

policy/ACT/detr/util/misc.py:167

↓ 19 callersMethodclose

Close the connection

script/eval_policy_client.py:210

↓ 19 callersFunctionlog_message

Log a message to console and optionally to a log file.

policy/openvla-oft/experiments/robot/aloha/run_aloha_eval.py:104

↓ 19 callersMethodstep

(carry)

policy/pi0/src/openpi/models/pi0.py:280

↓ 18 callersMethodinit

Convenience method for initializing all parameters, necessary due to the quirks of linen.

policy/pi0/src/openpi/models/gemma.py:397

↓ 18 callersFunctionprint_color

(message, color_code)

script/update_embodiment_config_path.py:6

↓ 17 callersFunctiontransform

(k: str, v: T)

policy/pi0/src/openpi/transforms.py:393

↓ 16 callersMethodempty

(self)

policy/DP/diffusion_policy/shared_memory/shared_memory_queue.py:81

↓ 16 callersMethodencode

(self, x)

policy/pi0/src/openpi/models/gemma.py:145

↓ 16 callersFunctionlog_message

Log a message to console and optionally to a log file.

policy/openvla-oft/experiments/robot/libero/run_libero_eval.py:219

↓ 16 callersFunctionrand_create_actor

( scene, modelname: str, xlim: np.ndarray, ylim: np.ndarray, zlim: np.

envs/utils/rand_create_actor.py:183

↓ 16 callersMethodremove

()

envs/place_bread_basket.py:120

↓ 16 callersMethodset_name

(self, name)

envs/utils/actor_utils.py:91

↓ 15 callersMethod__init__

(self, config)

policy/DexVLA/dex_vla/models/qwen2_vl_modules.py:465

↓ 15 callersFunctioncreate_box

( scene, pose: sapien.Pose, half_size, color=None, is_static=False, name="", textu

envs/utils/create_actor.py:80

↓ 15 callersMethodinterpolate

(curr_waypoint, next_waypoint, t)

policy/ACT/scripted_policy.py:25

↓ 15 callersMethodnormalize

(self, x: Union[Dict, torch.Tensor, np.ndarray])

policy/DP/diffusion_policy/model/common/normalizer.py:73

↓ 15 callersMethodstep

(self, action)

policy/openvla-oft/experiments/robot/aloha/real_env.py:136

↓ 15 callersMethodupdate_render

(self)

script/create_object_data.py:129

↓ 14 callersMethodtake_action

(self, action, action_type:Literal['qpos', 'ee']='qpos')

envs/_base_task.py:1479

↓ 13 callersMethodcond

(carry)

policy/pi0/src/openpi/models/pi0.py:310

↓ 13 callersFunctiondict_apply

(x: Dict[str, torch.Tensor], func: Callable[[torch.Tensor], torch.Tensor])

policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/common/pytorch_util.py:7

↓ 13 callersMethodfrom_pretrained

(cls, pretrained_model_name_or_path: Union[str, os.PathLike], **kwargs)

policy/TinyVLA/vla/models/internvl/configuration_intern_vit.py:108

↓ 13 callersMethodget_input_embeddings

(self)

policy/DexVLA/dex_vla/models/modeling_dex_vla.py:65

↓ 13 callersMethodget_instruction

(self, instruction=None)

envs/_base_task.py:567

↓ 13 callersMethodget_qpos

(self)

envs/utils/actor_utils.py:172

↓ 13 callersMethodinit

Convenience method for initializing all parameters, necessary due to the quirks of linen.

policy/pi05/src/openpi/models/gemma.py:413

↓ 13 callersFunctioninvert_gripper_actions

(actions: tf.Tensor)

policy/openvla-oft/prismatic/vla/datasets/rlds/utils/data_utils.py:128

↓ 13 callersMethodmax

(self)

policy/DexVLA/dex_vla/external_vision_encoder/misc.py:73

↓ 13 callersMethodpreprocess

(self, sample)

policy/TinyVLA/data_utils/robot_data_processor.py:117

↓ 13 callersMethodresize_token_embeddings

( self, new_num_tokens: Optional[int] = None, pad_to_multiple_of: Optional[int] = None )

policy/openvla-oft/prismatic/extern/hf/modeling_prismatic.py:384

↓ 13 callersFunctiontransform

(k: str, v: T)

policy/pi05/src/openpi/transforms.py:410

↓ 12 callersMethod__init__

(self, config)

policy/pi05/src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:421

↓ 12 callersMethodclose_env

(self, clear_cache=False)

envs/_base_task.py:578

↓ 12 callersMethodcreate

(self, rng: at.KeyArrayLike)

policy/pi0/src/openpi/models/pi0.py:83

↓ 12 callersMethodencode

(self, x)

policy/pi05/src/openpi/models/gemma.py:148

↓ 12 callersFunctioninitialize_overwatch

(name: str)

policy/openvla-oft/prismatic/overwatch/overwatch.py:146

↓ 12 callersMethodopen_gripper

(self, arm_tag: ArmTag, pos: float = 1.0)

envs/_base_task.py:1387

↓ 12 callersMethodupdate

Update the running statistics with a batch of vectors. Args: vectors (np.ndarray): A 2D array where each row is a new ve

policy/pi0/src/openpi/shared/normalize.py:30

↓ 12 callersMethodupdate

Update the running statistics with a batch of vectors. Args: vectors (np.ndarray): An array where all dimensions except

policy/pi05/src/openpi/shared/normalize.py:30

↓ 11 callersMethoddevice

Borrowed from `transformers.modeling_utils.py` -- checks parameter device; assumes model on *ONE* device!

policy/openvla-oft/prismatic/models/vlms/base_vlm.py:53

↓ 11 callersMethodembed_tokens

(self, x)

policy/LLaVA-VLA/llava/model/language_model/llava_mpt.py:36

↓ 11 callersMethodget_vision_tower

(self)

policy/LLaVA-VLA/llava/model/llava_arch.py:44

↓ 11 callersMethodnormalize

(self, x: Union[Dict, torch.Tensor, np.ndarray])

policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/model/common/normalizer.py:73

↓ 11 callersFunctionpreprocess

Add entity to scene. Add bias to z axis if scene is not sapien.Scene.

envs/utils/create_actor.py:18

↓ 11 callersMethodupdate

(self, force_output: bool = False, flexible: bool = False)

envs/utils/transforms.py:195

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