SYMBOL INDEX (509 symbols across 53 files)

FILE: droid/calibration/calibration_utils.py
  function load_calibration_info (line 34) | def load_calibration_info(keep_time=False):
  function update_calibration_info (line 44) | def update_calibration_info(cam_id, transformation):
  function check_calibration_info (line 52) | def check_calibration_info(required_ids, time_threshold=3600):
  function visualize_calibration (line 68) | def visualize_calibration(calibration_dict):
  function calibration_traj (line 88) | def calibration_traj(t, pos_scale=0.1, angle_scale=0.2, hand_camera=False):
  class CharucoDetector (line 102) | class CharucoDetector:
    method __init__ (line 103) | def __init__(
    method process_image (line 122) | def process_image(self, image):
    method add_sample (line 157) | def add_sample(self, cam_id, image, pose):
    method calculate_target_to_cam (line 164) | def calculate_target_to_cam(self, readings, train=True):
    method augment_image (line 238) | def augment_image(self, cam_id, image, visualize=False, visual_type=["...
  class ThirdPersonCameraCalibrator (line 284) | class ThirdPersonCameraCalibrator(CharucoDetector):
    method __init__ (line 285) | def __init__(
    method calibrate (line 293) | def calibrate(self, cam_id):
    method _calibrate_cam_to_base (line 296) | def _calibrate_cam_to_base(self, cam_id=None, readings=None, gripper_p...
    method _calibrate_gripper_to_target (line 333) | def _calibrate_gripper_to_target(self, cam_id=None, readings=None, gri...
    method _calculate_gripper_to_base (line 370) | def _calculate_gripper_to_base(self, train_readings, train_gripper_pos...
    method is_calibration_accurate (line 414) | def is_calibration_accurate(self, cam_id):
  class HandCameraCalibrator (line 454) | class HandCameraCalibrator(CharucoDetector):
    method __init__ (line 455) | def __init__(self, camera, lin_error_threshold=1e-3, rot_error_thresho...
    method calibrate (line 461) | def calibrate(self, cam_id):
    method _calibrate_cam_to_gripper (line 464) | def _calibrate_cam_to_gripper(self, cam_id=None, readings=None, grippe...
    method _calibrate_base_to_target (line 499) | def _calibrate_base_to_target(self, cam_id=None, readings=None, grippe...
    method _calculate_gripper_to_base (line 534) | def _calculate_gripper_to_base(self, train_readings, train_gripper_pos...
    method is_calibration_accurate (line 579) | def is_calibration_accurate(self, cam_id):

FILE: droid/camera_utils/camera_readers/zed_camera.py
  function gather_zed_cameras (line 15) | def gather_zed_cameras():
  class ZedCamera (line 40) | class ZedCamera:
    method __init__ (line 41) | def __init__(self, camera):
    method enable_advanced_calibration (line 53) | def enable_advanced_calibration(self):
    method disable_advanced_calibration (line 56) | def disable_advanced_calibration(self):
    method set_reading_parameters (line 59) | def set_reading_parameters(
    method set_calibration_mode (line 79) | def set_calibration_mode(self):
    method set_trajectory_mode (line 96) | def set_trajectory_mode(self):
    method _configure_camera (line 115) | def _configure_camera(self, init_params):
    method _process_intrinsics (line 148) | def _process_intrinsics(self, params):
    method get_intrinsics (line 154) | def get_intrinsics(self):
    method start_recording (line 158) | def start_recording(self, filename):
    method stop_recording (line 164) | def stop_recording(self):
    method _process_frame (line 168) | def _process_frame(self, frame):
    method read_camera (line 174) | def read_camera(self):
    method disable_camera (line 220) | def disable_camera(self):
    method is_running (line 228) | def is_running(self):

FILE: droid/camera_utils/info.py
  function get_camera_name (line 22) | def get_camera_name(cam_id):
  function get_camera_type (line 28) | def get_camera_type(cam_id):

FILE: droid/camera_utils/recording_readers/mp4_reader.py
  class MP4Reader (line 10) | class MP4Reader:
    method __init__ (line 11) | def __init__(self, filepath, serial_number):
    method set_reading_parameters (line 29) | def set_reading_parameters(
    method get_frame_resolution (line 45) | def get_frame_resolution(self):
    method get_frame_count (line 50) | def get_frame_count(self):
    method set_frame_index (line 56) | def set_frame_index(self, index):
    method _process_frame (line 67) | def _process_frame(self, frame):
    method read_camera (line 74) | def read_camera(self, ignore_data=False, correct_timestamp=None, retur...
    method disable_camera (line 114) | def disable_camera(self):

FILE: droid/camera_utils/recording_readers/svo_reader.py
  class SVOReader (line 13) | class SVOReader:
    method __init__ (line 14) | def __init__(self, filepath, serial_number):
    method set_reading_parameters (line 39) | def set_reading_parameters(
    method get_frame_resolution (line 66) | def get_frame_resolution(self):
    method get_frame_count (line 72) | def get_frame_count(self):
    method set_frame_index (line 77) | def set_frame_index(self, index):
    method _process_frame (line 88) | def _process_frame(self, frame):
    method read_camera (line 94) | def read_camera(self, ignore_data=False, correct_timestamp=None, retur...
    method disable_camera (line 146) | def disable_camera(self):

FILE: droid/camera_utils/wrappers/multi_camera_wrapper.py
  class MultiCameraWrapper (line 9) | class MultiCameraWrapper:
    method __init__ (line 10) | def __init__(self, camera_kwargs={}):
    method get_camera (line 25) | def get_camera(self, camera_id):
    method enable_advanced_calibration (line 28) | def enable_advanced_calibration(self):
    method disable_advanced_calibration (line 32) | def disable_advanced_calibration(self):
    method set_calibration_mode (line 36) | def set_calibration_mode(self, cam_id):
    method set_trajectory_mode (line 47) | def set_trajectory_mode(self):
    method start_recording (line 62) | def start_recording(self, recording_folderpath):
    method stop_recording (line 70) | def stop_recording(self):
    method read_cameras (line 75) | def read_cameras(self):
    method disable_cameras (line 94) | def disable_cameras(self):

FILE: droid/camera_utils/wrappers/recorded_multi_camera_wrapper.py
  class RecordedMultiCameraWrapper (line 10) | class RecordedMultiCameraWrapper:
    method __init__ (line 11) | def __init__(self, recording_folderpath, camera_kwargs={}):
    method read_cameras (line 35) | def read_cameras(self, index=None, camera_type_dict={}, timestamp_dict...
    method disable_cameras (line 61) | def disable_cameras(self):

FILE: droid/controllers/oculus_controller.py
  function vec_to_reorder_mat (line 10) | def vec_to_reorder_mat(vec):
  class VRPolicy (line 18) | class VRPolicy:
    method __init__ (line 19) | def __init__(
    method reset_state (line 48) | def reset_state(self):
    method _update_internal_state (line 61) | def _update_internal_state(self, num_wait_sec=5, hz=50):
    method _process_reading (line 102) | def _process_reading(self):
    method _limit_velocity (line 111) | def _limit_velocity(self, lin_vel, rot_vel, gripper_vel):
    method _calculate_action (line 124) | def _calculate_action(self, state_dict, include_info=False):
    method get_info (line 179) | def get_info(self):
    method forward (line 187) | def forward(self, obs_dict, include_info=False):

FILE: droid/data_loading/data_loader.py
  function create_dataloader (line 8) | def create_dataloader(
  function create_train_test_data_loader (line 37) | def create_train_test_data_loader(data_loader_kwargs={}, data_processing...
  class TrainTestDataloader (line 54) | class TrainTestDataloader:
    method __init__ (line 55) | def __init__(self, data_loader_kwargs={}, data_processing_kwargs={}, c...
    method set_train_mode (line 65) | def set_train_mode(self):
    method set_test_mode (line 68) | def set_test_mode(self):
    method __iter__ (line 71) | def __iter__(self):

FILE: droid/data_loading/dataset.py
  class TrajectoryDataset (line 5) | class TrajectoryDataset(IterableDataset):
    method __init__ (line 6) | def __init__(self, trajectory_sampler):
    method _refresh_generator (line 9) | def _refresh_generator(self):
    method __iter__ (line 14) | def __iter__(self):

FILE: droid/data_loading/tf_data_loader.py
  function get_type_spec (line 7) | def get_type_spec(path: str) -> Dict[str, tf.TensorSpec]:
  function get_tf_dataloader (line 33) | def get_tf_dataloader(
  function _decode_example (line 80) | def _decode_example(example_proto: tf.Tensor, type_spec: Dict[str, tf.Te...
  function _process_transition (line 91) | def _process_transition(transition: Dict[str, tf.Tensor]) -> Dict[str, t...

FILE: droid/data_loading/trajectory_sampler.py
  function crawler (line 10) | def crawler(dirname, filter_func=None):
  function generate_train_test_split (line 34) | def generate_train_test_split(filter_func=None, remove_failures=True, tr...
  function collect_data_folderpaths (line 54) | def collect_data_folderpaths(filter_func=None, remove_failures=True):
  class TrajectorySampler (line 68) | class TrajectorySampler:
    method __init__ (line 69) | def __init__(
    method fetch_samples (line 86) | def fetch_samples(self, worker_info=None):

FILE: droid/data_processing/data_transforms.py
  class ImageTransformer (line 5) | class ImageTransformer:
    method __init__ (line 6) | def __init__(
    method forward (line 38) | def forward(self, timestep):

FILE: droid/data_processing/timestep_processing.py
  class TimestepProcesser (line 11) | class TimestepProcesser:
    method __init__ (line 12) | def __init__(
    method forward (line 37) | def forward(self, timestep):

FILE: droid/evaluation/eval_launcher.py
  function eval_launcher (line 14) | def eval_launcher(variant, run_id, exp_id):

FILE: droid/evaluation/eval_launcher_robomimic.py
  function eval_launcher (line 20) | def eval_launcher(variant, run_id, exp_id):
  function get_goal_im (line 156) | def get_goal_im(variant, run_id, exp_id):

FILE: droid/evaluation/policy_wrapper.py
  function converter_helper (line 10) | def converter_helper(data, batchify=True):
  function np_dict_to_torch_dict (line 23) | def np_dict_to_torch_dict(np_dict, batchify=True):
  class PolicyWrapper (line 40) | class PolicyWrapper:
    method __init__ (line 41) | def __init__(self, policy, timestep_filtering_kwargs, image_transform_...
    method forward (line 53) | def forward(self, observation):
  class PolicyWrapperRobomimic (line 69) | class PolicyWrapperRobomimic:
    method __init__ (line 70) | def __init__(self, policy, timestep_filtering_kwargs, image_transform_...
    method convert_raw_extrinsics_to_Twc (line 83) | def convert_raw_extrinsics_to_Twc(self, raw_data):
    method forward (line 98) | def forward(self, observation):
    method reset (line 141) | def reset(self):
  class FrameStackWrapper (line 146) | class FrameStackWrapper:
    method __init__ (line 152) | def __init__(self, num_frames):
    method _set_initial_obs_history (line 167) | def _set_initial_obs_history(self, init_obs):
    method reset (line 183) | def reset(self):
    method get_obs_history (line 186) | def get_obs_history(self):
    method add_obs (line 198) | def add_obs(self, obs):

FILE: droid/evaluation/rt1_wrapper.py
  function resize (line 13) | def resize(image):
  class RT1Policy (line 19) | class RT1Policy(GoalCondPolicy):
    method __init__ (line 20) | def __init__(self, checkpoint_path, goal_images=None, language_instruc...
    method _run_dummy_inference (line 34) | def _run_dummy_inference(self):
    method _normalize_task_name (line 41) | def _normalize_task_name(self, task_name):
    method compute_embedding (line 54) | def compute_embedding(self, task_name):
    method forward (line 61) | def forward(self, observation):
    method load_goal_imgs (line 94) | def load_goal_imgs(self, img_dict):
    method load_lang (line 100) | def load_lang(self, text):

FILE: droid/franka/robot.py
  class FrankaRobot (line 18) | class FrankaRobot:
    method launch_controller (line 19) | def launch_controller(self):
    method launch_robot (line 35) | def launch_robot(self):
    method kill_controller (line 42) | def kill_controller(self):
    method update_command (line 46) | def update_command(self, command, action_space="cartesian_velocity", g...
    method update_pose (line 54) | def update_pose(self, command, velocity=False, blocking=False):
    method update_joints (line 77) | def update_joints(self, command, velocity=False, blocking=False, carte...
    method update_gripper (line 117) | def update_gripper(self, command, velocity=True, blocking=False):
    method add_noise_to_joints (line 125) | def add_noise_to_joints(self, original_joints, cartesian_noise):
    method get_joint_positions (line 144) | def get_joint_positions(self):
    method get_joint_velocities (line 147) | def get_joint_velocities(self):
    method get_gripper_position (line 150) | def get_gripper_position(self):
    method get_ee_pose (line 153) | def get_ee_pose(self):
    method get_robot_state (line 158) | def get_robot_state(self):
    method adaptive_time_to_go (line 184) | def adaptive_time_to_go(self, desired_joint_position, t_min=0, t_max=4):
    method create_action_dict (line 191) | def create_action_dict(self, action, action_space, gripper_action_spac...

FILE: droid/misc/pointcloud_utils.py
  function numpy_to_o3d (line 12) | def numpy_to_o3d(numpy_pcd):
  function o3d_to_numpy (line 27) | def o3d_to_numpy(o3d_pcd):
  function rgbd_to_pcd (line 34) | def rgbd_to_pcd(color, depth, camera_matrix):
  function visualize_pointcloud (line 56) | def visualize_pointcloud(pcd):
  function transform_pointcloud (line 62) | def transform_pointcloud(pcd, cam2base):
  function pairwise_registration (line 70) | def pairwise_registration(source, target):
  function full_registration (line 93) | def full_registration(pcds):
  function combine_pointclouds (line 118) | def combine_pointclouds(o3d_pcd_dict, cam2base_dict=None, reference_key=...

FILE: droid/misc/server_interface.py
  function attempt_n_times (line 7) | def attempt_n_times(function_list, max_attempts, sleep_time=0.1):
  class ServerInterface (line 23) | class ServerInterface:
    method __init__ (line 24) | def __init__(self, ip_address="127.0.0.1", launch=True):
    method establish_connection (line 32) | def establish_connection(self):
    method launch_controller (line 36) | def launch_controller(self):
    method launch_robot (line 39) | def launch_robot(self):
    method kill_controller (line 42) | def kill_controller(self):
    method update_command (line 45) | def update_command(self, command, action_space="cartesian_velocity", g...
    method create_action_dict (line 49) | def create_action_dict(self, command, action_space="cartesian_velocity"):
    method update_pose (line 53) | def update_pose(self, command, velocity=True, blocking=False):
    method update_joints (line 56) | def update_joints(self, command, velocity=True, blocking=False, cartes...
    method update_gripper (line 61) | def update_gripper(self, command, velocity=True, blocking=False):
    method get_ee_pose (line 64) | def get_ee_pose(self):
    method get_joint_positions (line 67) | def get_joint_positions(self):
    method get_joint_velocities (line 70) | def get_joint_velocities(self):
    method get_gripper_state (line 73) | def get_gripper_state(self):
    method get_robot_state (line 76) | def get_robot_state(self):

FILE: droid/misc/subprocess_utils.py
  function run_terminal_command (line 6) | def run_terminal_command(command):
  function run_threaded_command (line 14) | def run_threaded_command(command, args=(), daemon=True):
  function run_multiprocessed_command (line 21) | def run_multiprocessed_command(command, args=()):

FILE: droid/misc/time.py
  function time_ms (line 4) | def time_ms():

FILE: droid/misc/transformations.py
  function quat_to_euler (line 6) | def quat_to_euler(quat, degrees=False):
  function euler_to_quat (line 11) | def euler_to_quat(euler, degrees=False):
  function rmat_to_euler (line 15) | def rmat_to_euler(rot_mat, degrees=False):
  function euler_to_rmat (line 20) | def euler_to_rmat(euler, degrees=False):
  function rmat_to_quat (line 24) | def rmat_to_quat(rot_mat, degrees=False):
  function quat_to_rmat (line 29) | def quat_to_rmat(quat, degrees=False):
  function quat_diff (line 34) | def quat_diff(target, source):
  function angle_diff (line 39) | def angle_diff(target, source, degrees=False):
  function pose_diff (line 46) | def pose_diff(target, source, degrees=False):
  function add_quats (line 54) | def add_quats(delta, source):
  function add_angles (line 59) | def add_angles(delta, source, degrees=False):
  function add_poses (line 66) | def add_poses(delta, source, degrees=False):
  function change_pose_frame (line 74) | def change_pose_frame(pose, frame, degrees=False):

FILE: droid/misc/version_control/loader.py
  function load_version_info (line 8) | def load_version_info(version_number):

FILE: droid/plotting/analysis_func.py
  function analysis_func (line 23) | def analysis_func(hdf5_filepath, hdf5_file=None):

FILE: droid/plotting/misc.py
  function data_crawler (line 17) | def data_crawler(dirname, func_list=None, ignore_failure=True):
  function task_mapper (line 40) | def task_mapper(task_description):
  function grab_3rd_person_extrinsics (line 47) | def grab_3rd_person_extrinsics(camera_extrinsics, camera_type_dict):
  function estimate_pos_angle_density (line 63) | def estimate_pos_angle_density(pose_list):
  function get_bucket_index (line 91) | def get_bucket_index(timestamp):

FILE: droid/postprocessing/parse.py
  function parse_datetime (line 19) | def parse_datetime(date_str: str, mode="day") -> datetime:
  function parse_user (line 26) | def parse_user(
  function parse_existing_metadata (line 47) | def parse_existing_metadata(trajectory_dir: str):
  function parse_data_directory (line 57) | def parse_data_directory(data_dir: str, lab_agnostic: bool = False, proc...
  function parse_timestamp (line 72) | def parse_timestamp(trajectory_dir: Path) -> str:
  function parse_trajectory (line 95) | def parse_trajectory(

FILE: droid/postprocessing/schema.py
  function get_uuid (line 12) | def get_uuid(*, uuid: str, **_) -> str:
  function get_lab (line 16) | def get_lab(*, lab: str, **_) -> str:
  function get_user (line 20) | def get_user(*, user: str, **_) -> str:
  function get_user_id (line 24) | def get_user_id(*, user_id: str, **_) -> str:
  function get_date (line 28) | def get_date(*, timestamp: str, **_) -> str:
  function get_timestamp (line 32) | def get_timestamp(*, timestamp: str, **_) -> str:
  function get_hdf5_path (line 36) | def get_hdf5_path(*, hdf5_path: str, **_) -> str:
  function get_building (line 40) | def get_building(*, attrs: Dict, **_) -> str:
  function get_scene_id (line 44) | def get_scene_id(*, attrs: Dict, **_) -> str:
  function get_success (line 48) | def get_success(*, attrs: Dict, **_) -> Optional[bool]:
  function get_robot_serial (line 52) | def get_robot_serial(*, attrs: Dict, **_) -> str:
  function get_droid_version (line 56) | def get_droid_version(*, attrs: Dict, **_) -> str:
  function get_current_task (line 60) | def get_current_task(*, attrs: Dict, **_) -> str:
  function get_trajectory_length (line 64) | def get_trajectory_length(*, trajectory_length: int, **_) -> int:
  function get_wrist_cam_serial (line 68) | def get_wrist_cam_serial(*, ctype2extrinsics: Dict, **_) -> str:
  function get_ext1_cam_serial (line 72) | def get_ext1_cam_serial(*, ctype2extrinsics: Dict, **_) -> str:
  function get_ext2_cam_serial (line 76) | def get_ext2_cam_serial(*, ctype2extrinsics: Dict, **_) -> str:
  function get_wrist_cam_extrinsics (line 80) | def get_wrist_cam_extrinsics(*, ctype2extrinsics: Dict, **_) -> List[flo...
  function get_ext1_cam_extrinsics (line 84) | def get_ext1_cam_extrinsics(*, ctype2extrinsics: Dict, **_) -> List[float]:
  function get_ext2_cam_extrinsics (line 88) | def get_ext2_cam_extrinsics(*, ctype2extrinsics: Dict, **_) -> List[float]:
  function get_path_placeholder (line 92) | def get_path_placeholder(**_) -> None:

FILE: droid/postprocessing/stages.py
  function run_indexing (line 36) | def run_indexing(
  function run_processing (line 119) | def run_processing(
  function run_upload (line 236) | def run_upload(

FILE: droid/postprocessing/util/svo2depth.py
  function export_depth (line 18) | def export_depth(
  function convert_depths (line 97) | def convert_depths(

FILE: droid/postprocessing/util/svo2mp4.py
  function export_mp4 (line 17) | def export_mp4(svo_file: Path, mp4_dir: Path, stereo_view: str = "left",...
  function convert_mp4s (line 101) | def convert_mp4s(

FILE: droid/postprocessing/util/validate.py
  function validate_user2id (line 19) | def validate_user2id(registered_lab_members: Dict[str, Dict[str, str]]) ...
  function validate_day_dir (line 33) | def validate_day_dir(day_dir: Path) -> bool:
  function validate_svo_existence (line 41) | def validate_svo_existence(trajectory_dir: Path) -> bool:
  function validate_metadata_record (line 59) | def validate_metadata_record(metadata_record: Dict) -> bool:

FILE: droid/robot_env.py
  class RobotEnv (line 15) | class RobotEnv(gym.Env):
    method __init__ (line 16) | def __init__(self, action_space="cartesian_velocity", gripper_action_s...
    method step (line 49) | def step(self, action):
    method reset (line 65) | def reset(self, randomize=False):
    method update_robot (line 75) | def update_robot(self, action, action_space="cartesian_velocity", grip...
    method create_action_dict (line 84) | def create_action_dict(self, action):
    method read_cameras (line 87) | def read_cameras(self):
    method get_state (line 90) | def get_state(self):
    method get_camera_extrinsics (line 97) | def get_camera_extrinsics(self, state_dict):
    method get_observation (line 108) | def get_observation(self):

FILE: droid/robot_ik/arm.py
  class RobotArm (line 11) | class RobotArm(robot_arm.RobotArm):
    method _build (line 12) | def _build(self, model_file):
    method _create_body (line 15) | def _create_body(self):
    method name (line 23) | def name(self) -> str:
    method joints (line 27) | def joints(self):
    method actuators (line 32) | def actuators(self):
    method mjcf_model (line 37) | def mjcf_model(self):
    method update_state (line 41) | def update_state(self, physics: mjcf.Physics, qpos: np.ndarray, qvel: ...
    method set_joint_angles (line 45) | def set_joint_angles(self, physics: mjcf.Physics, qpos: np.ndarray) ->...
    method base_site (line 49) | def base_site(self) -> types.MjcfElement:
    method wrist_site (line 53) | def wrist_site(self) -> types.MjcfElement:
    method initialize_episode (line 56) | def initialize_episode(self, physics: mjcf.Physics, random_state: np.r...
  class FrankaArm (line 62) | class FrankaArm(RobotArm):
    method _build (line 63) | def _build(self):

FILE: droid/robot_ik/robot_ik_solver.py
  class RobotIKSolver (line 8) | class RobotIKSolver:
    method __init__ (line 9) | def __init__(self):
    method cartesian_velocity_to_joint_velocity (line 44) | def cartesian_velocity_to_joint_velocity(self, cartesian_velocity, rob...
    method gripper_velocity_to_delta (line 59) | def gripper_velocity_to_delta(self, gripper_velocity):
    method cartesian_velocity_to_delta (line 69) | def cartesian_velocity_to_delta(self, cartesian_velocity):
    method joint_velocity_to_delta (line 88) | def joint_velocity_to_delta(self, joint_velocity):
    method gripper_delta_to_velocity (line 103) | def gripper_delta_to_velocity(self, gripper_delta):
    method cartesian_delta_to_velocity (line 106) | def cartesian_delta_to_velocity(self, cartesian_delta):
    method joint_delta_to_velocity (line 116) | def joint_delta_to_velocity(self, joint_delta):

FILE: droid/training/model_trainer.py
  function exp_launcher (line 18) | def exp_launcher(variant, run_id, exp_id):
  class ModelTrainer (line 56) | class ModelTrainer:
    method __init__ (line 57) | def __init__(
    method compute_loss (line 85) | def compute_loss(self, batch, test=False):
    method save_policy (line 91) | def save_policy(self, epoch):
    method train_batch (line 95) | def train_batch(self, batch):
    method test_batch (line 107) | def test_batch(self, batch):
    method train_epoch (line 110) | def train_epoch(self, epoch):
    method test_epoch (line 124) | def test_epoch(self, epoch, test_batches=100):
    method prepare_logdir (line 138) | def prepare_logdir(self):
    method output_diagnostics (line 153) | def output_diagnostics(self, epoch):
    method update_plots (line 179) | def update_plots(self, epoch):
    method train (line 190) | def train(self):

FILE: droid/training/models/policy_network.py
  class Residual (line 7) | class Residual(nn.Module):
    method __init__ (line 8) | def __init__(self, in_channels, num_hiddens, num_residual_hiddens):
    method forward (line 24) | def forward(self, x):
  class ResidualStack (line 28) | class ResidualStack(nn.Module):
    method __init__ (line 29) | def __init__(self, in_channels, num_hiddens, num_residual_layers, num_...
    method forward (line 36) | def forward(self, x):
  class Encoder (line 42) | class Encoder(nn.Module):
    method __init__ (line 43) | def __init__(self, in_channels, num_hiddens, num_residual_layers, num_...
    method forward (line 61) | def forward(self, inputs):
  class ImagePolicy (line 79) | class ImagePolicy(nn.Module):
    method __init__ (line 80) | def __init__(
    method create_camera_encoder (line 115) | def create_camera_encoder(self, input_dim):
    method create_fully_connected (line 141) | def create_fully_connected(self, input_dim, output_dim, num_layers, nu...
    method initialize_networks (line 162) | def initialize_networks(self, timestep):
    method compute_loss (line 197) | def compute_loss(self, timestep):
    method encode_timestep (line 205) | def encode_timestep(self, timestep):
    method forward (line 252) | def forward(self, timestep):

FILE: droid/trajectory_utils/misc.py
  function collect_trajectory (line 19) | def collect_trajectory(
  function calibrate_camera (line 133) | def calibrate_camera(
  function replay_trajectory (line 275) | def replay_trajectory(
  function load_trajectory (line 318) | def load_trajectory(
  function visualize_timestep (line 394) | def visualize_timestep(timestep, max_width=1000, max_height=500, aspect_...
  function visualize_trajectory (line 446) | def visualize_trajectory(

FILE: droid/trajectory_utils/trajectory_reader.py
  function create_video_file (line 7) | def create_video_file(suffix=".mp4", byte_contents=None):
  function get_hdf5_length (line 20) | def get_hdf5_length(hdf5_file, keys_to_ignore=[]):
  function load_hdf5_to_dict (line 42) | def load_hdf5_to_dict(hdf5_file, index, keys_to_ignore=[]):
  class TrajectoryReader (line 60) | class TrajectoryReader:
    method __init__ (line 61) | def __init__(self, filepath, read_images=True):
    method length (line 69) | def length(self):
    method read_timestep (line 72) | def read_timestep(self, index=None, keys_to_ignore=[]):
    method _uncompress_images (line 96) | def _uncompress_images(self):
    method close (line 115) | def close(self):

FILE: droid/trajectory_utils/trajectory_writer.py
  function write_dict_to_hdf5 (line 14) | def write_dict_to_hdf5(hdf5_file, data_dict, keys_to_ignore=["image", "d...
  class TrajectoryWriter (line 47) | class TrajectoryWriter:
    method __init__ (line 48) | def __init__(self, filepath, metadata=None, exists_ok=False, save_imag...
    method write_timestep (line 68) | def write_timestep(self, timestep):
    method _update_metadata (line 73) | def _update_metadata(self, metadata):
    method _write_from_queue (line 77) | def _write_from_queue(self, writer, queue):
    method _update_video_files (line 86) | def _update_video_files(self, timestep):
    method create_video_file (line 107) | def create_video_file(self, video_id, suffix):
    method close (line 112) | def close(self, metadata=None):

FILE: droid/user_interface/data_collector.py
  class DataCollecter (line 18) | class DataCollecter:
    method __init__ (line 19) | def __init__(self, env, controller, policy=None, save_data=True, save_...
    method reset_robot (line 49) | def reset_robot(self, randomize=False):
    method get_user_feedback (line 54) | def get_user_feedback(self):
    method enable_advanced_calibration (line 58) | def enable_advanced_calibration(self):
    method disable_advanced_calibration (line 62) | def disable_advanced_calibration(self):
    method set_calibration_mode (line 66) | def set_calibration_mode(self, cam_id):
    method set_trajectory_mode (line 69) | def set_trajectory_mode(self):
    method collect_trajectory (line 72) | def collect_trajectory(self, info=None, practice=False, reset_robot=Tr...
    method calibrate_camera (line 116) | def calibrate_camera(self, cam_id, reset_robot=True):
    method check_calibration_info (line 131) | def check_calibration_info(self, remove_hand_camera=False):
    method get_gui_imgs (line 137) | def get_gui_imgs(self, obs):
    method get_camera_feed (line 148) | def get_camera_feed(self):
    method change_trajectory_status (line 158) | def change_trajectory_status(self, success=False):

FILE: droid/user_interface/eval_gui.py
  class Condition (line 33) | class Condition:
  class GoalCondPolicy (line 38) | class GoalCondPolicy(ABC):
    method __init__ (line 39) | def __init__(self):
    method load_goal_imgs (line 43) | def load_goal_imgs(self, img_dict):
    method load_lang (line 51) | def load_lang(self, text):
  class EvalGUI (line 58) | class EvalGUI(ctk.CTk):
    method __init__ (line 60) | def __init__(self, policy, env=None, eval_dir=None, fullscreen=False):
    method show_frame (line 150) | def show_frame(self, frame_id, refresh_page=True, wait=False):
    method swap_img_order (line 171) | def swap_img_order(self, i, j):
    method set_img (line 174) | def set_img(self, i, widget=None, width=None, height=None, use_camera_...
    method get_goal_img_snapshots (line 187) | def get_goal_img_snapshots(self, idxs=[]):
    method fetch_goal_directories (line 206) | def fetch_goal_directories(self):
    method update_time_index (line 217) | def update_time_index(self):
    method robot_reset (line 222) | def robot_reset(self, event):
    method refresh_enter_variable (line 229) | def refresh_enter_variable(self):
    method listen_for_robot_info (line 233) | def listen_for_robot_info(self):
    method update_camera_feed (line 253) | def update_camera_feed(self, sleep=0.05):
  class EvalConfigurationPage (line 262) | class EvalConfigurationPage(ctk.CTkFrame):
    method __init__ (line 263) | def __init__(self, parent, controller):
    method toggle_randomize_btn (line 336) | def toggle_randomize_btn(self):
    method toggle_save_btn (line 339) | def toggle_save_btn(self):
    method update_goal_radio_btns (line 342) | def update_goal_radio_btns(self):
    method goal_img_changed (line 357) | def goal_img_changed(self):
    method load_goal_imgs_from_dir (line 361) | def load_goal_imgs_from_dir(self):
    method place_image_gc_elements (line 376) | def place_image_gc_elements(self):
    method forget_image_gc_elements (line 382) | def forget_image_gc_elements(self):
    method toggle_text_box (line 388) | def toggle_text_box(self):
    method toggle_capture_goal (line 394) | def toggle_capture_goal(self):
    method moniter_keys (line 400) | def moniter_keys(self, event):
    method practice_robot (line 409) | def practice_robot(self):
    method eval_robot (line 413) | def eval_robot(self):
  class CaptureGoal (line 425) | class CaptureGoal(ctk.CTkFrame):
    method __init__ (line 426) | def __init__(self, parent, controller):
    method is_page_inactive (line 506) | def is_page_inactive(self):
    method press_A (line 511) | def press_A(self, event):
    method press_B (line 516) | def press_B(self, event):
    method update_image_grid (line 521) | def update_image_grid(self, i):
    method update_camera_feed (line 527) | def update_camera_feed(self, i, w_coeff=1.0, h_coeff=1.0):
    method moniter_keys (line 541) | def moniter_keys(self, event):
    method initialize_page (line 552) | def initialize_page(self):
    method collect_trajectory (line 578) | def collect_trajectory(self):
    method update_timer (line 589) | def update_timer(self, start_time):
    method end_trajectory (line 611) | def end_trajectory(self):
    method set_home_frame (line 626) | def set_home_frame(self, frame):
    method set_mode (line 629) | def set_mode(self, mode):
    method edit_trajectory (line 636) | def edit_trajectory(self, save):

FILE: droid/user_interface/gui.py
  class RobotGUI (line 26) | class RobotGUI(tk.Tk):
    method __init__ (line 27) | def __init__(self, robot=None, fullscreen=False, right_controller=True):
    method show_frame (line 106) | def show_frame(self, frame_id, refresh_page=True, wait=False):
    method swap_img_order (line 127) | def swap_img_order(self, i, j):
    method set_img (line 130) | def set_img(self, i, widget=None, width=None, height=None, use_camera_...
    method update_time_index (line 143) | def update_time_index(self):
    method robot_reset (line 148) | def robot_reset(self, event):
    method refresh_enter_variable (line 155) | def refresh_enter_variable(self):
    method listen_for_robot_info (line 159) | def listen_for_robot_info(self):
    method update_camera_feed (line 179) | def update_camera_feed(self, sleep=0.05):
  class LoginPage (line 189) | class LoginPage(tk.Frame):
    method __init__ (line 190) | def __init__(self, parent, controller):
    method click_yes (line 267) | def click_yes(self):
    method click_no (line 270) | def click_no(self):
    method check_completeness (line 273) | def check_completeness(self):
  class RobotResetPage (line 293) | class RobotResetPage(tk.Frame):
    method __init__ (line 294) | def __init__(self, parent, controller):
    method launch_page (line 304) | def launch_page(self):
    method set_home_frame (line 308) | def set_home_frame(self, frame):
  class CanRobotResetPage (line 312) | class CanRobotResetPage(tk.Frame):
    method __init__ (line 313) | def __init__(self, parent, controller):
    method set_next_page (line 327) | def set_next_page(self, page):
    method moniter_keys (line 330) | def moniter_keys(self, event):
  class ControllerOffPage (line 337) | class ControllerOffPage(tk.Frame):
    method __init__ (line 338) | def __init__(self, parent, controller):
    method moniter_keys (line 349) | def moniter_keys(self, event):
  class CalibrationPage (line 355) | class CalibrationPage(tk.Frame):
    method __init__ (line 356) | def __init__(self, parent, controller):
    method change_calibration_mode (line 428) | def change_calibration_mode(self, advanced_on):
    method calibrate_camera (line 438) | def calibrate_camera(self, cam_id):
    method initialize_page (line 446) | def initialize_page(self):
    method exit_page (line 460) | def exit_page(self):
  class IncompleteCalibration (line 465) | class IncompleteCalibration(tk.Frame):
    method __init__ (line 466) | def __init__(self, parent, controller):
  class OldCalibration (line 492) | class OldCalibration(tk.Frame):
    method __init__ (line 493) | def __init__(self, parent, controller):
  class OldScene (line 532) | class OldScene(tk.Frame):
    method __init__ (line 533) | def __init__(self, parent, controller):
  class PreferredTasksPage (line 572) | class PreferredTasksPage(tk.Frame):
    method __init__ (line 573) | def __init__(self, parent, controller):
    method moniter_keys (line 622) | def moniter_keys(self, event):
    method initialize_page (line 631) | def initialize_page(self):
  class SceneConfigurationPage (line 635) | class SceneConfigurationPage(tk.Frame):
    method __init__ (line 636) | def __init__(self, parent, controller):
    method moniter_keys (line 756) | def moniter_keys(self, event):
    method finish_setup (line 774) | def finish_setup(self):
    method mark_new_scene (line 802) | def mark_new_scene(self):
    method get_new_tasks (line 807) | def get_new_tasks(self):
    method practice_robot (line 813) | def practice_robot(self):
    method initialize_page (line 817) | def initialize_page(self):
  class RequestedBehaviorPage (line 822) | class RequestedBehaviorPage(tk.Frame):
    method __init__ (line 823) | def __init__(self, parent, controller):
    method change_trajectory_status (line 899) | def change_trajectory_status(self, success):
    method resample (line 905) | def resample(self, e):
    method initialize_page (line 910) | def initialize_page(self):
    method sample_new_task (line 917) | def sample_new_task(self):
    method sample_compositional_task (line 927) | def sample_compositional_task(self):
    method sample_single_task (line 932) | def sample_single_task(self):
    method get_task_weight (line 945) | def get_task_weight(self, task):
    method start_trajectory (line 950) | def start_trajectory(self, event):
    method keep_last_task (line 955) | def keep_last_task(self):
  class SceneChangesPage (line 959) | class SceneChangesPage(tk.Frame):
    method __init__ (line 960) | def __init__(self, parent, controller):
    method show_camera_feed (line 1004) | def show_camera_feed(self, event):
    method sample_change (line 1011) | def sample_change(self):
    method initialize_page (line 1022) | def initialize_page(self):
  class CameraPage (line 1027) | class CameraPage(tk.Frame):
    method __init__ (line 1028) | def __init__(self, parent, controller):
    method update_image_grid (line 1111) | def update_image_grid(self, i):
    method update_camera_feed (line 1125) | def update_camera_feed(self, i, w_coeff=1.0, h_coeff=1.0):
    method moniter_keys (line 1139) | def moniter_keys(self, event):
    method initialize_page (line 1150) | def initialize_page(self):
    method collect_trajectory (line 1179) | def collect_trajectory(self):
    method update_timer (line 1185) | def update_timer(self, start_time):
    method end_trajectory (line 1207) | def end_trajectory(self):
    method set_home_frame (line 1235) | def set_home_frame(self, frame):
    method set_mode (line 1238) | def set_mode(self, mode):
    method edit_trajectory (line 1241) | def edit_trajectory(self, save):
  class EnlargedImagePage (line 1249) | class EnlargedImagePage(tk.Frame):
    method __init__ (line 1250) | def __init__(self, parent, controller):
    method set_image_index (line 1267) | def set_image_index(self, img_index):
    method return_to_camera_grid (line 1270) | def return_to_camera_grid(self, e):
    method update_camera_feed (line 1275) | def update_camera_feed(self):
  class CalibrateCamera (line 1286) | class CalibrateCamera(tk.Frame):
    method __init__ (line 1287) | def __init__(self, parent, controller, num_views=2):
    method press_A (line 1337) | def press_A(self, event):
    method press_B (line 1348) | def press_B(self, event):
    method collect_trajectory (line 1356) | def collect_trajectory(self):
    method end_trajectory (line 1368) | def end_trajectory(self, success):
    method set_camera_id (line 1384) | def set_camera_id(self, cam_id):
    method update_camera_feed (line 1399) | def update_camera_feed(self, i, w_coeff=1.0, h_coeff=1.0):

FILE: droid/user_interface/misc.py
  function load_gui_info (line 11) | def load_gui_info():
  function update_gui_info (line 19) | def update_gui_info(user=None, building=None, scene_id=None):
  function generate_scene_id (line 35) | def generate_scene_id():

FILE: scripts/convert/svo_to_depth.py
  class DROIDConversionConfig (line 60) | class DROIDConversionConfig:
  function postprocess (line 87) | def postprocess(cfg: DROIDConversionConfig) -> None:

FILE: scripts/convert/svo_to_mp4.py
  class DROIDConversionConfig (line 53) | class DROIDConversionConfig:
  function postprocess (line 78) | def postprocess(cfg: DROIDConversionConfig) -> None:

FILE: scripts/convert/to_tfrecord.py
  function flatten (line 97) | def flatten(x):
  function tensor_feature (line 108) | def tensor_feature(value):
  function resize_and_encode (line 112) | def resize_and_encode(image, size):
  function create_tfrecord (line 144) | def create_tfrecord(paths, output_path, tqdm_func, global_tqdm):
  function main (line 178) | def main(_):

FILE: scripts/evaluation/evaluate_rt1.py
  function main (line 6) | def main():

FILE: scripts/labeling/label_data.py
  function load_task_info (line 15) | def load_task_info():
  function update_task_label (line 23) | def update_task_label(folderpath, traj_id):
  function label_trajectory (line 32) | def label_trajectory(
  function check_trajectory (line 103) | def check_trajectory(
  function filter_func (line 175) | def filter_func(h5_metadata):

FILE: scripts/postprocess.py
  class DROIDUploadConfig (line 55) | class DROIDUploadConfig:
  function postprocess (line 80) | def postprocess(cfg: DROIDUploadConfig) -> None:

FILE: scripts/tests/memory_leak.py
  function example_script (line 13) | def example_script():
  function traj_sampling_script (line 80) | def traj_sampling_script():
  function load_random_traj_script (line 84) | def load_random_traj_script():
  function camera_wrapper_script (line 98) | def camera_wrapper_script():
  function single_reader_script (line 113) | def single_reader_script():

FILE: scripts/training/train_policy.py
  function filter_func (line 10) | def filter_func(h5_metadata, put_in_only=False):