Extensions¶
Extensions are optional subsystems built on top of the core environment: real-robot deployment, the policy zoo and
remote-policy clients, motion retargeting, system identification, motion planning and optimization, grasp sampling,
pose estimation, scripted demonstrations, teleoperation and visualization. Each lives in a package under
eden.extensions, keeps its options class in eden.options.extensions.<name>, and imports its heavy backend
lazily, so an extension's optional extra is needed only when you use it.
from eden.extensions.deployment.base import DEPLOYMENT_REGISTRY
from eden.options.extensions.deployment import DeploymentOptions
| Extension | Page | CLI | Guide |
|---|---|---|---|
| Deployment | Deployment | eden deploy |
Deployment |
| Policies | Policies | eden inference --policy |
Policy zoo, remote policies |
| Retargeting | Retargeting | eden retarget |
Retargeting, dex retargeting |
| System identification | System identification | — | Planning and sysid |
| Motion planning | Motion planning | — | Planning and sysid |
| Motion optimization | Motion optimization | — | TCRS terrain adaptation |
| Grasp sampling | Grasp sampling | — | Grasp sampling |
| Pose estimation | Pose estimation | eden pose |
Pose estimation |
| Scripted demonstrations | Scripted demonstrations | eden datagen |
Scripted demos |
| Teleoperation | Teleoperation | eden teleop |
Teleoperation |
| Visualization | Visualization | — | Sensors and rendering |