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github.com/BoosterRobotics/booster_train
/ functions
Functions
104 in github.com/BoosterRobotics/booster_train
⨍
Functions
104
◇
Types & classes
77
↓ 6 callers
Function
_get_adaptive_sigma
(env, key: str | float, error: Union[float, torch.Tensor])
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:20
↓ 6 callers
Function
_get_body_indexes
(command: MotionCommand, body_names: list[str] | None)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:16
↓ 3 callers
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/env_cfg.py:12
↓ 3 callers
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/env_cfg.py:12
↓ 3 callers
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/env_cfg.py:12
↓ 2 callers
Method
_lerp
Linear interpolation between two tensors.
scripts/csv_to_npz.py:153
↓ 2 callers
Method
reset
(self, env_ids: Sequence[int])
source/booster_train/booster_train/assets/robots/actuator.py:37
↓ 1 callers
Method
__init__
(self, cfg: DelayedImplicitActuatorCfg, *args, **kwargs)
source/booster_train/booster_train/assets/robots/actuator.py:28
↓ 1 callers
Method
__init__
(self, motion_file: str, track_body_names: Sequence[str], track_joint_names:
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:31
↓ 1 callers
Method
__post_init__
(self)
source/booster_train/booster_train/assets/robots/actuator.py:159
↓ 1 callers
Method
_adaptive_sampling
(self, env_ids: Sequence[int])
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:244
↓ 1 callers
Method
_compute_frame_blend
Computes the frame blend for the motion.
scripts/csv_to_npz.py:164
↓ 1 callers
Method
_compute_velocities
Computes the velocities of the motion.
scripts/csv_to_npz.py:172
↓ 1 callers
Method
_interpolate_motion
Interpolates the motion to the output fps.
scripts/csv_to_npz.py:128
↓ 1 callers
Method
_load_motion
Loads the motion from the csv file.
scripts/csv_to_npz.py:105
↓ 1 callers
Method
_resample_command
(self, env_ids: Sequence[int])
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:286
↓ 1 callers
Method
_slerp
Spherical linear interpolation between two quaternions.
scripts/csv_to_npz.py:157
↓ 1 callers
Method
_so3_derivative
Computes the derivative of a sequence of SO3 rotations. Args: rotations: shape (B, 4). dt: time step. Returns
scripts/csv_to_npz.py:178
↓ 1 callers
Method
compute
( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor )
source/booster_train/booster_train/assets/robots/actuator.py:61
↓ 1 callers
Method
get_next_state
Gets the next state of the motion.
scripts/csv_to_npz.py:194
↓ 1 callers
Function
main
Print all environments registered in `booster_train` extension.
scripts/list_envs.py:33
↓ 1 callers
Function
main
()
scripts/replay_npz.py:134
↓ 1 callers
Function
main
Main function.
scripts/csv_to_npz.py:311
↓ 1 callers
Function
main
Play with RSL-RL agent.
scripts/rsl_rl/play.py:85
↓ 1 callers
Function
main
Train with RSL-RL agent.
scripts/rsl_rl/train.py:109
↓ 1 callers
Function
run_simulator
(sim: sim_utils.SimulationContext, scene: InteractiveScene)
scripts/replay_npz.py:70
↓ 1 callers
Function
run_simulator
Runs the simulation loop.
scripts/csv_to_npz.py:221
↓ 1 callers
Function
update_rsl_rl_cfg
Update configuration for RSL-RL agent based on inputs. Args: agent_cfg: The configuration for RSL-RL agent. args_cli: The command
scripts/rsl_rl/cli_args.py:60
Method
__init__
(self, cfg: "BoosterDelayedPDActuatorCfg", *args, **kwargs)
source/booster_train/booster_train/assets/robots/actuator.py:94
Method
__init__
(self, cfg: MotionCommandCfg, env: ManagerBasedRLEnv)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:92
Method
__init__
( self, motion_file: str, input_fps: int, output_fps: int, device: tor
scripts/csv_to_npz.py:85
Method
__post_init__
(self)
source/booster_train/booster_train/assets/robots/actuator.py:183
Method
__post_init__
(self)
source/booster_train/booster_train/assets/robots/actuator.py:248
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/tracking_env_cfg.py:131
Method
__post_init__
Post initialization.
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/tracking_env_cfg.py:352
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/env_cfg.py:40
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/env_cfg.py:47
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/env_cfg.py:83
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/tracking_env_cfg.py:131
Method
__post_init__
Post initialization.
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/tracking_env_cfg.py:310
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/env_cfg.py:39
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/env_cfg.py:47
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_002/env_cfg.py:83
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/tracking_env_cfg.py:131
Method
__post_init__
Post initialization.
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/tracking_env_cfg.py:351
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/env_cfg.py:39
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/env_cfg.py:47
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/fight_001/env_cfg.py:83
Method
__post_init__
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/agents/rsl_rl_ppo_cfg.py:39
Method
_clip_effort
(self, effort: torch.Tensor)
source/booster_train/booster_train/assets/robots/actuator.py:114
Method
_debug_vis_callback
(self, event)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:385
Method
_set_debug_vis_impl
(self, debug_vis: bool)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:347
Method
_update_command
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:325
Method
_update_metrics
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:221
Function
add_rsl_rl_args
Add RSL-RL arguments to the parser. Args: parser: The parser to add the arguments to.
scripts/rsl_rl/cli_args.py:16
Method
anchor_ang_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:178
Method
anchor_lin_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:174
Method
anchor_pos_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:166
Method
anchor_quat_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:170
Function
bad_anchor_ori
( env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg, command_name: str, threshold: float )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/terminations.py:28
Function
bad_anchor_pos
(env: ManagerBasedRLEnv, command_name: str, threshold: float)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/terminations.py:18
Function
bad_anchor_pos_z_only
(env: ManagerBasedRLEnv, command_name: str, threshold: float)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/terminations.py:23
Function
bad_motion_body_pos
( env: ManagerBasedRLEnv, command_name: str, threshold: float, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/terminations.py:41
Function
bad_motion_body_pos_z_only
( env: ManagerBasedRLEnv, command_name: str, threshold: float, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/terminations.py:51
Method
body_ang_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:81
Method
body_ang_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:162
Method
body_lin_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:77
Method
body_lin_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:158
Method
body_pos_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:69
Method
body_pos_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:150
Method
body_quat_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:73
Method
body_quat_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:154
Method
command
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:138
Method
compute
( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor )
source/booster_train/booster_train/assets/robots/actuator.py:106
Function
feet_stance_time
( env: ManagerBasedRLEnv, asset_name: str, feet_names: list[str], vel_threshold: float, desired_time:
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:99
Method
joint_pos
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:142
Method
joint_vel
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:146
Method
max_reset_frame
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:85
Function
motion_anchor_ori_b
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:73
Function
motion_anchor_pos_b
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:60
Function
motion_global_anchor_orientation_error_exp
( env: ManagerBasedRLEnv, command_name: str, std: float | str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:42
Function
motion_global_anchor_position_error_exp
(env: ManagerBasedRLEnv, command_name: str, std: float | str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:35
Function
motion_global_body_angular_velocity_error_exp
( env: ManagerBasedRLEnv, command_name: str, std: float | str, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:87
Function
motion_global_body_linear_velocity_error_exp
( env: ManagerBasedRLEnv, command_name: str, std: float | str, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:75
Function
motion_relative_body_orientation_error_exp
( env: ManagerBasedRLEnv, command_name: str, std: float | str, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:62
Function
motion_relative_body_position_error_exp
( env: ManagerBasedRLEnv, command_name: str, std: float | str, body_names: list[str] | None = None )
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/rewards.py:50
Function
parse_rsl_rl_cfg
Parse configuration for RSL-RL agent based on inputs. Args: task_name: The name of the environment. args_cli: The command line ar
scripts/rsl_rl/cli_args.py:42
Function
randomize_joint_default_pos
Randomize the joint default positions which may be different from URDF due to calibration errors.
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/events.py:15
Function
randomize_rigid_body_com
Randomize the center of mass (CoM) of rigid bodies by adding a random value sampled from the given ranges. .. note:: This function uses C
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/events.py:55
Function
robot_anchor_ang_vel_w
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:26
Method
robot_anchor_ang_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:218
Function
robot_anchor_lin_vel_w
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:20
Method
robot_anchor_lin_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:214
Function
robot_anchor_ori_w
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:14
Method
robot_anchor_pos_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:206
Method
robot_anchor_quat_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:210
Method
robot_body_ang_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:202
Method
robot_body_lin_vel_w
(self)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/commands.py:198
Function
robot_body_ori_b
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:46
Function
robot_body_pos_b
(env: ManagerBasedEnv, command_name: str)
source/booster_train/booster_train/tasks/manager_based/beyond_mimic/mdp/observations.py:32
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