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Functions383 in github.com/BrainCoTech/RevoLab

⨍ Functions 383◇ Types & classes 81
↓ 23 callersMethodupdate
(self, current_lr, kl_dist)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:497
↓ 15 callersMethodload
(cls, path: str | Path, policy_joint_order: list[str] | tuple[str, ...] | None = None)
deploy/revo3/revo3_deploy/robot_profile.py:30
↓ 10 callersFunction_first_matching_body_pos_w
( robot: Articulation, body_names: tuple[str, ...], )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:14
↓ 9 callersFunction_handover_command
(env: ManagerBasedRLEnv, command_name: str)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:42
↓ 9 callersMethodclose
(self)
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:159
↓ 8 callersFunction_source_receiver_palm_state
( env: ManagerBasedRLEnv, command_name: str = "handover", robot_cfg: SceneEntityCfg = SceneEntityC
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:59
↓ 8 callersMethodreset
(self, env_ids: Sequence[int] | None = None)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:108
↓ 8 callersMethodstep
Step env and return old-style (obs_dict, rewards, dones, infos).
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/hora_compat_wrapper.py:52
↓ 7 callersMethodget_mean
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/utils/misc.py:82
↓ 6 callersMethod_as_vector
(value, name: str)
deploy/revo3/revo3_deploy/input_builder.py:85
↓ 6 callersFunction_get_body_pose
( robot: Articulation, env_ids: torch.Tensor, body_names: list[str] | tuple[str, ...], )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:31
↓ 5 callersFunction_get_cfg_value
(cfg: Any | None, key_path: str, default: Any)
scripts/hora/export_onnx.py:92
↓ 5 callersMethodopen
(self)
deploy/revo3/revo3_deploy/sdk_hand_io.py:49
↓ 5 callersMethodtrain
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:182
↓ 5 callersMethodupdate_data
(self, name, index, val)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/experience.py:65
↓ 4 callersMethod_actor_critic
(self, obs_dict)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/models.py:105
↓ 4 callersFunction_handover_frame_components
(vector_w: torch.Tensor, source_palm: torch.Tensor, receiver_palm: torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:49
↓ 4 callersFunction_handover_throw_metrics
( env: ManagerBasedRLEnv, object_cfg: SceneEntityCfg = SceneEntityCfg("object"), goal_cfg: SceneEn
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:108
↓ 4 callersMethod_refresh_lab
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:389
↓ 4 callersFunction_source_receiver_palm_pos_w
( env: ManagerBasedRLEnv, command_name: str, robot_cfg: SceneEntityCfg, )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:29
↓ 4 callersMethodact_inference
(self, obs_dict)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/models.py:100
↓ 4 callersMethodforward
(self, x)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/models.py:16
↓ 3 callersMethod_command_values
(value, name: str)
deploy/revo3/revo3_deploy/sdk_hand_io.py:128
↓ 3 callersFunction_get_handover_term
(env: ManagerBasedEnv, command_name: str)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:42
↓ 3 callersMethod_resolve_env_ids
(self, env_ids: Sequence[int] | torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/commands.py:113
↓ 3 callersFunctionapply_random_rotation_with_center
( qs_init: torch.Tensor, pos_init: torch.Tensor, center: torch.Tensor, q_rand: torch.Tensor, )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:562
↓ 3 callersMethodclear
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/utils/misc.py:75
↓ 3 callersMethodclose
(self)
deploy/revo3/revo3_deploy/sdk_hand_io.py:61
↓ 3 callersMethodcreate
Create a new `.zarr` dataset on disk.
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:40
↓ 3 callersMethodsave
(self, name)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/padapt/padapt.py:237
↓ 3 callersMethodsave
(self, name)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:233
↓ 2 callersMethod__init__
(self, cfg: EventTermCfg, env: ManagerBasedEnv)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:99
↓ 2 callersMethod__init__
(self, units, input_size)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/models.py:7
↓ 2 callersMethod__post_init__
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env_cfg.py:179
↓ 2 callersMethod__post_init__
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/dexsuite_env_cfg_grasp_tianji.py:541
↓ 2 callersMethod__post_init__
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/dynamic_handover_env_cfg.py:376
↓ 2 callersMethod_build_frame
(self, joint_pos: np.ndarray, target: np.ndarray)
deploy/revo3/revo3_deploy/input_builder.py:75
↓ 2 callersMethod_clip_target
(self, target: np.ndarray)
deploy/revo3/revo3_deploy/input_builder.py:81
↓ 2 callersFunction_collect_collision_prims
Collect all collision prims under a link. Falls back to link prim if none found.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:40
↓ 2 callersFunction_collect_collision_prims
Collect all collision prims under a link. Falls back to link prim if none found.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:48
↓ 2 callersFunction_collect_collision_prims
Collect collision prims under a link, falling back to the link prim.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/config/Revo3/dexsuite_revo3_env_cfg_grasp.py:52
↓ 2 callersMethod_compute_intermediate_values
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:408
↓ 2 callersMethod_compute_intermediate_values
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:425
↓ 2 callersMethod_extend_or_create_array
(self, group, key: str, data: np.ndarray, episode_length: int)
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:136
↓ 2 callersFunction_first_matching_body_pos_w
(robot: Articulation, body_names: tuple[str, ...])
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:18
↓ 2 callersFunction_first_matching_body_vel_w
( robot: Articulation, body_names: tuple[str, ...], )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:28
↓ 2 callersFunction_get_filtered_pairs_rel
Return a relationship to author filteredPairs (compatible across USD variants).
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:52
↓ 2 callersFunction_get_filtered_pairs_rel
Return a relationship to author filteredPairs (compatible across USD variants).
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:60
↓ 2 callersFunction_get_filtered_pairs_rel
Return a relationship that authors filtered collision pairs.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/config/Revo3/dexsuite_revo3_env_cfg_grasp.py:64
↓ 2 callersMethod_get_policy_inputs
(self)
deploy/revo3/revo3_deploy/input_builder.py:66
↓ 2 callersFunction_initial_palm_state
( env: ManagerBasedRLEnv, robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"), )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:85
↓ 2 callersFunction_is_stage2_checkpoint
(path: str)
scripts/hora/train.py:51
↓ 2 callersFunction_joint_subset_ids
(robot: Articulation, joint_names: tuple[str, ...] | list[str])
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:44
↓ 2 callersFunction_palm_pos_in_robot_root
( env: ManagerBasedRLEnv, source_cfg: SceneEntityCfg, target_cfg: SceneEntityCfg, body_names:
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:151
↓ 2 callersFunction_parse_handover_command
(command_text: str)
scripts/rl_games/play.py:100
↓ 2 callersMethod_policy_input_to_builder_key
(name: str)
deploy/revo3/revo3_deploy/policy_runner.py:120
↓ 2 callersMethod_rand_pd_scales
(self, lower, upper, num_envs, n_dofs)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:307
↓ 2 callersMethod_reset_target_pose
(self, env_ids)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:383
↓ 2 callersMethod_reset_target_pose
(self, env_ids, advance_from_current: bool = False)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:386
↓ 2 callersFunction_robot_relative_pos
(offset: tuple[float, float, float])
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/dynamic_handover_env_cfg.py:36
↓ 2 callersMethod_sample_command
(self, env_ids: torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/commands.py:97
↓ 2 callersFunction_shape_list_from_state
(state: dict[str, Any], key: str)
scripts/hora/export_onnx.py:225
↓ 2 callersFunction_source_goal_progress_metrics
( env: ManagerBasedRLEnv, object_cfg: SceneEntityCfg = SceneEntityCfg("object"), goal_cfg: SceneEn
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:125
↓ 2 callersFunction_source_receiver_state
( env: ManagerBasedRLEnv, command_name: str, robot_cfg: SceneEntityCfg, )
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:46
↓ 2 callersFunction_validate_order
(order: tuple[str, ...], name: str)
deploy/revo3/revo3_deploy/robot_profile.py:92
↓ 2 callersMethod_vector
(value, name: str)
deploy/revo3/revo3_deploy/sdk_hand_io.py:121
↓ 2 callersFunctioncontacts
Penalize undesired contacts as the number of violations that are above a threshold.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/rewards.py:193
↓ 2 callersFunctionfarthest_point_sampling
Farthest Point Sampling (FPS) for point sets. Selects `n_samples` points such that each new point is farthest from the already chosen on
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/utils.py:208
↓ 2 callersMethodget_command_for_envs
(self, env_ids: Sequence[int] | torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/commands.py:66
↓ 2 callersFunctionmain
(argv: list[str] | None = None)
deploy/revo3/revo3_deploy/cli/run_policy.py:78
↓ 2 callersFunctionmain
(argv: list[str] | None = None)
deploy/revo3/revo3_deploy/cli/export_policy.py:26
↓ 2 callersFunctionmake_revotron_bimanual_revo3_cfg
( prim_path: str, init_pos: tuple[float, float, float] = DEFAULT_ROBOT_INIT_POS, init_rot: tuple[f
source/BrainCo_DexHand/BrainCo_DexHand/assets/revotron_bimanual_revo3.py:280
↓ 2 callersMethodmodel_act
(self, obs_dict)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:172
↓ 2 callersFunctionrandomize_rotation
(rand0, rand1, x_unit_tensor, y_unit_tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:510
↓ 2 callersMethodreset
(self, joint_pos: np.ndarray, target: np.ndarray | None = None)
deploy/revo3/revo3_deploy/input_builder.py:39
↓ 2 callersFunctionrotation_distance
(object_rot, target_rot)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:517
↓ 2 callersFunctionrotation_distance
(object_rot, target_rot)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:534
↓ 2 callersMethodset_eval
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:158
↓ 2 callersMethodset_friction
(self, asset, value, num_envs)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:488
↓ 2 callersMethodset_manual_command
(self, command: torch.Tensor | Sequence[float] | None)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/commands.py:45
↓ 2 callersFunctiontianji_hand_contacts
Thumb plus at least one other fingertip contact for the Tianji hand.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/config/Revo3/dexsuite_revo3_env_cfg_grasp.py:156
↓ 2 callersFunctiontprint
Overwritable inline print.
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/utils/misc.py:9
↓ 2 callersFunctionunscale
(x, lower, upper)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:505
↓ 2 callersFunctionunscale
(x, lower, upper)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:522
↓ 2 callersFunctionunscale
(x, lower, upper)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:507
↓ 1 callersMethod__init__
(self, env, output_dif, full_config)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:30
↓ 1 callersMethod__init__
(self, model: ActorCritic, rms_obs: RunningMeanStd, rms_hist: RunningMeanStd)
scripts/hora/export_onnx.py:133
↓ 1 callersFunction_attach_env_runtime_to_config
(full_config, env_cfg)
scripts/hora/train.py:172
↓ 1 callersMethod_baudrate_enum
(self, value: int)
deploy/revo3/revo3_deploy/sdk_hand_io.py:105
↓ 1 callersFunction_build_env_cfg
(seed: int)
scripts/hora/train.py:136
↓ 1 callersFunction_build_full_config
(seed: int)
scripts/hora/train.py:100
↓ 1 callersMethod_build_input_aliases
(self)
deploy/revo3/revo3_deploy/policy_runner.py:87
↓ 1 callersFunction_build_link_pairs
Build unique link pairs to be filtered using FilteredPairsAPI.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:67
↓ 1 callersFunction_build_link_pairs
Build unique link pairs to be filtered using FilteredPairsAPI.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:75
↓ 1 callersFunction_build_link_pairs
( group_links: dict[str, list[str]], filtered_group_pairs: list[tuple[str, str]] | None, self_filt
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/config/Revo3/dexsuite_revo3_env_cfg_grasp.py:79
↓ 1 callersFunction_build_net_config
(cfg: Any | None, stage: str, obs_dim: int, actions_num: int)
scripts/hora/export_onnx.py:107
↓ 1 callersMethod_build_ort_feed
(self, inputs: dict[str, np.ndarray])
deploy/revo3/revo3_deploy/policy_runner.py:78
↓ 1 callersFunction_cache_initial_palm_state
(env: ManagerBasedEnv, robot: Articulation, env_ids: torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:46
↓ 1 callersMethod_convert_and_save_episode
(self, episode: EpisodeData)
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:89
↓ 1 callersFunction_default_output_name
()
scripts/hora/train.py:57
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