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Functions383 in github.com/BrainCoTech/RevoLab

⨍ Functions 383◇ Types & classes 81
↓ 1 callersFunction_ensure_default_task
(argv: list[str])
scripts/rl_games/play.py:37
↓ 1 callersFunction_ensure_default_task
(argv: list[str])
scripts/rl_games/train.py:35
↓ 1 callersFunction_extend_pythonpath
(isaaclab_root: Path, repo_root: Path)
scripts/rl_games/play.py:15
↓ 1 callersFunction_extend_pythonpath
(isaaclab_root: Path, repo_root: Path)
scripts/rl_games/train.py:13
↓ 1 callersFunction_find_config_for_checkpoint
(ckpt_path: Path)
scripts/hora/export_onnx.py:72
↓ 1 callersFunction_find_first_body_index
(robot: Articulation, body_names: list[str] | tuple[str, ...])
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:20
↓ 1 callersFunction_find_run_dir_for_checkpoint
(ckpt_path: Path)
scripts/hora/export_onnx.py:79
↓ 1 callersFunction_get_command_success_streak
Return per-env consecutive success counts for the given command term. The command term is expected to maintain a ``metrics["success"]`` tensor. W
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/terminations.py:87
↓ 1 callersFunction_handover_command
(env: ManagerBasedRLEnv, command_name: str)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/observations.py:14
↓ 1 callersMethod_is_image_array
(self, data: np.ndarray)
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:148
↓ 1 callersFunction_load_config
(path: Path | None)
scripts/hora/export_onnx.py:86
↓ 1 callersFunction_load_offset
(cfg: dict)
deploy/revo3/revo3_deploy/robot_profile.py:99
↓ 1 callersMethod_load_policy_cfg
(path: Path)
deploy/revo3/revo3_deploy/policy_runner.py:60
↓ 1 callersFunction_load_sdk
()
deploy/revo3/revo3_deploy/sdk_hand_io.py:17
↓ 1 callersFunction_print_env_debug
(env, env_cfg, agent_cfg, log_root_path: str, log_dir: str)
scripts/rl_games/train.py:148
↓ 1 callersMethod_print_epoch_log
(self, iter_num, total_iters, collect_t, learn_t, iter_t, elapsed, mean_rewards, mean_lengths)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/padapt/padapt.py:250
↓ 1 callersMethod_print_epoch_log
(self, total_iters, collect_t, learn_t, iter_t, elapsed, mean_rewards, mean_lengths)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:386
↓ 1 callersMethod_process_observations_for_episode
(self, obs_dict: dict[str, Any])
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:105
↓ 1 callersFunction_read_command_file
(path: Path | None, fallback: torch.Tensor, last_mtime: float | None)
scripts/rl_games/play.py:116
↓ 1 callersFunction_receiver_palm_velocity
( env: ManagerBasedRLEnv, command_name: str = "handover", robot_cfg: SceneEntityCfg = SceneEntityC
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:72
↓ 1 callersFunction_recurse
(iv_elem, fv_elem, data_elem, frac)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/curriculums.py:41
↓ 1 callersFunction_resolve_env_ids
(env: DirectRLEnv, env_ids: torch.Tensor | list[int] | slice | None)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:32
↓ 1 callersFunction_resolve_env_ids
(env: DirectRLEnv, env_ids: torch.Tensor | list[int] | slice | None)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:40
↓ 1 callersFunction_resolve_env_ids
(env: ManagerBasedRLEnv, env_ids: torch.Tensor | list[int] | slice | None)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/config/Revo3/dexsuite_revo3_env_cfg_grasp.py:44
↓ 1 callersFunction_resolve_isaaclab_root
()
scripts/rl_games/play.py:30
↓ 1 callersFunction_resolve_isaaclab_root
()
scripts/rl_games/train.py:28
↓ 1 callersMethod_resolve_output_name
(self)
deploy/revo3/revo3_deploy/policy_runner.py:96
↓ 1 callersFunction_resolve_scale_keys_from_config
(cfg: Any | None)
scripts/hora/export_onnx.py:232
↓ 1 callersFunction_save_deploy_meta
( meta_path: Path, *, stage: str, checkpoint: Path, onnx_path: Path, cfg_path: Path |
scripts/hora/export_onnx.py:158
↓ 1 callersMethod_save_episode_to_zarr
(self, episode_data: dict[str, Any])
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:114
↓ 1 callersFunction_save_run_metadata
(output_dif: str, full_config)
scripts/hora/train.py:162
↓ 1 callersMethod_summarize_episode_infos
(self)
scripts/rl_games/train.py:103
↓ 1 callersFunction_triangulate_faces
Convert a USD Mesh prim into triangulated face indices (N, 3).
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/utils.py:172
↓ 1 callersMethod_update_mean_var_count_from_moments
(self, mean, var, count, batch_mean, batch_var, batch_count)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/running_mean_std.py:30
↓ 1 callersMethod_validate_onnx_io_contract
(self)
deploy/revo3/revo3_deploy/policy_runner.py:110
↓ 1 callersMethod_validate_policy_contract
(self, policy_cfg: dict)
deploy/revo3/revo3_deploy/policy_runner.py:64
↓ 1 callersMethodact
(self, obs_dict)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/models/models.py:84
↓ 1 callersMethodaction_to_target
(self, action: np.ndarray)
deploy/revo3/revo3_deploy/input_builder.py:59
↓ 1 callersFunctionasync_main
(args: argparse.Namespace)
deploy/revo3/revo3_deploy/cli/run_policy.py:31
↓ 1 callersFunctionbuild_parser
()
deploy/revo3/revo3_deploy/cli/run_policy.py:14
↓ 1 callersFunctionbuild_parser
()
deploy/revo3/revo3_deploy/cli/export_policy.py:11
↓ 1 callersMethodcompute_full_observations
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:444
↓ 1 callersMethodcompute_full_observations
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:461
↓ 1 callersMethodcompute_full_state
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:470
↓ 1 callersMethodcompute_full_state
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:487
↓ 1 callersMethodcompute_observations
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:416
↓ 1 callersMethodcompute_reduced_observations
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:427
↓ 1 callersMethodcompute_reduced_observations
(self)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:444
↓ 1 callersFunctioncompute_rewards
( reset_buf: torch.Tensor, reset_goal_buf: torch.Tensor, successes: torch.Tensor, consecutive_
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:524
↓ 1 callersFunctioncompute_rewards
( reset_buf: torch.Tensor, reset_goal_buf: torch.Tensor, successes: torch.Tensor, consecutive_
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:541
↓ 1 callersFunctioncompute_rewards
( rotate_reward: torch.Tensor, rotate_reward_scale: float, object_linvel_penalty: torch.Tensor, object
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:511
↓ 1 callersMethodcomputer_return
(self, last_values, gamma, tau)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/experience.py:72
↓ 1 callersFunctionconsecutive_success_state_with_min_length
Terminate when the commanded task succeeds for N consecutive steps. This mirrors the success gating used by UWLab's RGB data-collection tasks so
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/terminations.py:122
↓ 1 callersFunctioncreate_primitive_mesh
Create a trimesh mesh from a USD primitive (Cube, Sphere, Cylinder, etc.).
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/utils.py:186
↓ 1 callersFunctiondisable_collision_pairs_filtered_direct
Disable collisions using USD FilteredPairsAPI based on link groups.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:97
↓ 1 callersFunctiondisable_collision_pairs_filtered_direct
Disable collisions using USD FilteredPairsAPI based on link groups.
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:105
↓ 1 callersFunctionexport_with_isaaclab
Run the Isaac Lab export path without entering the play loop.
deploy/revo3/revo3_deploy/cli/export_policy.py:32
↓ 1 callersFunctionget_random_rotation
(env_ids: torch.Tensor, device: str)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:547
↓ 1 callersFunctiongoal_distance
( env: ManagerBasedRLEnv, object_cfg: SceneEntityCfg = SceneEntityCfg("object"), goal_cfg: SceneEn
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/rewards.py:98
↓ 1 callersMethodlog_tensorboard
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/padapt/padapt.py:187
↓ 1 callersFunctionmain
Play with RSL-RL agent.
scripts/rsl_rl/play.py:85
↓ 1 callersFunctionmain
Train with RSL-RL agent.
scripts/rsl_rl/train.py:116
↓ 1 callersFunctionmain
(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict)
scripts/rl_games/play.py:127
↓ 1 callersFunctionmain
(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict)
scripts/rl_games/train.py:175
↓ 1 callersFunctionmain
()
scripts/hora/train.py:180
↓ 1 callersFunctionmain
()
scripts/hora/export_onnx.py:241
↓ 1 callersMethodmeasured_sdk_to_policy
(self, sdk_pos_rad: np.ndarray)
deploy/revo3/revo3_deploy/robot_profile.py:83
↓ 1 callersMethodobserve
(self, joint_pos: np.ndarray)
deploy/revo3/revo3_deploy/input_builder.py:52
↓ 1 callersMethodopen
(self, file_path: str, mode: str = "r")
source/BrainCo_DexHand/BrainCo_DexHand/utils/datasets/zarr_dataset_file_handler.py:67
↓ 1 callersMethodplay_steps
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:420
↓ 1 callersFunctionpolicy_kl
(p0_mu, p0_sigma, p1_mu, p1_sigma)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:483
↓ 1 callersMethodprepare_reset
(self, env_ids: Sequence[int] | torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/commands.py:56
↓ 1 callersMethodprepare_training
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/experience.py:86
↓ 1 callersFunctionquat_to_rotmat
(q: torch.Tensor)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:528
↓ 1 callersMethodread_position_rad
(self)
deploy/revo3/revo3_deploy/sdk_hand_io.py:66
↓ 1 callersMethodrestore_test
(self, fn)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:284
↓ 1 callersMethodrestore_train
(self, fn)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:248
↓ 1 callersFunctionsample_object_point_cloud
Samples point clouds for each environment instance by collecting points from all matching USD prims under `prim_path`, then downsamples to
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/utils.py:30
↓ 1 callersFunctionscale
(x, lower, upper)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/inhand_manipulation_env.py:500
↓ 1 callersFunctionscale
(x, lower, upper)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/reorient.py:517
↓ 1 callersMethodsend_mit_command_rad
( self, position_rad: np.ndarray, velocity_rad_s: np.ndarray | None = None, kp
deploy/revo3/revo3_deploy/sdk_hand_io.py:77
↓ 1 callersMethodset_com
(self, asset, value, num_envs)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:495
↓ 1 callersMethodset_eval
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/padapt/padapt.py:94
↓ 1 callersMethodset_mass
(self, asset, value, num_envs)
source/BrainCo_DexHand/BrainCo_DexHand/tasks/direct/hora_rotation/revo3_hand_hora_env.py:501
↓ 1 callersFunctionset_np_formatting
formats numpy print
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/utils/misc.py:37
↓ 1 callersFunctionset_seed
(seed)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/utils/misc.py:44
↓ 1 callersMethodset_train
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:165
↓ 1 callersMethodstep
(self, measured_policy_pos_rad: np.ndarray)
deploy/revo3/revo3_deploy/policy_runner.py:50
↓ 1 callersMethodtarget_policy_to_sdk
(self, policy_target_rad: np.ndarray)
deploy/revo3/revo3_deploy/robot_profile.py:87
↓ 1 callersMethodtest
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:290
↓ 1 callersMethodtrain
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/padapt/padapt.py:111
↓ 1 callersMethodtrain_epoch
(self)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:302
↓ 1 callersFunctiontransform_op
(arr)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/experience.py:5
↓ 1 callersMethodupdate_mu_sigma
(self, mu, sigma)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/experience.py:59
↓ 1 callersFunctionupdate_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
↓ 1 callersFunctionwrite_policy_yaml
(args: argparse.Namespace, output_path: Path)
deploy/revo3/revo3_deploy/cli/export_policy.py:101
↓ 1 callersMethodwrite_stats
(self, a_losses, c_losses, b_losses, entropies, kls)
source/BrainCo_DexHand/BrainCo_DexHand/algo/hora/ppo/ppo.py:128
Method__call__
( self, env: ManagerBasedRLEnv, env_ids: Sequence[int], asset_cfg: SceneEntity
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/curriculums.py:81
Method__call__
Compute the object point cloud in the reference asset's root frame. Note: Points are pre-sampled at initialization using ``self.n
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dexsuite/mdp/observations.py:181
Method__call__
( self, env: ManagerBasedEnv, env_ids: torch.Tensor, asset_cfg: SceneEntityCfg
source/BrainCo_DexHand/BrainCo_DexHand/tasks/manager_based/dynamic_handover/mdp/events.py:71
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