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Functions1,070 in github.com/LeCAR-Lab/BFM-Zero

⨍ Functions 1,070◇ Types & classes 165↳ Endpoints 1
↓ 142 callersMethodto
(self, *args, **kwargs)
humanoidverse/agents/base_model.py:83
↓ 89 callersMethodclone
(self)
humanoidverse/utils/motion_lib/skeleton.py:1150
↓ 50 callersMethodget
(self)
humanoidverse/agents/evaluations/humanoidverse_isaac.py:75
↓ 32 callersMethodindex
get the index of the node :param node_name: the name of the node :type node_name: string :rtype: int
humanoidverse/utils/motion_lib/skeleton.py:344
↓ 27 callersMethodupdate
(self, replay_buffer, step: int)
humanoidverse/agents/fb/agent.py:161
↓ 24 callersFunctionmy_quat_rotate
Rotate vector by quaternion (assumes w_last=True format).
humanoidverse/utils/torch_utils.py:413
↓ 21 callersMethodload
(cls, path: str, device: str | None = None)
humanoidverse/agents/fb/agent.py:381
↓ 18 callersFunctiontorch_rand_float
(lower, upper, shape, device)
humanoidverse/utils/torch_utils.py:187
↓ 17 callersFunctionquat_mul
(a, b)
humanoidverse/utils/torch_utils.py:23
↓ 17 callersMethodsample
(self, num, device=None)
humanoidverse/agents/misc/zbuffer.py:36
↓ 16 callersMethodreset
(self, seed: int | None = None, options: dict[str, Any] | None = None)
humanoidverse/envs/g1_env_helper/robot.py:127
↓ 14 callersMethod__init__
(self, tau=0.99, epsilon=1e-8, shape=(1,), translate=False, scale=False)
humanoidverse/agents/nn_models.py:697
↓ 13 callersFunctionquat_rotate_inverse
Rotate vector by inverse quaternion.
humanoidverse/utils/torch_utils.py:281
↓ 13 callersMethodstep
(self, action: np.ndarray)
humanoidverse/envs/g1_env_helper/robot.py:192
↓ 12 callersMethodsize
(self)
humanoidverse/agents/buffers/transition.py:61
↓ 11 callersMethodact
(self, obs: torch.Tensor | dict[str, torch.Tensor], z: torch.Tensor, mean: bool = True)
humanoidverse/agents/fb/agent.py:143
↓ 11 callersMethodadd
(self, data: torch.Tensor)
humanoidverse/agents/misc/zbuffer.py:26
↓ 11 callersMethodfrom_dict
Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_
humanoidverse/utils/motion_lib/skeleton.py:125
↓ 11 callersFunctionget_sensor_data
(model: mujoco.MjModel, data: mujoco.MjData, name: str)
humanoidverse/envs/g1_env_helper/rewards.py:97
↓ 11 callersFunctionlinear
(input_dim, output_dim, num_parallel=1)
humanoidverse/agents/nn_models.py:175
↓ 11 callersMethodproject_z
(self, z)
humanoidverse/agents/fb/model.py:123
↓ 11 callersMethodtrain
(self)
humanoidverse/train.py:257
↓ 10 callersFunction_soft_update_params
(net_params: tp.Any, target_net_params: tp.Any, tau: float)
humanoidverse/agents/nn_models.py:80
↓ 10 callersMethodempty
(self)
humanoidverse/agents/misc/zbuffer.py:23
↓ 10 callersMethodfrom_rotation_and_root_translation
Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S
humanoidverse/utils/motion_lib/skeleton.py:767
↓ 10 callersMethodget_targets_uncertainty
( self, preds: torch.Tensor, pessimism_penalty: torch.Tensor | float )
humanoidverse/agents/fb/agent.py:328
↓ 10 callersFunctionget_xpos
(model: mujoco.MjModel, data: mujoco.MjData, name: str)
humanoidverse/envs/g1_env_helper/rewards.py:68
↓ 9 callersMethodlog
(self, log_data: Dict[str, Any])
humanoidverse/agents/misc/loggers.py:28
↓ 9 callersFunctionquat_apply
(a, b)
humanoidverse/utils/torch_utils.py:52
↓ 9 callersMethodstep
( self, actions: Union[torch.Tensor, Dict], to_numpy: bool = True )
humanoidverse/agents/envs/humanoidverse_isaac.py:461
↓ 8 callersFunctiongs_transform_by_quat
(pos, quat)
humanoidverse/simulator/genesis/tmp_gs_utils.py:21
↓ 8 callersFunctionquat_mul_norm
Multiply and normalize quaternions.
humanoidverse/utils/torch_utils.py:601
↓ 8 callersFunctionquat_rotate
(q, v)
humanoidverse/utils/torch_utils.py:62
↓ 8 callersFunctiontensor_to_dict
Construct an ordered dictionary from the object :rtype: OrderedDict
humanoidverse/utils/motion_lib/skeleton.py:142
↓ 7 callersMethodbackward_map
(self, obs: torch.Tensor | dict[str, torch.Tensor])
humanoidverse/agents/fb/model.py:105
↓ 7 callersMethodbuild
In case of cluster run, use exca and process instead of explivit build
humanoidverse/train.py:161
↓ 7 callersMethodbuild
(self, obs_space, z_dim, action_dim)
humanoidverse/agents/nn_models.py:156
↓ 7 callersFunctionget_center_of_mass_linvel
(model: mujoco.MjModel, data: mujoco.MjData)
humanoidverse/envs/g1_env_helper/rewards.py:89
↓ 7 callersFunctionget_key
(data, key)
humanoidverse/agents/buffers/trajectory.py:369
↓ 7 callersMethodload_motions
(self, random_sample=True, start_idx=0, max_
humanoidverse/utils/motion_lib/motion_lib_base.py:329
↓ 6 callersMethod_normalize
(self, obs: torch.Tensor | dict[str, torch.Tensor])
humanoidverse/agents/fb/model.py:100
↓ 6 callersFunction_to_torch
(value: Any, device: Device | None = None)
humanoidverse/agents/buffers/transition.py:26
↓ 6 callersMethodbuild
(self, *args, **kwargs)
humanoidverse/agents/base.py:35
↓ 6 callersMethodextend
(self, data: Dict)
humanoidverse/agents/buffers/transition.py:71
↓ 6 callersFunctionfilter_space
(obs_space: gymnasium.spaces.Dict, filter: list[int])
humanoidverse/agents/nn_filter_models.py:27
↓ 6 callersMethodget_motion_state
(self, motion_ids, motion_times, offset=None)
humanoidverse/utils/motion_lib/motion_lib_base.py:183
↓ 6 callersFunctionget_next
(field: str, data: Any)
humanoidverse/agents/wrappers/humenvbench.py:20
↓ 6 callersFunctionquat_to_tan_norm
Represent rotation using tangent and normal vectors.
humanoidverse/utils/torch_utils.py:426
↓ 6 callersFunctionsimple_embedding
(input_dim, hidden_dim, hidden_layers, num_parallel=1)
humanoidverse/agents/nn_models.py:228
↓ 5 callersMethod_ndim
(self)
humanoidverse/agents/buffers/transition.py:67
↓ 5 callersMethod_to_state_vector
(rot, rt)
humanoidverse/utils/motion_lib/skeleton.py:735
↓ 5 callersMethodbuild
(self, obs_space, z_dim, action_dim)
humanoidverse/agents/nn_filter_models.py:104
↓ 5 callersFunctioncalc_heading_quat_inv
Calculate inverse heading rotation from quaternion.
humanoidverse/utils/torch_utils.py:474
↓ 5 callersMethodcheck
(self, step: int)
humanoidverse/agents/utils.py:29
↓ 5 callersFunctioncompute_humanoid_observations_max
(body_pos, body_rot, body_vel, body_ang_vel, local_root_obs, root_height_obs)
humanoidverse/envs/legged_robot_motions/legged_robot_motions.py:597
↓ 5 callersMethodeval
(self, t, replay_buffer)
humanoidverse/train.py:533
↓ 5 callersMethodfind_rigid_body_indice
Finds the index of a specified rigid body. Args: body_name (str): Name of the rigid body to locate. Returns:
humanoidverse/simulator/mujoco/mujoco.py:383
↓ 5 callersFunctionget_xmat
(model: mujoco.MjModel, data: mujoco.MjData, name: str)
humanoidverse/envs/g1_env_helper/rewards.py:75
↓ 5 callersFunctionnormalize
(x, eps: float = 1e-9)
humanoidverse/utils/torch_utils.py:47
↓ 5 callersFunctionquat_inverse
Compute inverse quaternion.
humanoidverse/utils/torch_utils.py:485
↓ 5 callersFunctionquat_unit
(a)
humanoidverse/utils/torch_utils.py:85
↓ 5 callersMethodquery
(self, key: str)
humanoidverse/envs/env_utils/history_handler.py:42
↓ 5 callersMethodrender
(self, hv_env: "HumanoidVerseVectorEnv", env_idxs: list[int] | None = None)
humanoidverse/agents/envs/humanoidverse_isaac.py:210
↓ 5 callersMethodreset
( self, *, seed: int | None = None, options: dict[str, Any] | None = None,
humanoidverse/agents/envs/humanoidverse_isaac.py:366
↓ 5 callersMethodreset_all
Reset all robots
humanoidverse/envs/base_task/base_task.py:110
↓ 5 callersMethodwrite
(self, message)
humanoidverse/utils/logging.py:24
↓ 4 callersMethod_refresh_sim_tensors
(self)
humanoidverse/envs/base_task/base_task.py:106
↓ 4 callersMethod_update_history
(self, reset_ids, observation, action)
humanoidverse/agents/envs/humanoidverse_isaac.py:512
↓ 4 callersMethodbuild
(self, obs_space, action_dim)
humanoidverse/agents/fb/model.py:64
↓ 4 callersMethodbuild
(self, num_envs: int = 1)
humanoidverse/agents/envs/humanoidverse_isaac.py:603
↓ 4 callersMethodclose
(self)
humanoidverse/envs/g1_env_helper/bench/tracking_eval.py:139
↓ 4 callersFunctioncompute_humanoid_observations_max_with_contact
(body_pos, body_rot, body_vel, body_ang_vel, local_root_obs, root_height_obs, contact_binary)
humanoidverse/envs/legged_robot_motions/legged_robot_motions.py:646
↓ 4 callersMethodcompute_logits
(self, obs: torch.Tensor | dict[str, torch.Tensor], z: torch.Tensor)
humanoidverse/agents/nn_models.py:359
↓ 4 callersMethodfoot_contact_detect
(self, positions, velocity)
humanoidverse/envs/legged_robot_motions/legged_robot_motions.py:586
↓ 4 callersFunctiongs_inv_quat
(quat)
humanoidverse/simulator/genesis/tmp_gs_utils.py:15
↓ 4 callersFunctioninit
Initialize Mujoco Data.
humanoidverse/envs/g1_env_helper/__init__.py:11
↓ 4 callersMethodload_motions_for_training
(self, max_num_seqs = None)
humanoidverse/utils/motion_lib/motion_lib_base.py:291
↓ 4 callersFunctionquat_conjugate
(a)
humanoidverse/utils/torch_utils.py:78
↓ 4 callersFunctionquat_from_angle_axis
(angle, axis)
humanoidverse/utils/torch_utils.py:90
↓ 4 callersFunctionquat_identity
Construct identity quaternion given shape.
humanoidverse/utils/torch_utils.py:607
↓ 4 callersMethodreset_envs_idx
Reset some environments. Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids)
humanoidverse/envs/legged_base_task/legged_robot_base.py:431
↓ 4 callersFunctionresidual_embedding
(input_dim, hidden_dim, hidden_layers, num_parallel=1)
humanoidverse/agents/nn_models.py:452
↓ 4 callersMethodsample_z
(self, size: int, device: str = "cpu")
humanoidverse/agents/fb/model.py:119
↓ 4 callersMethodsmall_random_quaternions
(self, n, max_angle)
humanoidverse/envs/legged_robot_motions/legged_robot_motions.py:508
↓ 4 callersFunctionto_torch
(x: np.ndarray | torch.Tensor, device: torch.device | str, dtype: torch.dtype)
humanoidverse/agents/wrappers/humenvbench.py:191
↓ 4 callersFunctiontransform_rotation
Get rotation from transform.
humanoidverse/utils/torch_utils.py:633
↓ 4 callersFunctiontransform_translation
Get translation from transform.
humanoidverse/utils/torch_utils.py:638
↓ 4 callersMethodupdate_last_step
(self, step: int)
humanoidverse/agents/utils.py:35
↓ 3 callersMethod__init__
(self, nn_base: Actor, filter: list[int], filter_z: bool)
humanoidverse/agents/nn_filter_models.py:86
↓ 3 callersMethod_get_g1env_observation
Turn current Isaac sim state into a G1Env-like observation.
humanoidverse/envs/gymnasium_wrapper.py:89
↓ 3 callersMethod_get_qpos_qvel
(self, to_numpy: bool = True)
humanoidverse/agents/envs/humanoidverse_isaac.py:390
↓ 3 callersMethod_indent
(self, s)
humanoidverse/utils/motion_lib/skeleton.py:251
↓ 3 callersMethod_pre_compute_observations_callback
(self)
humanoidverse/envs/legged_base_task/legged_robot_base.py:353
↓ 3 callersMethod_push_robots
Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
humanoidverse/envs/legged_base_task/legged_robot_base.py:894
↓ 3 callersMethod_transfer_to
(self, new_skeleton_tree: SkeletonTree)
humanoidverse/utils/motion_lib/skeleton.py:851
↓ 3 callersMethodadd
( self, observation: np.ndarray | Dict[str, np.ndarray], reward: np.ndarray, a
humanoidverse/agents/evaluations/humanoidverse_isaac.py:48
↓ 3 callersMethodadd
(self, key: str, value: torch.Tensor)
humanoidverse/agents/envs/utils/history_handler.py:28
↓ 3 callersMethodbuild
(self, obs_space, action_dim)
humanoidverse/agents/fb/agent.py:54
↓ 3 callersMethodbuild
(self, obs_space, action_dim)
humanoidverse/agents/fb_cpr/agent.py:48
↓ 3 callersMethodclose
(self)
humanoidverse/agents/envs/humanoidverse_isaac.py:495
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