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github.com/LeCAR-Lab/SoFTA
/ functions
Functions
568 in github.com/LeCAR-Lab/SoFTA
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Functions
568
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Types & classes
38
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Endpoints
1
↓ 1 callers
Function
quat_mul_norm
Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable
isaac_utils/isaac_utils/rotations.py:409
↓ 1 callers
Function
quat_pos
make all the real part of the quaternion positive
isaac_utils/isaac_utils/rotations.py:355
↓ 1 callers
Function
quat_rotate
(q, v)
humanoidverse/utils/torch_utils.py:59
↓ 1 callers
Function
quat_to_angle_axis
(q)
isaac_utils/isaac_utils/rotations.py:172
↓ 1 callers
Function
quat_unit
(a)
humanoidverse/utils/torch_utils.py:91
↓ 1 callers
Method
randomized_terrain
(self)
humanoidverse/envs/env_utils/terrain.py:44
↓ 1 callers
Method
render
(self, sync_frame_time=True)
humanoidverse/envs/base_task/base_task.py:90
↓ 1 callers
Method
reset
(self, state=None, buffer=None)
humanoidverse/agents/modules/world_models.py:45
↓ 1 callers
Method
reset
(self, state=None, buffer=None)
humanoidverse/agents/modules/world_models.py:123
↓ 1 callers
Method
reset_buffers
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:38
↓ 1 callers
Method
set_envs_to_state
(self, desired_state, ids=None)
humanoidverse/agents/modules/world_models.py:55
↓ 1 callers
Method
set_envs_to_state
(self, desired_state, desired_buf, ids=None)
humanoidverse/agents/modules/world_models.py:133
↓ 1 callers
Method
set_headless
(self, headless)
humanoidverse/simulator/isaacgym/isaacgym.py:28
↓ 1 callers
Method
set_learning_rate
(self, actor_learning_rate, critic_learning_rate)
humanoidverse/agents/ppo/ppo.py:458
↓ 1 callers
Method
set_learning_rates
(self, actor_learning_rates, critic_learning_rates)
humanoidverse/agents/ppo_ma/ppo_ma.py:167
↓ 1 callers
Method
set_robot_limits
(self, dof_pos_limits, dof_vel_limits, dof_torque_limits)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:118
↓ 1 callers
Method
set_robot_num_dofs
(self, num_dofs)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:123
↓ 1 callers
Method
setup_terrain
(self, mesh_type)
humanoidverse/simulator/isaacgym/isaacgym.py:89
↓ 1 callers
Method
setup_viewer
(self)
humanoidverse/simulator/isaacgym/isaacgym.py:520
↓ 1 callers
Method
setup_visualize_entities
(self)
humanoidverse/envs/base_task/base_task.py:221
↓ 1 callers
Method
simulate_at_each_physics_step
(self)
humanoidverse/simulator/isaacgym/isaacgym.py:511
↓ 1 callers
Method
step
Apply actions, simulate, call self.post_physics_step() Args: actions (torch.Tensor): Tensor of shape (num_envs, num_actions_per_e
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:190
↓ 1 callers
Function
transform_from_rotation_translation
Construct a transform from a quaternion and 3D translation. Only one of them can be None.
isaac_utils/isaac_utils/rotations.py:444
↓ 1 callers
Method
update_distribution
(self, actor_obs)
humanoidverse/agents/modules/ppo_modules.py:64
↓ 1 callers
Method
update_distribution
(self, obs_dict)
humanoidverse/agents/modules/ppo_modules.py:117
↓ 1 callers
Method
update_phase_time
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:123
↓ 1 callers
Method
write
(self, message)
humanoidverse/utils/logging.py:24
Method
__del__
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:281
Method
__init__
model: The original PyTorch model. input_keys: List of input names as keys for the input dictionary.
humanoidverse/utils/inference_helpers.py:54
Method
__init__
(self, actor_critic)
humanoidverse/utils/helpers.py:102
Method
__init__
(self, in_shape, max_size)
humanoidverse/utils/average_meters.py:7
Method
__init__
(self)
humanoidverse/utils/average_meters.py:36
Method
__init__
(self)
humanoidverse/utils/average_meters.py:63
Method
__init__
(self, config, device)
humanoidverse/envs/base_task/base_task.py:8
Method
__init__
(self, config, device)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:8
Method
__init__
(self, config, device)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:7
Method
__init__
(self, config, device)
humanoidverse/envs/locomotion/locomotion_ma.py:10
Method
__init__
(self, config, device)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:42
Method
__init__
(self, config, device)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:6
Method
__init__
(self, config, device)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:13
Method
__init__
(self, num_envs, history_config, obs_dims, device)
humanoidverse/envs/env_utils/history_handler.py:8
Method
__init__
(self, config, device, num_envs)
humanoidverse/envs/env_utils/command_generator.py:7
Method
__init__
(self, pt)
humanoidverse/envs/env_utils/visualization.py:4
Method
__init__
(self, cfg, num_robots)
humanoidverse/envs/env_utils/terrain.py:10
Method
__init__
(self, obs_dim_dict, module_config_dict)
humanoidverse/agents/modules/ppo_modules.py:90
Method
__init__
(self, obs_dim_dict, network_dict, network_l
humanoidverse/agents/modules/ppo_modules.py:110
Method
__init__
(self, keys)
humanoidverse/agents/modules/data_utils.py:39
Method
__init__
(self, num_envs, num_transitions_per_env, device='cpu')
humanoidverse/agents/modules/data_utils.py:48
Method
__init__
(self, obs_dim_dict, module_config_dict)
humanoidverse/agents/modules/modules.py:6
Method
__init__
(self, obs_dim_dict, module_config_dict)
humanoidverse/agents/modules/encoder_modules.py:9
Method
__init__
(self, config, device='cpu')
humanoidverse/agents/modules/world_models.py:15
Method
__init__
(self, config, sim_config, n_samples:Optional[int]=100,
humanoidverse/agents/modules/world_models.py:107
Method
__init__
(self, config, training_loop: PPO)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:28
Method
__init__
(self, config, training_loop)
humanoidverse/agents/callbacks/base_callback.py:5
Method
__init__
(self, env: BaseTask, config, device)
humanoidverse/agents/base_algo/base_algo.py:5
Method
__init__
(self, env: BaseTask, config, log_dir=None,
humanoidverse/agents/ppo/ppo.py:26
Method
__init__
(self, env: BaseTask, config, log_dir=None,
humanoidverse/agents/ppo_ma/ppo_ma.py:24
Method
__init__
(self, config, device)
humanoidverse/simulator/isaacgym/isaacgym.py:19
Method
__init__
Initializes the base simulator with configuration settings and simulation device. Args: config (dict): Configura
humanoidverse/simulator/base_simulator/base_simulator.py:11
Method
__len__
(self)
humanoidverse/utils/average_meters.py:28
Method
_apply_force_in_physics_step
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:160
Method
_calc_phase_time
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:343
Method
_create_terrain
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:572
Method
_draw_debug_vis
(self, debug=DEBUG)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:138
Method
_episodic_domain_randomization
(self, env_ids)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:151
Method
_eval_mode
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:135
Method
_get_obs_actions
(self,)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:379
Method
_get_obs_actions
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:830
Method
_get_obs_base_ang_vel
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:818
Method
_get_obs_base_lin_vel
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:815
Method
_get_obs_base_orientation
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:385
Method
_get_obs_command_ang_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:404
Method
_get_obs_command_ee
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:273
Method
_get_obs_command_gait
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:51
Method
_get_obs_command_lin_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:401
Method
_get_obs_command_stand
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:168
Method
_get_obs_command_stand
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:382
Method
_get_obs_cos_phase
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:413
Method
_get_obs_dof_pos
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:824
Method
_get_obs_dof_vel
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:827
Method
_get_obs_end_effector_gravity
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:269
Method
_get_obs_end_effector_relative_pos
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:262
Method
_get_obs_history_actor
(self,)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:352
Method
_get_obs_history_actor
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:833
Method
_get_obs_history_critic
(self,)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:364
Method
_get_obs_history_critic
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:845
Method
_get_obs_phase_time
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:407
Method
_get_obs_projected_gravity
(self,)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:821
Method
_get_obs_ref_upper_dof_pos
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:376
Method
_get_obs_sin_phase
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:410
Method
_init_buffers
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:14
Method
_init_buffers
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:10
Method
_init_buffers
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:43
Method
_init_buffers
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:47
Method
_init_buffers
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:9
Method
_init_buffers
Initialize torch tensors which will contain simulation states and processed quantities
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:32
Method
_init_domain_rand_buffers
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:144
Method
_plot_domain_rand_params
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:811
Method
_post_compute_observations_callback
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:137
Method
_post_epoch_logging
(self, log_dict, width=80, pad=35)
humanoidverse/agents/ppo_ma/ppo_ma.py:466
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