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github.com/LeCAR-Lab/SoFTA
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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
Method
_post_physics_step
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:119
Method
_pre_compute_observations_callback
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:128
Method
_resample_commands
(self, env_ids)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:30
Method
_resample_commands
(self, env_ids)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:15
Method
_reset_dofs
Resets DOF position and velocities of selected environmments Positions are randomly selected within 0.5:1.5 x default positions. Velo
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:160
Method
_reward_alive
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:289
Method
_reward_contact
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:332
Method
_reward_contact
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:256
Method
_reward_contact
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:39
Method
_reward_feet_air_time
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:214
Method
_reward_feet_heading_alignment
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:274
Method
_reward_gait_period
Jonah Siekmann, et al. "Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition" paper link: https://arxiv.o
humanoidverse/envs/locomotion/locomotion_ma.py:371
Method
_reward_limits_dof_pos
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:188
Method
_reward_limits_dof_pos
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:707
Method
_reward_limits_dof_vel
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:196
Method
_reward_limits_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:713
Method
_reward_limits_lower_body_dof_pos
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:724
Method
_reward_limits_lower_body_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:740
Method
_reward_limits_lower_body_torque
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:752
Method
_reward_limits_torque
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:202
Method
_reward_limits_torque
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:718
Method
_reward_limits_upper_body_dof_pos
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:732
Method
_reward_limits_upper_body_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:746
Method
_reward_limits_upper_body_torque
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:757
Method
_reward_near_contact_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:72
Method
_reward_partial_upperbody_joint_angle_freeze
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:233
Method
_reward_penalty_action_rate
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:225
Method
_reward_penalty_action_rate
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:653
Method
_reward_penalty_ang_shift_in_zero_command
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:113
Method
_reward_penalty_ang_vel_xy
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:174
Method
_reward_penalty_ang_vel_xy_torso
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:178
Method
_reward_penalty_ankle_roll
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:206
Method
_reward_penalty_base_height
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:189
Method
_reward_penalty_close_feet_xy
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:304
Method
_reward_penalty_close_knees_xy
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:311
Method
_reward_penalty_contact
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:83
Method
_reward_penalty_contact
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:267
Method
_reward_penalty_contact_no_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:98
Method
_reward_penalty_contact_no_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:266
Method
_reward_penalty_diff_feet_air_time
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:229
Method
_reward_penalty_dof_acc
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:220
Method
_reward_penalty_dof_acc
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:649
Method
_reward_penalty_dof_vel
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:216
Method
_reward_penalty_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:645
Method
_reward_penalty_end_effector_acc
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:209
Method
_reward_penalty_end_effector_acc_exp
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:241
Method
_reward_penalty_end_effector_ang_acc
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:218
Method
_reward_penalty_end_effector_ang_acc_exp
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:251
Method
_reward_penalty_end_effector_tilt
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:227
Method
_reward_penalty_feet_contact_forces
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:253
Method
_reward_penalty_feet_height
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:291
Method
_reward_penalty_feet_height
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:249
Method
_reward_penalty_feet_ori
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:246
Method
_reward_penalty_feet_swing_height
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:298
Method
_reward_penalty_feet_swing_height
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:230
Method
_reward_penalty_hip_pos
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:324
Method
_reward_penalty_hip_pos
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:282
Method
_reward_penalty_in_the_air
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:233
Method
_reward_penalty_lin_vel_z
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:68
Method
_reward_penalty_lin_vel_z
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:170
Method
_reward_penalty_lower_body_action_rate
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:695
Method
_reward_penalty_lower_body_dof_acc
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:685
Method
_reward_penalty_lower_body_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:677
Method
_reward_penalty_lower_body_torques
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:669
Method
_reward_penalty_negative_knee_joint
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:262
Method
_reward_penalty_negative_knee_joint
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:208
Method
_reward_penalty_orientation
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:657
Method
_reward_penalty_shift_in_zero_command
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:108
Method
_reward_penalty_slippage
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:257
Method
_reward_penalty_stance_dof
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:126
Method
_reward_penalty_stance_dof
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:300
Method
_reward_penalty_stance_feet
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:130
Method
_reward_penalty_stance_feet
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:304
Method
_reward_penalty_stance_root
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:145
Method
_reward_penalty_stance_root
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:319
Method
_reward_penalty_stance_symmetry
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:160
Method
_reward_penalty_stance_symmetry
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:334
Method
_reward_penalty_stance_tap_feet
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:137
Method
_reward_penalty_stance_tap_feet
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:311
Method
_reward_penalty_stand_still
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:155
Method
_reward_penalty_stand_still
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:329
Method
_reward_penalty_stumble
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:241
Method
_reward_penalty_torques
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:212
Method
_reward_penalty_torques
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:641
Method
_reward_penalty_torso_orientation
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:183
Method
_reward_penalty_torso_orientation
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:241
Method
_reward_penalty_undesired_contact
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:661
Method
_reward_penalty_upper_body_action_rate
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:700
Method
_reward_penalty_upper_body_dof_acc
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:690
Method
_reward_penalty_upper_body_dof_vel
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:681
Method
_reward_penalty_upper_body_dofs_freeze
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:200
Method
_reward_penalty_upper_body_torques
(self)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:673
Method
_reward_penalty_waist_dofs
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:194
Method
_reward_soft_tracking_end_effector_pos
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:195
Method
_reward_tracking_ang_vel
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:163
Method
_reward_tracking_base_height
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand.py:121
Method
_reward_tracking_end_effector_pos
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:180
Method
_reward_tracking_lin_vel_x
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:153
Method
_reward_tracking_lin_vel_y
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:158
Method
_reward_upperbody_joint_angle_freeze
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:318
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