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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
Method
_reward_waist_joint_angle_freeze
(self)
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:294
Method
_rollout_step
(self, obs_dict)
humanoidverse/agents/ppo_ma/ppo_ma.py:221
Method
_run_server
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:149
Method
_save_hidden_states
(self, hidden_states)
humanoidverse/agents/modules/data_utils.py:130
Method
_setup_models_and_optimizer
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:89
Method
_setup_simulator_control
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait_ee.py:105
Method
_setup_simulator_control
(self)
humanoidverse/envs/locomotion/locomotion_ma.py:97
Method
_setup_simulator_control
(self)
humanoidverse/envs/locomotion/locomotion_ma_stand_gait.py:26
Method
_setup_storage
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:114
Method
_train_mode
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:141
Method
_training_step
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:346
Method
_update_tasks_callback
Callback called before computing terminations, rewards, and observations Default behaviour: Compute ang vel command based on target and h
humanoidverse/envs/locomotion/locomotion_ma_stand.py:41
Method
_update_tasks_callback
Callback called before computing terminations, rewards, and observations Default behaviour: Compute ang vel command based on target and h
humanoidverse/envs/locomotion/locomotion_ma.py:100
Method
_update_tasks_callback
Callback called before computing terminations, rewards, and observations Default behaviour: Compute ang vel command based on target and h
humanoidverse/envs/locomotion/locomotion_stand_ma_nouse.py:54
Method
act
(self, obs_dict, **kwargs)
humanoidverse/agents/modules/ppo_modules.py:128
Method
act_inference
(self, actor_obs)
humanoidverse/agents/ppo_ma/ppo_ma.py:616
Method
action_mean
(self)
humanoidverse/agents/modules/ppo_modules.py:53
Method
action_mean
(self)
humanoidverse/agents/modules/ppo_modules.py:122
Method
action_std
(self)
humanoidverse/agents/modules/ppo_modules.py:57
Method
add
(self, data_dict)
humanoidverse/utils/average_meters.py:66
Method
add
(self, key: str, value: Tensor)
humanoidverse/envs/env_utils/history_handler.py:36
Method
add_limit_lines
(row, col, lower, upper, color=YELLOW)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:203
Method
add_multi_transitions
(self, transitions: MultiTransitions)
humanoidverse/agents/modules/data_utils.py:99
Method
apply_torques_at_dof
Applies the specified torques to the robot's degrees of freedom (DOF). Args: torques (tensor): Tensor containing torques
humanoidverse/simulator/base_simulator/base_simulator.py:121
Function
axis_angle_to_quaternion
Convert rotations given as axis/angle to quaternions. Args: axis_angle: Rotations given as a vector in axis angle form,
isaac_utils/isaac_utils/rotations.py:516
Function
calc_heading_quat
(q, w_last)
isaac_utils/isaac_utils/rotations.py:265
Function
calc_heading_quat_inv
(q, w_last)
isaac_utils/isaac_utils/rotations.py:278
Function
capture_stdout_to_loguru
()
humanoidverse/utils/logging.py:32
Function
class_to_dict
(obj)
humanoidverse/utils/helpers.py:12
Function
class_to_dict
(obj)
humanoidverse/envs/env_utils/general.py:6
Method
clear
(self)
humanoidverse/utils/average_meters.py:24
Method
clear
(self)
humanoidverse/agents/modules/data_utils.py:35
Method
clear
(self)
humanoidverse/agents/modules/data_utils.py:44
Function
compute_returns
(self, rewards, values, dones, last_values, gamma, lam)
humanoidverse/agents/modules/data_utils.py:5
Method
create_envs
Creates and initializes environments with specified configurations. Args: num_envs (int): Number of environments to crea
humanoidverse/simulator/base_simulator/base_simulator.py:70
Function
distance_l2
(root_pos, wp_pos)
humanoidverse/utils/common.py:123
Method
draw_sphere
(self, pos, radius, color, env_id, pos_id=None)
humanoidverse/simulator/isaacgym/isaacgym.py:836
Method
entropy
(self)
humanoidverse/agents/modules/ppo_modules.py:61
Method
env_step
(self, actions, extra_info=None)
humanoidverse/agents/base_algo/base_algo.py:23
Method
evaluate_policy
(self)
humanoidverse/agents/base_algo/base_algo.py:28
Method
evaluate_policy
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:579
Function
export_policy_as_jit
(actor_critic, path, exported_policy_name)
humanoidverse/utils/inference_helpers.py:6
Function
export_policy_as_jit
(actor_critic, path)
humanoidverse/utils/helpers.py:89
Function
export_policy_as_onnx
(inference_model, path, exported_policy_name, example_obs_dict)
humanoidverse/utils/inference_helpers.py:13
Method
find_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/base_simulator/base_simulator.py:93
Method
flat_terrain_func
(self, terrain, difficulty)
humanoidverse/envs/env_utils/terrain.py:142
Method
flush
(self)
humanoidverse/utils/logging.py:28
Method
forward
Dynamically creates a dictionary from the input keys and args.
humanoidverse/utils/inference_helpers.py:28
Method
forward
Dynamically creates a dictionary from the input keys and args.
humanoidverse/utils/inference_helpers.py:63
Method
forward
(self, x)
humanoidverse/utils/helpers.py:111
Method
forward
(self)
humanoidverse/agents/modules/ppo_modules.py:49
Method
forward
(self, input)
humanoidverse/agents/modules/modules.py:72
Method
forward
(self, obs_history)
humanoidverse/agents/modules/encoder_modules.py:16
Method
gap_terrain_func
(self, terrain, difficulty)
humanoidverse/envs/env_utils/terrain.py:115
Method
get_actions_log_prob
(self, actions)
humanoidverse/agents/modules/ppo_modules.py:125
Function
get_basis_vector
(q, v)
humanoidverse/utils/torch_utils.py:130
Function
get_basis_vector
(q: Tensor, v: Tensor, w_last: bool)
isaac_utils/isaac_utils/rotations.py:168
Method
get_commands
(self, env_ids)
humanoidverse/envs/env_utils/command_generator.py:17
Method
get_dof_limits_properties
Retrieves the DOF (degrees of freedom) limits and properties. Returns: Tuple of tensors representing position li
humanoidverse/simulator/base_simulator/base_simulator.py:84
Method
get_env_dim
(self)
humanoidverse/agents/modules/world_models.py:139
Function
get_euler_xyz
(q)
humanoidverse/utils/torch_utils.py:153
Function
get_euler_xyz
(q: Tensor, w_last: bool)
isaac_utils/isaac_utils/rotations.py:299
Method
get_mean
(self)
humanoidverse/utils/average_meters.py:31
Method
get_mppi_buffers
Get buffers for MPPI MPPI algo need to store the buffers to replicate environments
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:461
Method
get_statistics
(self)
humanoidverse/agents/modules/data_utils.py:151
Method
get_subplot_titles
()
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:167
Function
get_time_stamp
()
humanoidverse/utils/common.py:81
Function
heading_to_quat
(h_theta, w_last: bool)
isaac_utils/isaac_utils/rotations.py:142
Method
inference_model
(self)
humanoidverse/agents/base_algo/base_algo.py:20
Method
inference_model
(self)
humanoidverse/agents/ppo/ppo.py:464
Method
inference_model
(self)
humanoidverse/agents/ppo_ma/ppo_ma.py:568
Method
init_weights
(sequential, scales)
humanoidverse/agents/modules/ppo_modules.py:42
Function
is_valid_quat
(q)
isaac_utils/isaac_utils/rotations.py:366
Method
learn
(self)
humanoidverse/agents/base_algo/base_algo.py:13
Method
load
(self, path)
humanoidverse/agents/base_algo/base_algo.py:16
Method
load
(self, ckpt_path)
humanoidverse/agents/ppo_ma/ppo_ma.py:147
Method
load_assets
Loads the robot assets into the simulation environment. save self.num_dofs, self.num_bodies, self.dof_names, self.body_names
humanoidverse/simulator/base_simulator/base_simulator.py:59
Method
log_rewards
(self, dict, num_episodes)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:133
Method
low_obst_terrain_func
(self, terrain, difficulty)
humanoidverse/envs/env_utils/terrain.py:165
Function
matrix_to_quaternion
w x y z Convert rotations given as rotation matrices to quaternions. Args: matrix: Rotation matrices as tensor of shape (..., 3,
isaac_utils/isaac_utils/rotations.py:550
Method
maze_terrain_func
(self, terrain, difficulty)
humanoidverse/envs/env_utils/terrain.py:175
Method
mean_and_clear
(self)
humanoidverse/utils/average_meters.py:81
Method
next
(self, obs, action)
humanoidverse/agents/modules/world_models.py:22
Method
next
(self, states, actions)
humanoidverse/agents/modules/world_models.py:83
Method
next
(self, states, actions)
humanoidverse/agents/modules/world_models.py:165
Method
next_task
(self)
humanoidverse/simulator/isaacgym/isaacgym.py:829
Function
normalize
Normalize a value from a given range to a target range.
humanoidverse/utils/common.py:146
Function
normalize_angle
(x)
humanoidverse/utils/torch_utils.py:104
Method
normalize_weights
(weights)
humanoidverse/envs/legged_base_task/legged_robot_base_ma.py:170
Method
on_post_eval_env_step
(self, actor_state)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:102
Method
on_post_evaluate_policy
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:52
Method
on_pre_eval_env_step
(self, actor_state)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:55
Method
on_pre_evaluate_policy
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:43
Function
parse_model_args
(model_args_path)
humanoidverse/utils/common.py:92
Method
pit_terrain_func
(self, terrain, difficulty)
humanoidverse/envs/env_utils/terrain.py:131
Method
prepare_sim
Prepares the simulation environment and refreshes any relevant tensors.
humanoidverse/simulator/base_simulator/base_simulator.py:107
Function
print_error
(*message)
humanoidverse/utils/common.py:64
Function
print_info
(*message)
humanoidverse/utils/common.py:77
Function
print_ok
(*message)
humanoidverse/utils/common.py:69
Method
print_rewards
(self)
humanoidverse/agents/callbacks/analysis_plot_locomotion.py:274
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