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Functions434 in github.com/Marine-RL/MarineGym

⨍ Functions 434◇ Types & classes 73
↓ 55 callersMethodto
(self, device)
marinegym/envs/isaac_env.py:333
↓ 24 callersMethodsample
(self, sample_shape: torch.Size = torch.Size())
marinegym/learning/modules/distributions.py:164
↓ 16 callersFunctionget_prim_at_path
Get the USD Prim at a given path string Args: prim_path (str): path of the prim in the stage Returns: Usd.Prim: USD Prim obj
marinegym/envs/utils/prims.py:51
↓ 15 callersFunctionquat_rotate_inverse
(q: torch.Tensor, v: torch.Tensor)
marinegym/utils/torch.py:198
↓ 13 callersMethod_resolve_env_indices
(self, env_indices: torch.Tensor)
marinegym/views/__init__.py:399
↓ 13 callersFunctionget_current_stage
Get the current open USD stage. Returns: Usd.Stage: The USD stage.
marinegym/envs/utils/stage.py:47
↓ 13 callersMethodupdate
(self, input_vector: torch.Tensor)
marinegym/learning/utils/valuenorm.py:31
↓ 12 callersMethod_resolve_env_indices
(self, env_indices: torch.Tensor)
marinegym/views/__init__.py:599
↓ 12 callersFunctionget_prim_path
Get the path of a given USD prim. Args: prim (Usd.Prim): The input USD prim. Returns: str: The path to the input prim.
marinegym/envs/utils/prims.py:338
↓ 10 callersMethodget_world_poses
(self, clone: bool=False)
marinegym/robots/robot.py:208
↓ 10 callersMethodpop
(self)
marinegym/utils/torchrl/env.py:121
↓ 10 callersFunctionquat_axis
(q: torch.Tensor, axis: int=0)
marinegym/utils/torch.py:226
↓ 9 callersMethodmean
(self)
marinegym/learning/modules/distributions.py:397
↓ 8 callersMethod__init__
( self, logits: torch.Tensor, low=-20.0, high=20.0, )
marinegym/learning/modules/distributions.py:385
↓ 8 callersFunctionmake_mlp
(num_units)
marinegym/learning/ppo/ppo.py:63
↓ 7 callersMethod__init__
( self, num_units: Sequence[int], normalization: Union[str, nn.Module] = None,
marinegym/learning/modules/networks.py:47
↓ 6 callersMethodget_inertias
( self, env_indices: Optional[torch.Tensor]=None, clone: bool=True )
marinegym/views/__init__.py:583
↓ 6 callersMethodsqueeze_
(self, dim: int = None)
marinegym/views/__init__.py:609
↓ 5 callersMethod__init__
( self, in_keys: Sequence[str], out_keys: Sequence[str]=None, steps: int = 32,
marinegym/utils/torchrl/transforms.py:277
↓ 5 callersMethodget_velocities
(self, clone: bool=False)
marinegym/robots/robot.py:214
↓ 5 callersMethodinitialize
( self, prim_paths_expr: str = None, )
marinegym/sensors/camera.py:107
↓ 4 callersFunctiondisable_warnings
(physics_sim_view)
marinegym/views/__init__.py:615
↓ 4 callersMethodenable_render
(self, enable: Union[bool, Callable]=True)
marinegym/envs/isaac_env.py:354
↓ 4 callersFunctioneuler_to_quaternion
(euler: torch.Tensor)
marinegym/utils/torch.py:134
↓ 4 callersFunctionget_all_matching_child_prims
Performs a breadth-first search starting from the root and returns all the prims matching the predicate. Args: prim_path (str): root prim
marinegym/envs/utils/prims.py:168
↓ 4 callersMethodget_masses
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:515
↓ 4 callersFunctionget_prim_parent
Return the call of the USD Prim's GetChildren member function Args: prim (Usd.Prim): The USD Prim to call GetParent on Returns:
marinegym/envs/utils/prims.py:252
↓ 4 callersFunctionis_prim_path_valid
Check if a path has a valid USD Prim at it Args: prim_path (str): path of the prim in the stage Returns: bool: True if the p
marinegym/envs/utils/prims.py:63
↓ 4 callersMethodlog_prob
(self, x)
marinegym/learning/modules/distributions.py:404
↓ 4 callersFunctionquaternion_to_euler
(quaternion: torch.Tensor)
marinegym/utils/torch.py:118
↓ 3 callersFunctionaxis_angle_to_matrix
(angle, axis)
marinegym/utils/torch.py:237
↓ 3 callersFunctioncompute_parameters
( rotor_config, inertia_matrix, )
marinegym/controllers/lee_position_controller.py:43
↓ 3 callersMethodget_force_sensor_forces
(self, clone: bool=False)
marinegym/robots/robot.py:241
↓ 3 callersFunctionnormalize
(x: torch.Tensor, eps: float = 1e-6)
marinegym/utils/torch.py:154
↓ 3 callersFunctionquaternion_to_rotation_matrix
(quaternion: torch.Tensor)
marinegym/utils/torch.py:84
↓ 3 callersMethodrollout
(self)
marinegym/utils/torchrl/collector.py:35
↓ 3 callersMethodset_joint_velocities
(self, vel: torch.Tensor, env_indices: torch.Tensor = None)
marinegym/robots/robot.py:238
↓ 3 callersMethodset_masses
( self, masses: torch.Tensor, env_indices: Optional[torch.Tensor] = None )
marinegym/views/__init__.py:541
↓ 3 callersMethodset_world_poses
(self, positions: torch.Tensor=None, orientations: torch.Tensor=None, env_indices: torch.Tensor = None)
marinegym/robots/robot.py:211
↓ 3 callersFunctionsymlog
The symlog transformation described in https://arxiv.org/pdf/2301.04104v1.pdf
marinegym/utils/torch.py:265
↓ 2 callersMethod__init__
(self, g, uav_params)
marinegym/controllers/lee_position_controller.py:311
↓ 2 callersMethod_compute_state_and_obs
(self)
marinegym/envs/isaac_env.py:282
↓ 2 callersMethod_compute_traj
(self, steps: int, env_ids=None, step_size: float=1.)
marinegym/envs/single/track.py:284
↓ 2 callersMethod_ff_block
(self, x: Tensor)
marinegym/learning/modules/networks.py:308
↓ 2 callersMethod_pa_block
(self, x: Tensor, key_padding_mask: Optional[Tensor] = None)
marinegym/learning/modules/networks.py:298
↓ 2 callersMethodapply_action
(self, actions: torch.Tensor)
marinegym/robots/robot.py:201
↓ 2 callersFunctionattach_payload
(parent_path)
marinegym/envs/utils/__init__.py:34
↓ 2 callersMethodclear
(self)
marinegym/envs/isaac_env.py:52
↓ 2 callersMethoddenormalize
(self, input_vector: torch.Tensor)
marinegym/learning/utils/valuenorm.py:37
↓ 2 callersMethodget_state
(self)
marinegym/robots/robot.py:250
↓ 2 callersFunctiongrid_coords
(p)
marinegym/utils/poisson_disk.py:50
↓ 2 callersFunctionij
(a: torch.Tensor)
marinegym/learning/modules/networks.py:81
↓ 2 callersFunctioninit_simulation_app
(cfg)
marinegym/__init__.py:10
↓ 2 callersFunctionis_prim_root_path
Checks if the input prim path is root or not. Args: prim_path (str): The path to the USD prim. Returns: True if the prim pat
marinegym/envs/utils/prims.py:296
↓ 2 callersMethodmake
(drone_model: str, controller: str=None, device: str="cpu")
marinegym/robots/drone/tiltRotor.py:595
↓ 2 callersFunctionoff_diag
(a: torch.Tensor)
marinegym/utils/torch.py:63
↓ 2 callersFunctionprocess
(p)
marinegym/utils/poisson_disk.py:65
↓ 2 callersFunctionquat_rotate
(q: torch.Tensor, v: torch.Tensor)
marinegym/utils/torch.py:187
↓ 2 callersFunctionravel_composite
r""" Examples: >>> obs_spec = CompositeSpec({ ... "obs_self": UnboundedContinuousTensorSpec((1, 19)), ... "obs_others": Unbou
marinegym/utils/torchrl/transforms.py:180
↓ 2 callersMethodrender
(self, mode: str="human")
marinegym/envs/isaac_env.py:362
↓ 2 callersMethodreset
(self, tensordict: TensorDictBase)
marinegym/utils/torchrl/transforms.py:319
↓ 2 callersMethodrunning_mean_var
(self)
marinegym/learning/utils/valuenorm.py:72
↓ 2 callersMethodset_flow_velocities
(self, env_ids, max_flow_velocity, flow_velocity_gaussian_noise)
marinegym/robots/drone/tiltRotor.py:479
↓ 2 callersMethodset_joint_position_targets
(self, pos: torch.Tensor, env_indices: torch.Tensor = None)
marinegym/robots/robot.py:230
↓ 2 callersMethodset_joint_positions
(self, pos: torch.Tensor, env_indices: torch.Tensor = None)
marinegym/robots/robot.py:225
↓ 2 callersMethodset_velocities
(self, velocities: torch.Tensor, env_indices: torch.Tensor = None)
marinegym/robots/robot.py:217
↓ 2 callersFunctionsetup_joint
(joint, attributes)
marinegym/envs/utils/__init__.py:125
↓ 2 callersMethodspawn
( self, prim_paths: Sequence[str], translations=None, targets=None, )
marinegym/sensors/camera.py:73
↓ 2 callersFunctionto_camel_case
Converts a string from snake case to camel case. Args: snake_str (str): A string in snake case (i.e. with '_') to (Optional[str],
marinegym/sensors/camera.py:227
↓ 1 callersMethod__init__
( self, prim_paths_expr: str, name: str = "rigid_prim_view", positions: Option
marinegym/views/__init__.py:415
↓ 1 callersMethod__init__
(self, cfg, headless)
marinegym/envs/isaac_env.py:84
↓ 1 callersMethod__init__
( self, input_shape: Union[int, Iterable], beta=0.995, epsilon=1e-5, )
marinegym/learning/utils/valuenorm.py:42
↓ 1 callersMethod__init__
(self, action_dim: int)
marinegym/learning/ppo/ppo.py:73
↓ 1 callersMethod_backbone_fn
(self, x)
marinegym/learning/modules/networks.py:381
↓ 1 callersMethod_compute
(self, root_state, target_pos, target_vel, target_acc, target_yaw, body_rate)
marinegym/controllers/lee_position_controller.py:158
↓ 1 callersMethod_compute
( self, root_state: torch.Tensor, target_thrust: torch.Tensor, target_yaw_rate
marinegym/controllers/lee_position_controller.py:266
↓ 1 callersMethod_compute_reward_and_done
(self)
marinegym/envs/isaac_env.py:286
↓ 1 callersMethod_configure_simulation_flags
Configure simulation flags and extensions at load and run time.
marinegym/envs/isaac_env.py:294
↓ 1 callersMethod_create_prim
(self, prim_path, translation, orientation)
marinegym/robots/robot.py:151
↓ 1 callersMethod_create_viewport_render_product
Create a render product of the viewport for rendering.
marinegym/envs/isaac_env.py:383
↓ 1 callersMethod_define_usd_camera_attributes
Creates and sets USD camera attributes. This function creates additional attributes on the camera prim used by Replicator. It also se
marinegym/sensors/camera.py:149
↓ 1 callersMethod_design_scene
Creates the template environment scene. All prims under the *template namespace* will be duplicated across the stage and collisions b
marinegym/envs/isaac_env.py:217
↓ 1 callersMethod_inv_call
(self, tensordict: TensorDictBase)
marinegym/utils/torchrl/transforms.py:228
↓ 1 callersMethod_post_sim_step
(self, tensordict: TensorDictBase)
marinegym/envs/isaac_env.py:278
↓ 1 callersMethod_pre_sim_step
(self, tensordict: TensorDictBase)
marinegym/envs/isaac_env.py:275
↓ 1 callersMethod_randomize
(self, env_ids: torch.Tensor, distributions: Dict[str, D.Distribution])
marinegym/robots/drone/tiltRotor.py:483
↓ 1 callersMethod_reset_idx
(self, env_ids: torch.Tensor)
marinegym/envs/isaac_env.py:261
↓ 1 callersMethod_set_specs
(self)
marinegym/envs/isaac_env.py:213
↓ 1 callersMethod_setup_backbone
(self)
marinegym/learning/modules/networks.py:386
↓ 1 callersFunction_splev_torch_impl
x: (nx,) t: (m, ) c: (n, dim)
marinegym/utils/bspline.py:100
↓ 1 callersMethod_update
(self, tensordict: TensorDict)
marinegym/learning/ppo/ppo.py:212
↓ 1 callersMethodadd
(self, tensordict: TensorDictBase)
marinegym/utils/torchrl/env.py:111
↓ 1 callersFunctionadd_reference_to_stage
Add USD reference to the opened stage at specified prim path. Args: usd_path (str): The path to USD file. prim_path (str): The pr
marinegym/envs/utils/stage.py:151
↓ 1 callersMethodapply_action
(self, actions: torch.Tensor)
marinegym/robots/drone/tiltRotor.py:276
↓ 1 callersMethodapply_action
(self, actions: torch.Tensor)
marinegym/robots/drone/underwaterVehicleFin.py:203
↓ 1 callersMethodapply_hydrodynamic_forces
(self, flow_vels_w)
marinegym/robots/drone/tiltRotor.py:332
↓ 1 callersMethodapply_hydrodynamic_forces
(self, flow_vels_w)
marinegym/robots/drone/underwaterVehicle.py:203
↓ 1 callersMethodapply_hydrodynamic_forces
(self, flow_vels_w)
marinegym/robots/drone/underwaterVehicleFin.py:259
↓ 1 callersFunctionaxis_angle_to_quaternion
(angle: torch.Tensor, axis: torch.Tensor)
marinegym/utils/torch.py:232
↓ 1 callersMethodcalculate_acc
(self, body_vels)
marinegym/robots/drone/tiltRotor.py:368
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