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Functions434 in github.com/Marine-RL/MarineGym

⨍ Functions 434◇ Types & classes 73
Methodforward
(self, tensor: torch.Tensor)
marinegym/learning/modules/distributions.py:357
Methodforward
( self, reward: torch.Tensor, terminated: torch.Tensor, value: torch.Tensor,
marinegym/learning/ppo/common.py:36
Methodforward
(self, features: torch.Tensor)
marinegym/learning/ppo/ppo.py:78
Methodget_angular_smoothness
(self)
marinegym/robots/drone/tiltRotor.py:557
Methodget_angular_smoothness
(self)
marinegym/robots/drone/underwaterVehicle.py:340
Methodget_angular_smoothness
(self)
marinegym/robots/drone/underwaterVehicleFin.py:395
Methodget_body_masses
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:376
Methodget_coms
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:565
Methodget_contact_force_matrix
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True, dt: fl
marinegym/views/__init__.py:506
Functionget_ctps
reshape the decision var x and plug it into the control points at start:end c: control points of shape [nctps, dim] x: decision var of s
marinegym/utils/bspline.py:182
Methodget_dof_limits
(self)
marinegym/views/__init__.py:369
Methodget_env_poses
(self, world_poses: Tuple[torch.Tensor, torch.Tensor])
marinegym/envs/isaac_env.py:340
Functionget_first_matching_child_prim
Recursively get the first USD Prim at the path string that passes the predicate function Args: prim_path (str): path of the prim in the s
marinegym/envs/utils/prims.py:121
Methodget_force_sensor_forces
(self, env_indices: Optional[torch.Tensor] = None, clone: bool = False)
marinegym/views/__init__.py:390
Methodget_images
(self)
marinegym/sensors/camera.py:135
Methodget_joint_positions
(self, clone: bool=False)
marinegym/robots/robot.py:220
Methodget_joint_positions
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:322
Methodget_joint_velocities
(self, clone: bool=False)
marinegym/robots/robot.py:235
Methodget_joint_velocities
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:288
Functionget_knots
(n_ctps: int, k: int, device="cpu")
marinegym/utils/bspline.py:204
Methodget_linear_smoothness
(self)
marinegym/robots/drone/tiltRotor.py:551
Methodget_linear_smoothness
(self)
marinegym/robots/drone/underwaterVehicle.py:334
Methodget_linear_smoothness
(self)
marinegym/robots/drone/underwaterVehicleFin.py:389
Methodget_net_contact_forces
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = False, dt: f
marinegym/views/__init__.py:495
Functionget_next_free_path
Returns the next free usd path for the current stage Args: path (str): path we want to check parent (str, optional): Parent prim
marinegym/envs/utils/stage.py:346
Functionget_prim_object_type
Get the dynamic control Ooject type of the USD Prim at the given path. If the prim at the path is of Dynamic Control type--i.e. rigid_body, joint
marinegym/envs/utils/prims.py:466
Functionget_prim_property
Get the attribute of the USD Prim at the given path Args: prim_path (str): path of the prim in the stage property_name (str): nam
marinegym/envs/utils/prims.py:438
Functionget_stage_units
Get the stage meters per unit currently set Returns: float: current stage meters per unit
marinegym/envs/utils/stage.py:337
Functionget_stage_up_axis
Get the current up-axis of USD stage. Returns: str: The up-axis of the stage.
marinegym/envs/utils/stage.py:82
Methodget_state
(self, check_nan: bool=False, env_frame: bool=True)
marinegym/robots/drone/tiltRotor.py:419
Methodget_state
(self, check_nan: bool=False, env_frame: bool=True)
marinegym/robots/drone/underwaterVehicle.py:279
Methodget_state
(self, check_nan: bool=False, env_frame: bool=True)
marinegym/robots/drone/underwaterVehicleFin.py:335
Methodget_thrust_to_weight_ratio
(self)
marinegym/robots/drone/tiltRotor.py:548
Methodget_thrust_to_weight_ratio
(self)
marinegym/robots/drone/underwaterVehicle.py:331
Methodget_thrust_to_weight_ratio
(self)
marinegym/robots/drone/underwaterVehicleFin.py:386
Methodget_velocities
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:276
Methodget_world_poses
( self, env_indices: Optional[torch.Tensor] = None, clone: bool = True )
marinegym/views/__init__.py:246
Functionhelical
(t, c)
marinegym/envs/utils/__init__.py:188
Methodinit_
(m)
marinegym/learning/modules/distributions.py:72
Methodinit_
(module)
marinegym/learning/ppo/ppo.py:160
Functioninit_traj
pos: (*batch, dim) linvel: (*batch, dim) target_pos: (*batch, dim) n_ctps: number of control points k: degree of b-spline
marinegym/utils/bspline.py:122
Methodinitialize
( self, prim_paths_expr: str = None, )
marinegym/robots/robot.py:160
Methodinitialize
( self, prim_paths_expr: str = None, track_contact_forces: bool = False )
marinegym/robots/drone/tiltRotor.py:73
Methodinitialize
( self, prim_paths_expr: str = None, track_contact_forces: bool = False )
marinegym/robots/drone/underwaterVehicle.py:72
Methodinitialize
( self, prim_paths_expr: str = None, track_contact_forces: bool = False )
marinegym/robots/drone/underwaterVehicleFin.py:74
Methodinitialize
Create a physics simulation view if not passed and creates an articulation view using physX tensor api. Args: physics_sim_view (o
marinegym/views/__init__.py:79
Methodinitialize
(self, physics_sim_view: omni.physics.tensors.SimulationView = None)
marinegym/views/__init__.py:456
Functionis_prim_non_root_articulation_link
Used to query if the prim_path corresponds to a link in an articulation which is a non root link. Args: prim_path (str): prim_path to que
marinegym/envs/utils/prims.py:506
Functionis_stage_loading
Convenience function to see if any files are being loaded. Returns: bool: True if loading, False otherwise
marinegym/envs/utils/stage.py:310
Methoditerator
Iterates through the DataCollector. Yields: TensorDictBase objects containing (chunks of) trajectories
marinegym/utils/torchrl/collector.py:41
Methodlog_prob
(self, value: torch.Tensor)
marinegym/learning/modules/distributions.py:170
Methodlog_prob
(self, value)
marinegym/learning/modules/distributions.py:328
Methodlogits
(self)
marinegym/learning/modules/distributions.py:310
Methodmake
(drone_model: str, controller: str=None, device: str="cpu")
marinegym/robots/drone/underwaterVehicle.py:355
Methodmake
(drone_model: str, controller: str=None, device: str="cpu")
marinegym/robots/drone/underwaterVehicleFin.py:410
Functionmake_cells
Compute the cell centers of a n-d grid. Examples: >>> cells = make_cells([0, 0], [1, 1], 0.1) >>> cells[:2, :2] tensor([[
marinegym/utils/torch.py:158
Functionmake_mlp
(num_units: Sequence[int,], activation=nn.LeakyReLU)
marinegym/learning/ppo/common.py:58
Functionmanual_batch
(func)
marinegym/utils/torch.py:42
Methodmode
(self)
marinegym/learning/modules/distributions.py:318
Methodmode
(self)
marinegym/learning/modules/distributions.py:401
Functionmove_nested_prims
Moves all prims from source namespace to target namespace. This function also moves all the references inside the source prim path to the tar
marinegym/utils/kit.py:114
Functionmove_prim
Run the Move command to change a prims USD Path in the stage Args: path_from (str): Path of the USD Prim you wish to move path_to
marinegym/envs/utils/prims.py:111
Functionnormalize
(x: torch.Tensor, eps: float = 1e-6)
marinegym/utils/math.py:97
Methodnormalize
(self, input_vector: torch.Tensor)
marinegym/learning/utils/valuenorm.py:93
Methodnormalize
(self, input_vector: torch.Tensor)
marinegym/learning/utils/valuenorm.py:148
Methodobservation_spec
(self)
marinegym/utils/torchrl/env.py:48
Functionoff_diag
(a: torch.Tensor)
marinegym/envs/utils/helpers.py:27
Functionopen_stage
Open the given usd file and replace currently opened stage. Args: usd_path (str): Path to the USD file to open. Raises: Valu
marinegym/envs/utils/stage.py:195
Functionopen_stage_async
Open the given usd file and replace currently opened stage (asynchronous version). Args: usd_path (str): Path to the USD file to open.
marinegym/envs/utils/stage.py:216
Functionothers
(x: torch.Tensor)
marinegym/utils/torch.py:80
Methodplot
(self, x: torch.Tensor, size=2.0, color=(1., 1., 1., 1.))
marinegym/envs/isaac_env.py:55
Functionpoisson_disk_sampling
Generate a set of points using Poisson disk sampling. Parameters ---------- width : float Width of the area to sample. h
marinegym/utils/poisson_disk.py:29
Functionprint_stage_prim_paths
Traverses the stage and prints all prim paths.
marinegym/envs/utils/stage.py:141
Methodprobs
(self)
marinegym/learning/modules/distributions.py:314
Methodprocess_rl_actions
(self, actions)
marinegym/controllers/lee_position_controller.py:207
Methodprocess_rl_actions
(self, actions: torch.Tensor)
marinegym/controllers/lee_position_controller.py:357
Methodprocess_rl_actions
(self, actions)
marinegym/controllers/controller.py:25
Functionquat_mul
(a: torch.Tensor, b: torch.Tensor)
marinegym/utils/torch.py:242
Functionquaternion_to_euler
(quaternion: torch.Tensor)
marinegym/utils/math.py:61
Functionquaternion_to_rotation_matrix
(quaternion: torch.Tensor)
marinegym/utils/math.py:27
Functionquery_parent_path
Check if one of the ancestors of the prim at the prim_path can pass the predicate Args: prim_path (str): path to the USD Prim for which t
marinegym/envs/utils/prims.py:264
Functionregister
(_map: Dict, name=None)
marinegym/learning/modules/networks.py:36
Functionrequire_sim_initialized
(func)
marinegym/views/__init__.py:42
Methodreward_spec
(self)
marinegym/utils/torchrl/env.py:67
Methodrsample
(self, sample_shape: torch.Size = torch.Size())
marinegym/learning/modules/distributions.py:167
Methodsample
(self, sample_shape=torch.Size())
marinegym/learning/modules/distributions.py:302
Functionsave_depth
(imgs: Union[torch.Tensor, np.ndarray, List[np.ndarray]], save_path: str = './')
marinegym/utils/image.py:32
Functionsave_image
(imgs: Union[torch.Tensor, np.ndarray, List[np.ndarray]], save_path: str = './')
marinegym/utils/image.py:49
Methodset_body_masses
( self, values: torch.Tensor, env_indices: Optional[torch.Tensor] = None, )
marinegym/views/__init__.py:382
Methodset_coms
( self, positions: torch.Tensor = None, # orientations: torch.Tensor = None, e
marinegym/views/__init__.py:574
Functionset_drive_dof_properties
Set the DOF properties of a drive on an articulation. Args: prim_path (str): The prim path to the articulation root. dof_name (st
marinegym/utils/kit.py:134
Methodset_flow_velocities
(self, env_ids, max_flow_velocity, flow_velocity_gaussian_noise)
marinegym/robots/drone/underwaterVehicle.py:327
Methodset_flow_velocities
(self, env_ids, max_flow_velocity, flow_velocity_gaussian_noise)
marinegym/robots/drone/underwaterVehicleFin.py:382
Methodset_joint_efforts
( self, efforts: Optional[torch.Tensor], env_indices: Optional[torch.Tensor] = None,
marinegym/views/__init__.py:356
Methodset_joint_position_targets
( self, positions: Optional[torch.Tensor], env_indices: Optional[torch.Tensor] = None,
marinegym/views/__init__.py:343
Methodset_joint_positions
( self, positions: Optional[torch.Tensor], env_indices: Optional[torch.Tensor] = None,
marinegym/views/__init__.py:330
Methodset_joint_velocities
( self, velocities: Optional[torch.Tensor], env_indices: Optional[torch.Tensor] = None
marinegym/views/__init__.py:296
Methodset_joint_velocity_targets
( self, velocities: Optional[torch.Tensor], env_indices: Optional[torch.Tensor] = None
marinegym/views/__init__.py:309
Functionset_livesync_stage
[summary] Args: usd_path (str): path to enable live sync for, t will be overwritten with the current stage enable (bool): True to
marinegym/envs/utils/stage.py:279
Functionset_nested_articulation_properties
Set PhysX parameters on all articulations under specified prim-path. Note: Check the method meth:`set_articulation_properties` for keywor
marinegym/utils/kit.py:455
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