Functions — github.com/NVlabs/neural-robot-dynamics

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Functions452 in github.com/NVlabs/neural-robot-dynamics

⨍ Functions 452◇ Types & classes 49

↓ 1 callersFunctioncollect_dataset

( env_name, num_envs, num_transitions, trajectory_length, dataset_path, passive =

generate/generate_dataset_cube_toss.py:37

↓ 1 callersFunctioncollect_dataset

( env_name, num_envs, num_transitions, trajectory_length, contact_prob, dataset_p

generate/generate_dataset_pendulum.py:36

↓ 1 callersFunctioncollect_dataset

( env_name, num_envs, initial_states_source, num_transitions, trajectory_length, d

generate/generate_dataset_ant.py:36

↓ 1 callersFunctioncollect_dataset

( env_name, num_envs, initial_states_source, num_transitions, trajectory_length, d

generate/generate_dataset_anymal.py:36

↓ 1 callersMethodcollision_detection

(self, model: wp.sim.Model, state: wp.sim.State)

envs/abstract_contact_environment.py:306

↓ 1 callersMethodcompute_cost_termination

( self, step: int, traj_length: int, cost: wp.array, terminated: wp.ar

envs/neural_environment.py:278

↓ 1 callersMethodcompute_dataset_statistics

(self, dataset)

algorithms/vanilla_trainer.py:233

↓ 1 callersFunctioncompute_env_offsets

( num_envs, env_offset=(5.0, 0.0, 5.0), up_axis="Y" )

envs/warp_sim_envs/environment.py:59

↓ 1 callersMethodcompute_loss

(self, data, train)

algorithms/vanilla_trainer.py:304

↓ 1 callersMethodcompute_observations

( self, observations: wp.array, step: int, horizon_length: int, )

envs/neural_environment.py:264

↓ 1 callersMethodconstruct_input_encoders

( self, input_cfg, encoder_cfg, input_sample, device = 'cuda:0' )

models/models.py:136

↓ 1 callersMethodcontrol

(self)

envs/warp_sim_envs/environment.py:551

↓ 1 callersMethodconvert_coordinate_frame

( self, root_body_q, # (B, T, 7) states, # (B, T, dof_states) next_states, #

integrators/integrator_neural.py:956

↓ 1 callersFunctionconvert_joint_torques_to_body_forces

Converts generalized joint torques `tau` to body forces `f` acting on the rigid bodies (to be applied as `wp.sim.State.body_f`). Args:

envs/warp_sim_envs/utils.py:550

↓ 1 callersMethodconvert_next_states_to_prediction

( self, states, # (B, (T), dof_states) next_states, # (B, (T), dof_states) dt

integrators/integrator_neural.py:711

↓ 1 callersMethodconvert_states_back_to_world

( self, root_body_q, # (B, T, 7) states # (B, dof_states) )

integrators/integrator_neural.py:1018

↓ 1 callersFunctioncreate_abstract_contact_env

( env_name, num_envs, requires_grad=False, device="cuda:0", render=False, **extra_env_

utils/env_utils.py:37

↓ 1 callersMethodcreate_articulation

(self, builder: wp.sim.ModelBuilder)

envs/warp_sim_envs/environment.py:489

↓ 1 callersMethodcreate_warp_views

(self, model: wp.sim.Model)

envs/abstract_contact.py:95

↓ 1 callersMethodcustom_render

(self, render_state, renderer)

envs/warp_sim_envs/environment.py:525

↓ 1 callersMethodcustomize_control

(self, control: wp.sim.Control)

envs/warp_sim_envs/environment.py:643

↓ 1 callersMethodcustomize_model

(self, model)

envs/warp_sim_envs/environment.py:646

↓ 1 callersFunctiondelta_quat_body

(quat0, quat1)

utils/torch_utils.py:77

↓ 1 callersMethodend_timer

(self, timer_name)

utils/time_report.py:79

↓ 1 callersMethodevaluate

(self, input_dict, deterministic = False)

models/models.py:196

↓ 1 callersFunctionface_indices

(tet)

envs/warp_sim_envs/utils.py:189

↓ 1 callersMethodfinish

(self)

utils/logger.py:49

↓ 1 callersFunctionfmod

(n: float, M: float)

envs/warp_sim_envs/env_cartpole.py:24

↓ 1 callersFunctiongenerate_pd_control

Generates PD control torques for the joints of a model. Args: model (wp.sim.Model): The model object. torques (wp.array): Th

envs/warp_sim_envs/utils.py:634

↓ 1 callersFunctionget_action_space

(env: Environment, use_gymnasium=True)

envs/warp_sim_envs/wrapper_utils.py:48

↓ 1 callersFunctionget_args

()

eval/eval_rl/run_rl.py:37

↓ 1 callersMethodget_datasets

(self, train_dataset_path, valid_datasets_cfg)

algorithms/vanilla_trainer.py:212

↓ 1 callersMethodget_extras

( self, extras: dict )

envs/neural_environment.py:294

↓ 1 callersMethodget_hidden_states

(self)

models/base_models.py:170

↓ 1 callersFunctionget_observation_space

( env: Environment, render_mode: str = None, use_gymnasium=True )

envs/warp_sim_envs/wrapper_utils.py:22

↓ 1 callersFunctionget_parser

()

train/arguments.py:18

↓ 1 callersMethodget_scheduled_learning_rate

(self, iteration, total_iterations)

algorithms/vanilla_trainer.py:263

↓ 1 callersFunctionhandle_cfg_overrides

(cfg_overrides, cfg)

utils/python_utils.py:73

↓ 1 callersFunctionhas_ground_penetration

(pos: wp.vec3, quat: wp.quat)

envs/warp_sim_envs/env_cube_toss.py:30

↓ 1 callersMethodhidden_states_size

(self)

models/base_models.py:181

↓ 1 callersMethodinit_epoch

(self, epoch)

utils/logger.py:34

↓ 1 callersFunctioninit_rlg_runner

(policy_path, args)

eval/eval_rl/batch_eval_policy.py:35

↓ 1 callersMethodinit_rnn

(self, batch_size)

integrators/integrator_neural.py:319

↓ 1 callersMethodinit_tensorboard

(self, summary_log_dir)

utils/logger.py:25

↓ 1 callersMethodinitialize_contacts

(self, model: wp.sim.Model)

envs/abstract_contact_environment.py:236

↓ 1 callersMethodinitialize_hidden_states

(self, batch_size)

models/base_models.py:143

↓ 1 callersFunctionkinetic_energy

( body_v: wp.array(dtype=wp.spatial_vector), joint_start: int, joint_count: int, M_start: int,

envs/warp_sim_envs/utils.py:35

↓ 1 callersMethodload_dataset

(self, hdf5_dataset_path)

utils/datasets.py:42

↓ 1 callersMethodload_dataset

(self, hdf5_dataset_path)

utils/datasets.py:129

↓ 1 callersFunctionload_rl_config

(args)

eval/eval_rl/run_rl.py:117

↓ 1 callersMethodload_trajectory_dataset

(self, hdf5_dataset_path, eval_horizon)

utils/evaluator.py:63

↓ 1 callersFunctionmod

(n: float, M: float)

envs/warp_sim_envs/utils.py:25

↓ 1 callersFunctiononehot

(i)

envs/warp_sim_envs/utils.py:757

↓ 1 callersFunctionoverride_cfg_entry

(key, value, cfg)

utils/python_utils.py:56

↓ 1 callersFunctionprint_error

(*message)

utils/python_utils.py:121

↓ 1 callersFunctionprint_white

(*message)

utils/python_utils.py:138

↓ 1 callersFunctionregister_env

( env: NeuralEnvironment, render_mode: str = "human", max_episode_length: int = 500, reward_sc

envs/rlgames_env_wrapper.py:375

↓ 1 callersFunctionremesh_alphashape

Remeshes a 3D triangular surface mesh using the alpha shape algorithm. Args: vertices: A numpy array of shape (N, 3) containing the

envs/warp_sim_envs/utils.py:226

↓ 1 callersFunctionremesh_ftetwild

Remeshes a 3D triangular surface mesh using "Fast Tetrahedral Meshing in the Wild" (fTetWild). This is useful for improving the quality of th

envs/warp_sim_envs/utils.py:157

↓ 1 callersMethodrender

(self)

envs/rlgames_env_wrapper.py:159

↓ 1 callersMethodreset_envs

Reset environments where env_ids buffer indicates True.

envs/neural_environment.py:464

↓ 1 callersMethodreset_envs

Reset environments where env_ids buffer indicates True. Resets all envs if env_ids is None.

envs/warp_sim_envs/environment.py:840

↓ 1 callersMethodreset_hidden_states

(self, batch_indices=None, hidden_states=None)

models/base_models.py:150

↓ 1 callersMethodreset_rnn_hidden_states

(self, batch_indices=None, hidden_states=None)

models/models.py:272

↓ 1 callersMethodsample_initial_states

(self, num_envs, initial_states)

generate/trajectory_sampler_anymal.py:41

↓ 1 callersMethodsample_initial_states

(self, num_envs, initial_states)

generate/trajectory_sampler.py:57

↓ 1 callersMethodsample_targets

(self, env_ids: wp.array = None)

envs/warp_sim_envs/env_franka_panda.py:376

↓ 1 callersMethodsample_trajectories_abstract_mode

( self, num_transitions: int, trajectory_length: int, passive: bool = False

generate/trajectory_sampler_pendulum.py:64

↓ 1 callersMethodsample_trajectories_action_mode

( self, num_transitions: int, trajectory_length: int, passive: bool = False,

generate/trajectory_sampler_anymal.py:79

↓ 1 callersMethodsample_trajectories_action_mode

( self, num_transitions: int, trajectory_length: int, passive: bool = False

generate/trajectory_sampler.py:335

↓ 1 callersMethodset_input_rms

(self, data_rms)

models/models.py:169

↓ 1 callersMethodset_neural_model

(self, neural_model)

envs/neural_environment.py:311

↓ 1 callersMethodset_output_rms

(self, output_rms)

models/models.py:179

↓ 1 callersMethodsetup

(self, builder)

envs/warp_sim_envs/environment.py:492

↓ 1 callersMethodsetup_renderer

(self)

envs/neural_environment.py:261

↓ 1 callersMethodsetup_renderer

(self)

envs/warp_sim_envs/environment.py:418

↓ 1 callersMethodshuffle

(self)

utils/datasets.py:189

↓ 1 callersMethodsimulate

( self, model: Model, state_in: State, state_out: State, dt: float,

integrators/integrator_neural.py:329

↓ 1 callersFunctionsolve_argv_conflict

(args_list)

utils/python_utils.py:22

↓ 1 callersMethodstart_timer

(self, timer_name)

utils/time_report.py:73

↓ 1 callersMethodtest

(self)

algorithms/vanilla_trainer.py:670

↓ 1 callersFunctiontetrahedralize

Tetrahedralizes a 3D triangular surface mesh using "Fast Tetrahedral Meshing in the Wild" (fTetWild). This function requires that wildmeshin

envs/warp_sim_envs/utils.py:122

↓ 1 callersMethodtic

(self)

utils/time_report.py:26

↓ 1 callersMethodtoc

(self)

utils/time_report.py:29

↓ 1 callersMethodtorch_state_to_q_qd

(torch_state)

envs/warp_sim_envs/env_cube_toss.py:234

↓ 1 callersFunctiontrain_policy

(runner)

eval/eval_rl/run_rl.py:247

↓ 1 callersFunctiontransform_point

(pos, quat, point)

utils/torch_utils.py:121

↓ 1 callersFunctiontransform_point_inverse

(pos, quat, point)

utils/torch_utils.py:125

↓ 1 callersMethodupdate_from_moments

( self, batch_mean: torch.tensor, batch_var: torch.tensor, batch_count: int

utils/running_mean_std.py:57

↓ 1 callersFunctionupdate_ground_plane

( builder, pos, rot, ke: float = None, kd: float = None, kf: float = None, mu: flo

envs/warp_sim_envs/utils.py:769

↓ 1 callersFunctionvisualize_dataset

(dataset_path, num_envs, num_transitions)

generate/visualize_dataset.py:28

Method__getattr__

(self, name)

envs/abstract_contact_environment.py:222

utils/datasets.py:177

Method__init__

( self, neural_env: NeuralEnvironment, hdf5_dataset_path = None, eval_horizon

utils/evaluator.py:38

( self, batch_size, hdf5_dataset_path, max_capacity = 10000000

utils/datasets.py:28

Method__init__

( self, hdf5_dataset_path, sample_sequence_length = 10, max_capacity = 1000000

utils/datasets.py:119

Method__init__

Calulates the running mean and std of a data stream https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algori

utils/running_mean_std.py:21

Method__init__

( self, epsilon: float = 1e-4, obs_sample: dict = {}, batch_dim = False,

utils/running_mean_std.py:89

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