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

⨍ Functions 452◇ Types & classes 49
Methodcontrol_limits
(self)
envs/neural_environment.py:200
Methodcontrollable_dofs
(self)
envs/neural_environment.py:238
Functionconvert_angular_states_b2w
(frame_quat, quat, omega)
utils/torch_utils.py:151
Functionconvert_angular_states_w2b
(frame_quat, quat, omega)
utils/torch_utils.py:145
Functionconvert_dict_to_hydra_str_list
(cfg, prefix="")
utils/python_utils.py:45
Functionconvert_joint_torques
( body_q: wp.array(dtype=wp.transform), body_com: wp.array(dtype=wp.vec3), joint_type: wp.array(dt
envs/warp_sim_envs/utils.py:373
Functionconvert_states_b2w
(frame_pos, frame_quat, p, quat, omega, nu)
utils/torch_utils.py:137
Functionconvert_states_w2b
(frame_pos, frame_quat, p, quat, omega, nu)
utils/torch_utils.py:129
Functioncost2reward
( cost: wp.array(dtype=float), scale: float, bias: float, reward: wp.array(dtype=float), )
envs/warp_sim_envs/wrapper_utils.py:63
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_ant.py:360
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_cartpole.py:169
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_pendulum_with_contact.py:93
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_franka_panda.py:300
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_anymal.py:446
Methodcreate_articulation
(self, builder)
envs/warp_sim_envs/env_cube_toss.py:199
Methodcrop_block_size
(self, block_size)
models/model_transformer.py:212
Methodcustom_render
(self, render_state, renderer)
envs/warp_sim_envs/env_ant.py:581
Methodcustom_render
(self, render_state, renderer)
envs/warp_sim_envs/env_franka_panda.py:443
Methodcustom_render
(self, render_state, renderer)
envs/warp_sim_envs/env_anymal.py:692
Methodcustom_render
(self, render_state, renderer)
envs/warp_sim_envs/env_cube_toss.py:311
Methoddelete_timer
(self, timer_name)
utils/time_report.py:69
Functiondelta_quat
(quat0, quat1, frame='world')
utils/torch_utils.py:85
Functiondetermine_angular_dofs
( joint_type: wp.array(dtype=int), joint_q_start: wp.array(dtype=int), joint_axis_start: wp.array(
integrators/integrator_neural.py:37
Methoddevice
(self)
envs/neural_environment.py:212
Functiondevice_to_torch
(warp_device)
utils/warp_utils.py:137
Methoddof_q_per_env
(self)
envs/neural_environment.py:164
Methoddof_qd_per_env
(self)
envs/neural_environment.py:168
Functiondouble_cartpole_cost
( joint_q: wp.array(dtype=wp.float32), joint_qd: wp.array(dtype=wp.float32), joint_act: wp.array(d
envs/warp_sim_envs/env_cartpole.py:59
Methodentrop
(self)
models/distributions.py:23
Methodenv_is_wrapped
Check if environments are wrapped with a given wrapper :return: (List[bool]) List of bools for each environment, indicating if wrapp
envs/rlgames_env_wrapper.py:291
Methodenv_method
Call instance methods of vectorized environments. :param method_name: (str) The name of the environment method to invoke. :p
envs/rlgames_env_wrapper.py:262
Methodestimate_mfu
estimate model flops utilization (MFU) in units of A100 bfloat16 peak FLOPS
models/model_transformer.py:322
Functioneval_center_of_mass
( body_q: wp.array(dtype=wp.transform), body_com: wp.array(dtype=wp.vec3), body_mass: wp.array(dty
envs/warp_sim_envs/utils.py:97
Methodeval_collisions
(self)
envs/neural_environment.py:250
Functioneval_fk
(model, state)
utils/warp_utils.py:119
Functioneval_ik
(model, state)
utils/warp_utils.py:129
Functioneval_kinetic_energy
( articulation_start: wp.array(dtype=int), articulation_M_start: wp.array(dtype=int), body_v: wp.a
envs/warp_sim_envs/utils.py:54
Functioneval_potential_energy
( body_q: wp.array(dtype=wp.transform), body_com: wp.array(dtype=wp.vec3), body_mass: wp.array(dty
envs/warp_sim_envs/utils.py:75
Functioneval_timeout
( max_episode_length: int, timeout_buf: wp.array(dtype=bool), progress_buf: wp.array(dtype=int),
envs/rlgames_env_wrapper.py:40
Functioneval_timeout
( max_episode_length: int, timeout_buf: wp.array(dtype=bool), progress_buf: wp.array(dtype=int),
envs/warp_sim_envs/wrapper_utils.py:74
Functionexponential_coord_to_quat
(exp_coord)
utils/torch_utils.py:113
Methodforward
(self, input)
models/model_transformer.py:27
Methodforward
(self, x)
models/model_transformer.py:57
Methodforward
(self, x)
models/model_transformer.py:97
Methodforward
(self, x)
models/model_transformer.py:113
Methodforward
(self, idx, targets=None)
models/model_transformer.py:183
Methodforward
(self, inputs, deterministic = False)
models/models.py:46
Methodforward
(self, input_dict, deterministic = False, inject_noise = False)
models/models.py:218
Methodforward
(self, inputs)
models/base_models.py:39
Methodforward
(self, x)
models/base_models.py:62
Methodforward
(self, x)
models/base_models.py:138
Methodframe_dt
(self)
envs/neural_environment.py:258
Functionfranka_reaching_cost
( body_q: wp.array(dtype=wp.transform), ee_id: int, ee_offset: wp.transform, targets: wp.array
envs/warp_sim_envs/env_franka_panda.py:67
Methodfrom_pretrained
(cls, model_type, override_args=None)
models/model_transformer.py:226
Methodgenerate
Take a conditioning sequence of indices idx (LongTensor of shape (b,t)) and complete the sequence max_new_tokens times, feeding the p
models/model_transformer.py:339
Functiongenerate_contact_pairs
( geo: warp.sim.ModelShapeGeometry, shape_shape_collision: wp.array(dtype=bool), num_shapes_per_en
envs/abstract_contact_environment.py:35
Functiongenerate_pd_control_kernel
( joint_q: wp.array(dtype=wp.float32), joint_qd: wp.array(dtype=wp.float32), target_q: wp.array(dt
envs/warp_sim_envs/utils.py:597
Functionget_activation_func
(activation_name)
models/model_utils.py:23
Methodget_attr
Return attribute from vectorized environment. :param attr_name: (str) The name of the attribute whose value to return :param
envs/rlgames_env_wrapper.py:239
Methodget_datasets
(self, train_dataset_path, valid_datasets_cfg)
algorithms/sequence_model_trainer.py:34
Methodget_env_info
(self)
envs/rlgames_env_wrapper.py:299
Methodget_extras
( self, extras: dict )
envs/warp_sim_envs/environment.py:697
Methodget_hidden_states
(self)
models/base_models.py:106
Methodget_images
Return RGB images from each environment
envs/rlgames_env_wrapper.py:285
Methodget_neural_model_inputs
(self)
integrators/integrator_neural_stateful.py:86
Methodget_neural_model_inputs
(self)
integrators/integrator_neural_transformer.py:38
Methodget_rgb_observations
(self)
envs/rlgames_env_wrapper.py:146
Methodget_rnn_hidden_states
(self)
models/models.py:251
Methodget_state_observations
(self)
envs/rlgames_env_wrapper.py:138
Methodhidden_states_size
(self)
models/base_models.py:118
Functioninit
(module, weight_init, bias_init, gain=1)
models/model_utils.py:18
Methodinit_rnn
(self, batch_size)
envs/neural_environment.py:304
Methodinit_wandb
(self, wandb_project, wandb_name)
utils/logger.py:28
Methodinitialize_hidden_states
(self, batch_size)
models/base_models.py:67
Methodjoint_act
(self)
envs/warp_sim_envs/environment.py:633
Methodjoint_act_dim
(self)
envs/neural_environment.py:188
Methodjoint_act_dim
(self)
envs/warp_sim_envs/environment.py:637
Methodjoint_act_dim
(self)
generate/simulation_sampler.py:228
Methodjoint_control
(self)
envs/neural_environment.py:234
Methodjoint_limit_lower
(self)
envs/neural_environment.py:180
Methodjoint_limit_upper
(self)
envs/neural_environment.py:184
Methodjoint_types
(self)
envs/neural_environment.py:208
Methodlog_probs
(self, actions)
models/distributions.py:20
Methodmode
(self)
models/distributions.py:26
Methodnext_state
Shortcut to subsequent state (the state to which we will write to at the next substep) Note: This property is only rarely useful sin
envs/warp_sim_envs/environment.py:538
Functionnormalize
(x, eps: float = 1e-9)
utils/torch_utils.py:98
Methodnormalize
(self, obs: dict, un_norm = False)
utils/running_mean_std.py:115
Methodnum_contacts_per_env
(self)
envs/neural_environment.py:254
Methodnum_envs
(self)
envs/neural_environment.py:160
Methodobservation_dim
(self)
envs/neural_environment.py:204
Methodobservation_dim
(self)
envs/warp_sim_envs/env_ant.py:529
Methodobservation_dim
(self)
envs/warp_sim_envs/environment.py:665
Methodobservation_dim
(self)
envs/warp_sim_envs/env_franka_panda.py:485
Methodobservation_dim
(self)
envs/warp_sim_envs/env_anymal.py:624
Functionplot_graph
Plots a graph using matplotlib. Args: vertices: A numpy array of shape (N, 3) containing the vertex positions. edges: A nump
envs/warp_sim_envs/utils.py:286
Methodprint
(self, string_mode = False, in_second = True)
utils/time_report.py:85
Methodprocess_infos
(self, infos, done_indices)
envs/rlgames_env_wrapper.py:324
Functionquat_angle_diff
(quat_0, quat_1)
utils/torch_utils.py:92
Functionquat_to_exponential_coord
(quat)
utils/torch_utils.py:105
Functionremesh
Remeshes a 3D triangular surface mesh using the specified method. Args: vertices: A numpy array of shape (N, 3) containing the verte
envs/warp_sim_envs/utils.py:244
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