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Functions1,674 in github.com/TeleHuman/PBHC

⨍ Functions 1,674◇ Types & classes 123↳ Endpoints 6
↓ 268 callersMethodmean
(self)
humanoidverse/utils/average_meters.py:44
↓ 78 callersMethodclone
(self)
humanoidverse/utils/motion_lib/skeleton.py:1148
↓ 74 callersMethodload
(self, ckpt_path)
humanoidverse/agents/ppo/ppo.py:145
↓ 44 callersMethodindex
get the index of the node :param node_name: the name of the node :type node_name: string :rtype: int
humanoidverse/utils/motion_lib/skeleton.py:344
↓ 35 callersMethodregister_key
(self, key: str, shape=(), dtype=torch.float)
humanoidverse/agents/modules/data_utils.py:40
↓ 32 callersMethodadd
(self, x)
humanoidverse/utils/average_meters.py:39
↓ 24 callersMethodclone
(self)
smpl_retarget/poselib/poselib/skeleton/skeleton3d.py:1015
↓ 23 callersMethodindex
get the index of the node :param node_name: the name of the node :type node_name: string :rtype: int
smpl_retarget/poselib/poselib/skeleton/skeleton3d.py:210
↓ 22 callersMethodexpand
(self, posesubcls: Type['PoseArray'], posecls: Type['PoseArray'])
description/robots/dtype.py:243
↓ 22 callersFunctionquat_mul
(a, b, w_last: bool)
humanoidverse/isaac_utils/isaac_utils/rotations.py:414
↓ 21 callersMethodclear
(self)
humanoidverse/agents/modules/data_utils.py:82
↓ 21 callersFunctionquat_rotate_inverse
(q, v)
humanoidverse/utils/torch_utils.py:72
↓ 21 callersMethodstep
(self)
humanoidverse/utils/noise_tool.py:67
↓ 20 callersMethodreset_all
Reset all robots
humanoidverse/envs/base_task/base_task.py:83
↓ 19 callersMethod_update_adaptive_sigma
(self, error: torch.Tensor, term: str)
humanoidverse/envs/motion_tracking/general_tracking.py:970
↓ 18 callersMethodget_motion_num_steps
(self, motion_ids=None)
humanoidverse/utils/motion_lib/motion_lib_base.py:469
↓ 18 callersFunctionquat_apply
(a, b)
humanoidverse/utils/torch_utils.py:51
↓ 18 callersMethodsave
(self, path, infos=None)
humanoidverse/agents/ppo/ppo.py:164
↓ 17 callersFunctionmy_quat_rotate
(q, v)
humanoidverse/isaac_utils/isaac_utils/rotations.py:244
↓ 17 callersMethodupdate
(self, values)
humanoidverse/utils/average_meters.py:13
↓ 16 callersMethodfrom_rotation_and_root_translation
Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S
smpl_retarget/poselib/poselib/skeleton/skeleton3d.py:632
↓ 16 callersFunctiontorch_rand_float
(lower, upper, shape, device)
humanoidverse/utils/torch_utils.py:207
↓ 14 callersFunctionquat_inverse
The inverse of the rotation
humanoidverse/isaac_utils/isaac_utils/rotations.py:326
↓ 14 callersMethodupdate_key
(self, key: str, data: Tensor)
humanoidverse/agents/modules/data_utils.py:53
↓ 13 callersFunctionslerp
(q0, q1, t)
humanoidverse/isaac_utils/isaac_utils/rotations.py:210
↓ 12 callersMethodquery
(self, key: str)
humanoidverse/envs/env_utils/history_handler.py:46
↓ 11 callersMethodfrom_dict
Read the object from an ordered dictionary :param dict_repr: the ordered dictionary that is used to construct the object :type dict_
humanoidverse/utils/motion_lib/skeleton.py:125
↓ 11 callersMethodload_motions
( self, random_sample=True, start_idx=0, max_len=-1, target_heading=No
humanoidverse/utils/motion_lib/motion_lib_base.py:250
↓ 11 callersMethodupdate
Update the plotter for any updates in the task primitives
smpl_retarget/poselib/poselib/visualization/core.py:70
↓ 10 callersMethod_update_adaptive_sigma
(self, error:torch.Tensor, term:str)
humanoidverse/envs/motion_tracking/motion_tracking.py:1030
↓ 10 callersMethodfrom_rotation_and_root_translation
Construct a skeleton state from rotation and root translation :param skeleton_tree: the skeleton tree :type skeleton_tree: S
humanoidverse/utils/motion_lib/skeleton.py:766
↓ 9 callersMethodfrom_dict
(cls, dict_repr, *args, **kwargs)
smpl_retarget/poselib/poselib/skeleton/skeleton3d.py:138
↓ 9 callersFunctionget_video_lwh
(video_path)
smpl_vis/utils/geo_transform.py:15
↓ 9 callersFunctionquat_rotate
Rotate a 3D vector with the 3D rotation
smpl_retarget/poselib/poselib/core/rotation3d.py:208
↓ 9 callersMethodquery_key
(self, key: str)
humanoidverse/agents/modules/data_utils.py:95
↓ 9 callersMethodupdate
(self, skeleton_state)
smpl_retarget/poselib/poselib/visualization/skeleton_plotter_tasks.py:43
↓ 8 callersFunctiongs_transform_by_quat
(pos, quat)
humanoidverse/simulator/genesis/tmp_gs_utils.py:21
↓ 8 callersFunctionquat_mul_norm
Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable
humanoidverse/isaac_utils/isaac_utils/rotations.py:444
↓ 8 callersFunctiontensor_to_dict
Construct an ordered dictionary from the object :rtype: OrderedDict
humanoidverse/utils/motion_lib/skeleton.py:142
↓ 8 callersFunctiontensor_to_dict
Construct an ordered dictionary from the object :rtype: OrderedDict
smpl_retarget/poselib/poselib/core/tensor_utils.py:34
↓ 8 callersFunctiontransform_translation
Get translation from transform
smpl_retarget/poselib/poselib/core/rotation3d.py:299
↓ 7 callersMethod_get_inference_policy
(self, device=None)
humanoidverse/agents/ppo/ppo.py:684
↓ 7 callersMethodevaluate
(self, critic_obs, **kwargs)
humanoidverse/agents/modules/ppo_modules.py:97
↓ 7 callersFunctionget_euler_xyz_in_tensor
(q)
humanoidverse/isaac_utils/isaac_utils/rotations.py:368
↓ 7 callersMethodget_motion_state
(self, motion_ids, motion_times, offset=None)
humanoidverse/utils/motion_lib/motion_lib_base.py:112
↓ 7 callersFunctionquat_inverse
The inverse of the rotation
smpl_retarget/poselib/poselib/core/rotation3d.py:217
↓ 7 callersFunctionquat_mul_norm
Combine two set of 3D rotations together using \**\* operator. The shape needs to be broadcastable
smpl_retarget/poselib/poselib/core/rotation3d.py:199
↓ 7 callersFunctionquat_normalize
Construct 3D rotation from quaternion (the quaternion needs not to be normalized).
smpl_retarget/poselib/poselib/core/rotation3d.py:95
↓ 7 callersFunctiontransform_from_rotation_translation
Construct a transform from a quaternion and 3D translation. Only one of them can be None.
smpl_retarget/poselib/poselib/core/rotation3d.py:267
↓ 7 callersFunctiontransform_rotation
Get rotation from transform
smpl_retarget/poselib/poselib/core/rotation3d.py:293
↓ 6 callersMethodbatch_update_data
(self, key: str, data: Tensor)
humanoidverse/agents/modules/data_utils.py:59
↓ 6 callersMethodcreate
Create more task primitives from a task for the plotter
smpl_retarget/poselib/poselib/visualization/core.py:64
↓ 6 callersMethoddim
(self)
smpl_retarget/poselib/poselib/visualization/simple_plotter_tasks.py:140
↓ 6 callersMethodemit
(self, record)
humanoidverse/utils/logging.py:8
↓ 6 callersMethodfind_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/genesis/genesis.py:155
↓ 6 callersMethodget_actions_log_prob
(self, actions)
humanoidverse/agents/modules/ppo_modules.py:71
↓ 6 callersMethodget_scoped_name
(self, name)
smpl_retarget/poselib/poselib/visualization/core.py:31
↓ 6 callersMethodkick_motion_res
(self)
humanoidverse/envs/motion_tracking/motion_tracking.py:548
↓ 6 callersFunctionmake_smplx
(type="neu_fullpose", **kwargs)
smpl_vis/utils/smpl_utils.py:2
↓ 6 callersFunctionpre_process_config
(config)
humanoidverse/utils/helpers.py:82
↓ 5 callersMethod_to_state_vector
(rot, rt)
humanoidverse/utils/motion_lib/skeleton.py:734
↓ 5 callersMethod_to_state_vector
(rot, rt)
smpl_retarget/poselib/poselib/skeleton/skeleton3d.py:600
↓ 5 callersMethodact_inference
(self, actor_obs)
humanoidverse/agents/modules/ppo_modules.py:74
↓ 5 callersFunctioncalc_heading_quat_inv
(q, w_last)
humanoidverse/isaac_utils/isaac_utils/rotations.py:296
↓ 5 callersMethodcreate_camera
(self, R=None, T=None)
smpl_vis/utils/renderer.py:136
↓ 5 callersMethodfk_batch
(self, pose, trans, convert_to_mat=True, return_full=False, dt=1 / 30)
smpl_retarget/mink_retarget/retargeting/torch_humanoid_batch.py:218
↓ 5 callersMethodis_valid_array
(cls, array: np.ndarray)
description/robots/dtype.py:109
↓ 5 callersMethodmini_batch_generator
(self, num_mini_batches, num_epochs=8)
humanoidverse/agents/modules/data_utils.py:116
↓ 5 callersFunctionquat_identity
Construct 3D identity rotation given shape
smpl_retarget/poselib/poselib/core/rotation3d.py:114
↓ 5 callersFunctionquat_to_angle_axis
(q)
humanoidverse/isaac_utils/isaac_utils/rotations.py:185
↓ 5 callersMethodreset
(self, dones=None)
humanoidverse/agents/modules/ppo_modules.py:45
↓ 5 callersMethodsetup
(self)
humanoidverse/agents/ppo/ppo.py:99
↓ 5 callersMethodsync
(self, other)
smpl_retarget/poselib/poselib/visualization/common.py:83
↓ 4 callersMethod_dofpose_specs
()
description/robots/dtype.py:48
↓ 4 callersMethod_pre_eval_env_step
(self, actor_state: dict)
humanoidverse/agents/mh_ppo/mh_ppo.py:760
↓ 4 callersMethod_pre_eval_env_step
(self, actor_state: dict)
humanoidverse/agents/ppo/ppo_mimic.py:959
↓ 4 callersMethod_refresh_sim_tensors
(self)
humanoidverse/envs/base_task/base_task.py:79
↓ 4 callersMethodact
(self, actor_obs, **kwargs)
humanoidverse/agents/modules/ppo_modules.py:67
↓ 4 callersMethodadd_visualize_entities
(self, num_visualize_markers)
humanoidverse/simulator/genesis/genesis.py:407
↓ 4 callersFunctioncalc_heading_quat
(q, w_last)
humanoidverse/isaac_utils/isaac_utils/rotations.py:281
↓ 4 callersMethoddraw_sphere
(self, pos, radius, color, env_id, pos_id=0)
humanoidverse/simulator/genesis/genesis.py:418
↓ 4 callersMethodfk_batch
(self, pose, trans, convert_to_mat=True, return_full = False, dt=1/30)
humanoidverse/utils/motion_lib/torch_humanoid_batch.py:168
↓ 4 callersMethodfk_batch
(self, pose, trans, convert_to_mat=True, return_full = False, dt=1/30)
motion_source/utils/torch_humanoid_batch.py:162
↓ 4 callersMethodfrom_file
Read the object from a file (either .npy or .json) :param path: path of the file :type path: string :param args, kwargs: the
smpl_retarget/poselib/poselib/core/backend/abstract.py:94
↓ 4 callersMethodget_motion_length
(self, motion_ids=None)
humanoidverse/utils/motion_lib/motion_lib_base.py:486
↓ 4 callersFunctionget_motionlib_data
(motion_file_path, robot_cfg_path)
humanoidverse/measure_traj.py:47
↓ 4 callersFunctionget_writer
remember to .close()
smpl_vis/utils/geo_transform.py:7
↓ 4 callersFunctiongs_inv_quat
(quat)
humanoidverse/simulator/genesis/tmp_gs_utils.py:15
↓ 4 callersMethodkick_motion_res
(self)
humanoidverse/envs/motion_tracking/general_tracking.py:488
↓ 4 callersFunctionnormalize
(x, eps: float = 1e-9)
humanoidverse/utils/torch_utils.py:46
↓ 4 callersFunctionparse_observation
Parse observations for the legged_robot_base class
humanoidverse/utils/helpers.py:128
↓ 4 callersFunctionquat_conjugate
(a: Tensor, w_last: bool)
humanoidverse/isaac_utils/isaac_utils/rotations.py:57
↓ 4 callersFunctionquat_identity
Construct 3D identity rotation given shape
humanoidverse/isaac_utils/isaac_utils/rotations.py:462
↓ 4 callersFunctionquat_unit
(a)
humanoidverse/isaac_utils/isaac_utils/rotations.py:24
↓ 4 callersMethodreset
(self)
humanoidverse/utils/noise_tool.py:60
↓ 4 callersMethodreset_envs_idx
Reset some environments. Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids)
humanoidverse/envs/legged_base_task/legged_robot_base.py:491
↓ 4 callersMethodsave
(self, path, infos=None)
humanoidverse/agents/ppo/ppo_mimic.py:240
↓ 4 callersMethodshow
(self)
smpl_retarget/poselib/poselib/visualization/plt_plotter.py:242
↓ 4 callersMethodsmall_random_quaternions
(self, n, max_angle)
humanoidverse/envs/motion_tracking/motion_tracking.py:511
↓ 4 callersMethodsmall_random_quaternions
(self, n, max_angle)
humanoidverse/envs/motion_tracking/general_tracking.py:451
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