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Functions1,218 in github.com/chengxuxin/expressive-humanoid

⨍ Functions 1,218◇ Types & classes 255
↓ 1 callersMethod_motion_sync
(self)
legged_gym/legged_gym/envs/h1/h1_view_motion.py:22
↓ 1 callersMethod_motion_sync
(self)
ASE/ase/env/tasks/humanoid_view_motion.py:72
↓ 1 callersMethod_parse_cfg
(self, cfg)
legged_gym/legged_gym/envs/base/legged_robot.py:1088
↓ 1 callersMethod_physics_step
(self)
ASE/ase/env/tasks/base_task.py:410
↓ 1 callersMethod_post_physics_step_callback
Callback called before computing terminations, rewards, and observations Default behaviour: Compute ang vel command based on target and h
legged_gym/legged_gym/envs/base/legged_robot.py:543
↓ 1 callersMethod_preproc_amp_obs
(self, amp_obs)
ASE/ase/learning/amp_players.py:89
↓ 1 callersMethod_process_dof_props
Callback allowing to store/change/randomize the DOF properties of each environment. Called During environment creation. Base
legged_gym/legged_gym/envs/base/legged_robot.py:498
↓ 1 callersMethod_process_rigid_body_props
(self, props, env_id)
legged_gym/legged_gym/envs/base/legged_robot.py:526
↓ 1 callersMethod_process_rigid_shape_props
Callback allowing to store/change/randomize the rigid shape properties of each environment. Called During environment creation.
legged_gym/legged_gym/envs/base/legged_robot.py:474
↓ 1 callersMethod_push_robots
Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
legged_gym/legged_gym/envs/base/legged_robot.py:665
↓ 1 callersMethod_randomize_gravity
(self, external_force = None)
legged_gym/legged_gym/envs/h1/h1_mimic.py:364
↓ 1 callersMethod_record_train_batch_info
(self, batch_dict, train_info)
ASE/ase/learning/common_agent.py:576
↓ 1 callersMethod_record_train_batch_info
(self, batch_dict, train_info)
ASE/ase/learning/amp_agent.py:624
↓ 1 callersMethod_resample_commands
(self, env_ids)
legged_gym/legged_gym/envs/h1/h1_mimic_distill.py:31
↓ 1 callersMethod_reset_actors
(self, env_ids)
ASE/ase/env/tasks/humanoid.py:433
↓ 1 callersMethod_reset_dofs
Resets DOF position and velocities of selected environmments Positions are randomly selected within 0.5:1.5 x default positions. Velo
legged_gym/legged_gym/envs/base/legged_robot.py:611
↓ 1 callersMethod_reset_dofs
(self, env_ids, dof_pos, dof_vel)
legged_gym/legged_gym/envs/h1/h1_mimic.py:323
↓ 1 callersMethod_reset_env_tensors
(self, env_ids)
ASE/ase/env/tasks/humanoid.py:178
↓ 1 callersMethod_reset_envs
(self, env_ids)
ASE/ase/env/tasks/humanoid.py:170
↓ 1 callersMethod_reset_fall_episode
(self, env_ids)
ASE/ase/env/tasks/humanoid_amp_getup.py:137
↓ 1 callersMethod_reset_hybrid_state_init
(self, env_ids)
ASE/ase/env/tasks/humanoid_amp.py:216
↓ 1 callersMethod_reset_recovery_episode
(self, env_ids)
ASE/ase/env/tasks/humanoid_amp_getup.py:133
↓ 1 callersMethod_reset_target
(self, env_ids)
ASE/ase/env/tasks/humanoid_strike.py:136
↓ 1 callersMethod_reset_task
(self, env_ids)
ASE/ase/env/tasks/humanoid_heading.py:182
↓ 1 callersMethod_reset_task
(self, env_ids)
ASE/ase/env/tasks/humanoid_amp_task.py:76
↓ 1 callersMethod_reset_task
(self, env_ids)
ASE/ase/env/tasks/humanoid_reach.py:146
↓ 1 callersMethod_reset_task
(self, env_ids)
ASE/ase/env/tasks/humanoid_location.py:142
↓ 1 callersMethod_reward_tracking_demo_roll_pitch
(self)
legged_gym/legged_gym/envs/h1/h1_mimic.py:724
↓ 1 callersMethod_reward_tracking_demo_yaw
(self)
legged_gym/legged_gym/envs/h1/h1_mimic.py:679
↓ 1 callersMethod_save_hidden_states
(self, hidden_states)
rsl_rl/rsl_rl/storage/rollout_storage.py:104
↓ 1 callersMethod_set_aspect_equal_2d
(self, zero_centered=True)
ASE/ase/poselib/poselib/visualization/plt_plotter.py:199
↓ 1 callersMethod_set_aspect_equal_3d
(self)
ASE/ase/poselib/poselib/visualization/plt_plotter.py:398
↓ 1 callersMethod_set_env_state
(self, env_ids, root_pos, root_rot, dof_pos, root_vel, root_ang_vel, dof_vel)
legged_gym/legged_gym/envs/h1/h1_view_motion_nohand.py:178
↓ 1 callersMethod_set_env_state
(self, env_ids, root_pos, root_rot, dof_pos, root_vel, root_ang_vel, dof_vel)
legged_gym/legged_gym/envs/h1/h1_view_motion.py:55
↓ 1 callersMethod_set_lim
(self)
ASE/ase/poselib/poselib/visualization/plt_plotter.py:109
↓ 1 callersMethod_set_lim
(self)
ASE/ase/poselib/poselib/visualization/plt_plotter.py:297
↓ 1 callersMethod_set_path
(self, path)
ASE/ase/utils/logger.py:64
↓ 1 callersMethod_setup_action_space
(self)
ASE/ase/learning/common_agent.py:511
↓ 1 callersMethod_setup_action_space
(self)
ASE/ase/learning/common_player.py:212
↓ 1 callersMethod_setup_character_props
(self, key_bodies)
ASE/ase/env/tasks/humanoid.py:201
↓ 1 callersMethod_shuffle_idx_buf
(self)
ASE/ase/learning/amp_datasets.py:57
↓ 1 callersMethod_store_replay_amp_obs
(self, amp_obs)
ASE/ase/learning/amp_agent.py:607
↓ 1 callersMethod_stream
Format the image to be streamed :return: Image encoded as Content-Type :rtype: bytes
legged_gym/legged_gym/utils/webviewer.py:166
↓ 1 callersMethod_stream_depth
(self)
legged_gym/legged_gym/utils/webviewer.py:185
↓ 1 callersMethod_update
(self, lines, dots)
ASE/ase/poselib/poselib/visualization/skeleton_plotter_tasks.py:86
↓ 1 callersMethod_update
(self, vel_lines, avel_lines)
ASE/ase/poselib/poselib/visualization/skeleton_plotter_tasks.py:193
↓ 1 callersMethod_update_amp_demos
(self)
ASE/ase/learning/amp_agent.py:558
↓ 1 callersMethod_update_camera
(self)
ASE/ase/env/tasks/humanoid.py:518
↓ 1 callersMethod_update_debug_viz
(self)
ASE/ase/env/tasks/humanoid.py:536
↓ 1 callersMethod_update_goals
(self)
legged_gym/legged_gym/envs/base/legged_robot.py:206
↓ 1 callersMethod_update_hist_amp_obs
(self, env_ids=None)
legged_gym/legged_gym/envs/h1/h1_amp.py:294
↓ 1 callersMethod_update_hist_amp_obs
(self, env_ids=None)
legged_gym/legged_gym/envs/h1/h1_mimic_amp.py:100
↓ 1 callersMethod_update_hist_amp_obs
(self, env_ids=None)
ASE/ase/env/tasks/humanoid_amp.py:276
↓ 1 callersMethod_update_impl
(self, task_list: List[BasePlotterTask])
ASE/ase/poselib/poselib/visualization/core.py:95
↓ 1 callersMethod_update_latents
(self)
ASE/ase/learning/ase_players.py:110
↓ 1 callersMethod_update_latents
(self)
ASE/ase/learning/ase_agent.py:394
↓ 1 callersMethod_update_marker
(self)
ASE/ase/env/tasks/humanoid_heading.py:83
↓ 1 callersMethod_update_marker
(self)
ASE/ase/env/tasks/humanoid_reach.py:73
↓ 1 callersMethod_update_marker
(self)
ASE/ase/env/tasks/humanoid_location.py:74
↓ 1 callersMethod_update_mean_var_count_from_moments
(self, mean, var, count, batch_mean, batch_var, batch_count)
rsl_rl/rsl_rl/utils/running_mean_std.py:32
↓ 1 callersMethod_update_proj
(self)
ASE/ase/env/tasks/humanoid_perturb.py:200
↓ 1 callersMethod_update_recovery_count
(self)
ASE/ase/env/tasks/humanoid_amp_getup.py:159
↓ 1 callersMethod_update_task
(self)
ASE/ase/env/tasks/humanoid_amp_task.py:68
↓ 1 callersMethodafter_init
(self, algo)
ASE/ase/run.py:99
↓ 1 callersMethodafter_print_stats
(self, frame, epoch_num, total_time)
ASE/ase/run.py:119
↓ 1 callersFunctionangle_axis_to_exp_map
(angle, axis)
ASE/ase/utils/torch_utils.py:58
↓ 1 callersFunctionappend_children
Depth first search function :param joint: joint item in the fbx :param pos: position of current element (for parenting)
ASE/ase/poselib/poselib/skeleton/backend/fbx/fbx_backend.py:242
↓ 1 callersMethodattach_camera
(self, i, env_handle, actor_handle)
legged_gym/legged_gym/envs/base/legged_robot.py:901
↓ 1 callersMethodattach_view_camera
(self, i, env_handle, actor_handle, root_pos)
legged_gym/legged_gym/utils/webviewer.py:198
↓ 1 callersFunctionbuild_alg_runner
(algo_observer)
ASE/ase/run.py:181
↓ 1 callersMethodbuild_amp_obs_demo
(self, motion_ids, motion_times0)
legged_gym/legged_gym/envs/h1/h1_amp.py:265
↓ 1 callersMethodbuild_amp_obs_demo
(self, motion_ids, motion_times0)
legged_gym/legged_gym/envs/h1/h1_mimic_amp.py:73
↓ 1 callersMethodbuild_amp_obs_demo
(self, motion_ids, motion_times0)
ASE/ase/env/tasks/humanoid_amp.py:113
↓ 1 callersFunctionbuild_amp_observations
(root_pos, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, local_key_body_pos)
legged_gym/legged_gym/envs/h1/h1_mimic_amp.py:118
↓ 1 callersMethodcalc_amp_rewards
(self, amp_obs)
rsl_rl/rsl_rl/algorithms/ppo.py:420
↓ 1 callersMethodcheck_termination
Check if environments need to be reset
legged_gym/legged_gym/envs/base/legged_robot.py:290
↓ 1 callersMethodcompute_grad_pen
(self, amp_obs, lambda_=10)
rsl_rl/rsl_rl/modules/amp_discriminator.py:33
↓ 1 callersFunctioncompute_heading_observations
(root_states, tar_dir, tar_speed, tar_face_dir)
ASE/ase/env/tasks/humanoid_heading.py:260
↓ 1 callersFunctioncompute_heading_reward
(root_pos, prev_root_pos, root_rot, tar_dir, tar_speed, tar_face_dir, dt)
ASE/ase/env/tasks/humanoid_heading.py:279
↓ 1 callersFunctioncompute_humanoid_observations_max
(body_pos, body_rot, body_vel, body_ang_vel, local_root_obs, root_height_obs)
ASE/ase/env/tasks/humanoid.py:614
↓ 1 callersFunctioncompute_humanoid_reset
(reset_buf, progress_buf, contact_buf, contact_body_ids, rigid_body_pos, max_episod
ASE/ase/env/tasks/humanoid.py:667
↓ 1 callersFunctioncompute_humanoid_reset
(reset_buf, progress_buf, contact_buf, contact_body_ids, rigid_body_pos, max_episod
ASE/ase/env/tasks/humanoid_perturb.py:266
↓ 1 callersFunctioncompute_humanoid_reset
(reset_buf, progress_buf, contact_buf, contact_body_ids, rigid_body_pos, tar_contac
ASE/ase/env/tasks/humanoid_strike.py:283
↓ 1 callersFunctioncompute_humanoid_reward
(obs_buf)
ASE/ase/env/tasks/humanoid.py:661
↓ 1 callersFunctioncompute_location_observations
(root_states, tar_pos)
ASE/ase/env/tasks/humanoid_reach.py:203
↓ 1 callersFunctioncompute_location_observations
(root_states, tar_pos)
ASE/ase/env/tasks/humanoid_location.py:198
↓ 1 callersFunctioncompute_location_reward
(root_pos, prev_root_pos, root_rot, tar_pos, tar_speed, dt)
ASE/ase/env/tasks/humanoid_location.py:213
↓ 1 callersMethodcompute_obs_buf
(self)
legged_gym/legged_gym/envs/h1/h1_mimic.py:413
↓ 1 callersMethodcompute_obs_demo
(self)
legged_gym/legged_gym/envs/h1/h1_mimic.py:427
↓ 1 callersMethodcompute_observations
Computes observations
legged_gym/legged_gym/envs/base/legged_robot.py:380
↓ 1 callersFunctioncompute_reach_reward
(reach_body_pos, root_rot, tar_pos, tar_speed, dt)
ASE/ase/env/tasks/humanoid_reach.py:213
↓ 1 callersMethodcompute_reward
Compute rewards Calls each reward function which had a non-zero scale (processed in self._prepare_reward_function()) adds eac
legged_gym/legged_gym/envs/base/legged_robot.py:360
↓ 1 callersFunctioncompute_strike_observations
(root_states, tar_states)
ASE/ase/env/tasks/humanoid_strike.py:222
↓ 1 callersFunctioncompute_strike_reward
(tar_pos, tar_rot, root_state, prev_root_pos, strike_body_vel, dt, near_dist)
ASE/ase/env/tasks/humanoid_strike.py:247
↓ 1 callersFunctioncompute_view_motion_reset
(reset_buf, motion_lengths, progress_buf, dt)
ASE/ase/env/tasks/humanoid_view_motion.py:120
↓ 1 callersFunctionconfigure_gym
(gym, config)
ASE/ase/utils/gym_util.py:51
↓ 1 callersFunctionconvert_heightfield_to_trimesh
Convert a heightfield array to a triangle mesh represented by vertices and triangles. Optionally, corrects vertical surfaces above the provid
legged_gym/legged_gym/utils/terrain.py:879
↓ 1 callersFunctionconvert_heightfield_to_trimesh_delatin
(height_field_raw, horizontal_scale, vertical_scale, max_error=0.01)
legged_gym/legged_gym/utils/terrain.py:872
↓ 1 callersFunctioncreate_rlgpu_env
(**kwargs)
ASE/ase/run.py:63
↓ 1 callersMethodcrop_depth_image
(self, depth_image)
legged_gym/legged_gym/envs/base/legged_robot.py:175
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