• What’s Open Sim2Real

Getting Started

  • Sim2Real
  • Open Sim2Real
  • The Platform
  • Project Roadmap
  • Copyright & License
  • The Team
  • How to Cite

Simulated Monopod

  • Introduction
  • Installation
    • Standard Installation
    • Developer Installation
    • Training on Cloud
    • Singularity Container
  • Quick Start
  • How To Guides
    • Custom Reward Class
    • Custom Model Configs
  • Tutorials
    • Random Actions
    • PPO Spinning up
  • Next Steps
  • Future Development

Physical Monopod

  • Introduction
  • Design Decisions
    • Hardware
    • Electrical
  • Building The Monopod
    • Hardware
      • Build Requirements
      • Bill of Materials
      • Leg Instructions
      • Leg Testing
      • Central Pivot Instructions
      • Central Pivot Testing
      • Integration
      • Integration Testing
      • Further Resources
    • Firmware
      • Monopod Firmware Setup
      • Connecting By CAN
      • CAN Protocol
      • Central Pivot Firmware
      • Robotic Leg Firmware
    • Software
      • Superbuild Installation
      • monopod sdk
      • scenario monopod
      • gym os2r
      • gym os2r real
  • Quick Start
  • How To Guides
    • Setup RT Kernel
  • Tutorials
    • Print and Move
    • Using the SDK
    • Using Scenario Monopod
    • Gym Random Actions
    • PPO Inference
  • Next Steps
  • Future Development

Open Sim2Real Apidocs

  • monopod_sdk
    • monopod_drivers C++ API
  • scenario_monopod
    • scenario::monopod C++ API
    • scenario.bindings
  • gym-os2r
    • gym_os2r
      • gym_os2r.common
        • gym_os2r.common.vec_env
      • gym_os2r.models
        • gym_os2r.models.config
        • gym_os2r.models.models
      • gym_os2r.randomizers
      • gym_os2r.rewards
      • gym_os2r.runtimes
      • gym_os2r.tasks
  • gym-os2r-real
    • gym_os2r_real
      • gym_os2r_real.runtimes

Doc Versions

  • docs
Theme by the Executable Book Project

gym_os2r¶

  • gym_os2r.common
    • gym_os2r.common.vec_env
      • gym_os2r.common.vec_env.subproc_vec_env
      • gym_os2r.common.vec_env.vec_env
  • gym_os2r.models
    • gym_os2r.models.config
    • gym_os2r.models.models
    • gym_os2r.models.monopod
  • gym_os2r.randomizers
    • gym_os2r.randomizers.monopod
    • gym_os2r.randomizers.monopod_no_rand
  • gym_os2r.rewards
    • gym_os2r.rewards.rewards_utils
  • gym_os2r.runtimes
    • gym_os2r.runtimes.gazebo_runtime
  • gym_os2r.tasks
    • gym_os2r.tasks.monopod
    • gym_os2r.tasks.monopod_no_norm

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By D. Horvath, N. Ioannidis, K. Gordon, D. Widjaja
© Copyright 2022, University of British Columbia.