toddlerbot package

Subpackages

• toddlerbot.actuation package
  • Submodules
  • toddlerbot.actuation.dynamixel_cpp module
  • Module contents
• toddlerbot.algorithms package
  • Submodules
  • toddlerbot.algorithms.zmp_planner module
    • ExpPlusPPoly
      • ExpPlusPPoly.derivative()
      • ExpPlusPPoly.value()
    • PPoly
      • PPoly.derivative()
    • ZMPPlanner
      • ZMPPlanner.com_acc_to_cop()
      • ZMPPlanner.get_desired_zmp()
      • ZMPPlanner.get_desired_zmp_traj()
      • ZMPPlanner.get_nominal_com()
      • ZMPPlanner.get_nominal_com_acc()
      • ZMPPlanner.get_nominal_com_vel()
      • ZMPPlanner.get_optim_com_acc()
      • ZMPPlanner.plan()
  • toddlerbot.algorithms.zmp_walk module
    • ZMPWalk
      • ZMPWalk.build_lookup_table()
      • ZMPWalk.compute_foot_trajectories()
      • ZMPWalk.foot_ik()
      • ZMPWalk.mujoco_replay()
      • ZMPWalk.plan()
      • ZMPWalk.solve_ik()
  • Module contents
• toddlerbot.depth package
  • Submodules
  • toddlerbot.depth.depth_estimator_foundation_stereo module
    • DepthEstimatorFoundationStereo
      • DepthEstimatorFoundationStereo.get_depth()
      • DepthEstimatorFoundationStereo.get_pcl()
    • DepthResult
      • DepthResult.depth
      • DepthResult.disparity
      • DepthResult.original_left
      • DepthResult.original_right
      • DepthResult.rectified_left
      • DepthResult.rectified_right
    • gpu_preproc()
    • pad_to_multiple()
  • toddlerbot.depth.depth_utils module
    • depth_to_xyzmap()
    • get_rectification_maps()
    • pad_images_np()
    • to_open3d_Cloud()
    • unpad_image_np()
    • vis_disparity()
  • Module contents
• toddlerbot.descriptions package
  • Submodules
  • toddlerbot.descriptions.assemble_xml module
    • add_gripper_constraints()
    • add_keyframes()
    • add_offsets()
    • add_self_contacts()
    • add_sites()
    • add_waist_constraints()
    • align_body_frames_to_global()
    • assemble_xml()
    • compute_bounding_box()
    • configure_fixed()
    • configure_mjx()
    • configure_motors()
    • create_scene_xml()
    • find_body_and_parent()
    • list_to_string()
    • main()
    • string_to_list()
    • update_collision()
    • update_joint_params()
    • write_fixed_xml()
    • write_mjx_fixed_xml()
    • write_mjx_xml()
    • write_pos_fixed_xml()
    • write_pos_xml()
    • write_xml()
  • toddlerbot.descriptions.convert_to_urdf module
    • convert()
    • create_body()
    • create_dummy_body()
    • create_joint()
    • get_geom_pose()
    • get_mesh_paths()
    • list_to_string()
    • string_to_list()
  • toddlerbot.descriptions.get_xml module
    • main()
    • process_xml_and_stl_files()
    • run_onshape_to_robot()
  • toddlerbot.descriptions.onshape_to_robot module
    • main()
    • prompt_yes_no()
  • Module contents
• toddlerbot.locomotion package
  • Submodules
  • toddlerbot.locomotion.cartwheel_env module
    • CartwheelEnv
  • toddlerbot.locomotion.crawl_env module
    • CrawlEnv
  • toddlerbot.locomotion.mjx_config module
    • MJXConfig
      • MJXConfig.ActionConfig
      • MJXConfig.CommandsConfig
      • MJXConfig.DomainRandConfig
      • MJXConfig.NoiseConfig
      • MJXConfig.ObsConfig
      • MJXConfig.ObsScales
      • MJXConfig.RewardScales
      • MJXConfig.RewardsConfig
      • MJXConfig.SimConfig
      • MJXConfig.TerrainConfig
  • toddlerbot.locomotion.mjx_env module
    • MJXEnv
      • MJXEnv.action_size
      • MJXEnv.pipeline_step()
      • MJXEnv.render()
      • MJXEnv.reset()
      • MJXEnv.step()
      • MJXEnv.visualize_force_arrow()
      • MJXEnv.visualize_world_axes()
    • get_env_class()
    • get_env_config()
  • toddlerbot.locomotion.on_policy_runner module
    • OnPolicyRunner
      • OnPolicyRunner.eval_mode()
      • OnPolicyRunner.get_inference_policy()
      • OnPolicyRunner.learn()
      • OnPolicyRunner.load()
      • OnPolicyRunner.save()
      • OnPolicyRunner.train_mode()
      • OnPolicyRunner.update_episode_metrics()
  • toddlerbot.locomotion.ppo_config module
    • PPOConfig
      • PPOConfig.activation
      • PPOConfig.batch_size
      • PPOConfig.clipping_epsilon
      • PPOConfig.discounting
      • PPOConfig.distribution_type
      • PPOConfig.entropy_cost
      • PPOConfig.episode_length
      • PPOConfig.gae_lambda
      • PPOConfig.init_noise_std
      • PPOConfig.learning_rate
      • PPOConfig.max_grad_norm
      • PPOConfig.noise_std_type
      • PPOConfig.normalize_advantage
      • PPOConfig.normalize_observation
      • PPOConfig.num_envs
      • PPOConfig.num_evals
      • PPOConfig.num_minibatches
      • PPOConfig.num_timesteps
      • PPOConfig.num_updates_per_batch
      • PPOConfig.policy_hidden_layer_sizes
      • PPOConfig.render_nums
      • PPOConfig.rnn_hidden_size
      • PPOConfig.rnn_num_layers
      • PPOConfig.rnn_type
      • PPOConfig.seed
      • PPOConfig.unroll_length
      • PPOConfig.use_rnn
      • PPOConfig.value_hidden_layer_sizes
      • PPOConfig.wandb_entity
      • PPOConfig.wandb_project
  • toddlerbot.locomotion.rsl_rl_wrapper module
    • RSLRLWrapper
      • RSLRLWrapper.get_observations()
      • RSLRLWrapper.reset()
      • RSLRLWrapper.step()
  • toddlerbot.locomotion.train_mjx module
    • Tee
      • Tee.close()
      • Tee.fileno()
      • Tee.flush()
      • Tee.isatty()
      • Tee.write()
    • domain_randomize()
    • dynamic_import_envs()
    • evaluate()
    • get_body_mass_attr_range()
    • load_jax_ckpt_to_torch()
    • load_runner_config()
    • log_metrics()
    • main()
    • print_metrics()
    • render_video()
    • rollout()
    • train()
  • toddlerbot.locomotion.walk_env module
    • WalkEnv
      • WalkEnv.render()
      • WalkEnv.visualize_path_frame()
  • Module contents
• toddlerbot.manipulation package
  • Subpackages
    • toddlerbot.manipulation.datasets package
      • Submodules
      • toddlerbot.manipulation.datasets.get_pose_data module
      • toddlerbot.manipulation.datasets.process_raw_data module
      • toddlerbot.manipulation.datasets.teleop_dataset module
      • Module contents
    • toddlerbot.manipulation.models package
      • Submodules
      • toddlerbot.manipulation.models.diffusion_model module
      • Module contents
    • toddlerbot.manipulation.utils package
      • Submodules
      • toddlerbot.manipulation.utils.dataset_utils module
      • toddlerbot.manipulation.utils.model_utils module
      • Module contents
  • Submodules
  • toddlerbot.manipulation.inference_class module
    • DPModel
      • DPModel.get_action_from_obs()
      • DPModel.inference_ddim()
      • DPModel.inference_ddpm()
      • DPModel.load_model()
      • DPModel.prediction_to_action()
      • DPModel.prepare_inputs()
  • toddlerbot.manipulation.train module
    • train()
  • Module contents
• toddlerbot.policies package
  • Submodules
  • toddlerbot.policies.balance_pd module
    • BalancePDPolicy
      • BalancePDPolicy.com_fk()
      • BalancePDPolicy.com_ik()
      • BalancePDPolicy.get_arm_motor_pos()
      • BalancePDPolicy.get_command()
      • BalancePDPolicy.get_motor_target()
      • BalancePDPolicy.get_neck_motor_pos()
      • BalancePDPolicy.step()
  • toddlerbot.policies.calibrate module
    • CalibratePolicy
      • CalibratePolicy.close()
      • CalibratePolicy.step()
  • toddlerbot.policies.cartwheel module
    • CartwheelPolicy
      • CartwheelPolicy.get_phase_signal()
  • toddlerbot.policies.crawl module
    • CrawlPolicy
      • CrawlPolicy.get_phase_signal()
  • toddlerbot.policies.dp_policy module
    • DPPolicy
      • DPPolicy.close()
      • DPPolicy.get_arm_motor_pos()
      • DPPolicy.reset()
      • DPPolicy.step()
  • toddlerbot.policies.handstand module
    • HandstandPolicy
      • HandstandPolicy.step()
  • toddlerbot.policies.mjx_policy module
    • MJXPolicy
      • MJXPolicy.get_command()
      • MJXPolicy.get_phase_signal()
      • MJXPolicy.reset()
      • MJXPolicy.step()
    • load_wandb_policy()
  • toddlerbot.policies.pull_up module
    • PullUpPolicy
      • PullUpPolicy.step()
  • toddlerbot.policies.record module
  • toddlerbot.policies.replay module
    • ReplayPolicy
      • ReplayPolicy.step()
  • toddlerbot.policies.reset_pd module
    • ResetPDPolicy
      • ResetPDPolicy.get_arm_motor_pos()
      • ResetPDPolicy.step()
  • toddlerbot.policies.run_policy module
  • toddlerbot.policies.stand module
    • StandPolicy
      • StandPolicy.step()
  • toddlerbot.policies.sysID module
    • SysIDPolicy
      • SysIDPolicy.close()
      • SysIDPolicy.step()
    • SysIDSpecs
      • SysIDSpecs.amplitude_list
      • SysIDSpecs.decay_rate
      • SysIDSpecs.direction
      • SysIDSpecs.final_frequency
      • SysIDSpecs.initial_frequency
      • SysIDSpecs.kp_list
      • SysIDSpecs.warm_up_angles
  • toddlerbot.policies.talk_arya module
  • toddlerbot.policies.talk_toddy module
  • toddlerbot.policies.teleop_follower_pd module
    • TeleopFollowerPDPolicy
      • TeleopFollowerPDPolicy.close()
      • TeleopFollowerPDPolicy.get_arm_motor_pos()
      • TeleopFollowerPDPolicy.get_neck_motor_pos()
      • TeleopFollowerPDPolicy.step()
  • toddlerbot.policies.teleop_joystick module
    • TeleopJoystickPolicy
      • TeleopJoystickPolicy.close()
      • TeleopJoystickPolicy.step()
  • toddlerbot.policies.teleop_leader module
  • toddlerbot.policies.walk module
    • WalkPolicy
      • WalkPolicy.get_command()
      • WalkPolicy.get_phase_signal()
      • WalkPolicy.step()
  • Module contents
    • BasePolicy
      • BasePolicy.close()
      • BasePolicy.reset()
      • BasePolicy.step()
• toddlerbot.reference package
  • Submodules
  • toddlerbot.reference.cartwheel_ref module
    • CartwheelReference
      • CartwheelReference.get_phase_signal()
      • CartwheelReference.get_state_ref()
      • CartwheelReference.get_vel()
  • toddlerbot.reference.crawl_ref module
    • CrawlReference
      • CrawlReference.get_phase_signal()
      • CrawlReference.get_state_ref()
      • CrawlReference.get_vel()
  • toddlerbot.reference.motion_ref module
    • Motion
      • Motion.action
      • Motion.body_pos
      • Motion.body_quat
      • Motion.contact
      • Motion.qpos
      • Motion.site_pos
      • Motion.site_quat
      • Motion.time
    • MotionReference
      • MotionReference.get_default_state()
      • MotionReference.get_phase_signal()
      • MotionReference.get_state_ref()
      • MotionReference.get_vel()
      • MotionReference.integrate_path_state()
  • toddlerbot.reference.walk_zmp_ref module
    • WalkZMPReference
      • WalkZMPReference.get_phase_signal()
      • WalkZMPReference.get_state_ref()
      • WalkZMPReference.get_vel()
  • Module contents
• toddlerbot.sensing package
  • Submodules
  • toddlerbot.sensing.FSR module
    • FSR
      • FSR.close()
      • FSR.get_state()
  • toddlerbot.sensing.IMU module
    • IMU
      • IMU.close()
      • IMU.get_state()
    • ThreadedIMU
      • ThreadedIMU.close()
      • ThreadedIMU.get_latest_state()
      • ThreadedIMU.start()
    • set_report_interval()
  • toddlerbot.sensing.camera module
    • AprilTagDetector
      • AprilTagDetector.detect()
      • AprilTagDetector.vis_tag()
    • Camera
      • Camera.close()
      • Camera.detect_tags()
      • Camera.get_frame()
      • Camera.get_jpeg()
  • toddlerbot.sensing.microphone module
  • toddlerbot.sensing.speaker module
  • Module contents
• toddlerbot.sim package
  • Subpackages
    • toddlerbot.sim.terrain package
      • Submodules
      • toddlerbot.sim.terrain.generate_terrain module
      • toddlerbot.sim.terrain.terrain_types module
      • Module contents
  • Submodules
  • toddlerbot.sim.motor_control module
    • MotorController
      • MotorController.step()
    • PositionController
      • PositionController.step()
  • toddlerbot.sim.mujoco_sim module
    • MuJoCoSim
      • MuJoCoSim.add_ee_marker()
      • MuJoCoSim.check_self_collisions()
      • MuJoCoSim.close()
      • MuJoCoSim.forward()
      • MuJoCoSim.get_body_transform()
      • MuJoCoSim.get_joint_angles()
      • MuJoCoSim.get_motor_angles()
      • MuJoCoSim.get_observation()
      • MuJoCoSim.get_site_transform()
      • MuJoCoSim.save_recording()
      • MuJoCoSim.set_joint_angles()
      • MuJoCoSim.set_joint_dynamics()
      • MuJoCoSim.set_motor_angles()
      • MuJoCoSim.set_motor_dynamics()
      • MuJoCoSim.set_motor_kps()
      • MuJoCoSim.set_motor_target()
      • MuJoCoSim.set_qpos()
      • MuJoCoSim.step()
  • toddlerbot.sim.mujoco_utils module
    • MuJoCoRenderer
      • MuJoCoRenderer.anim_pose_callback()
      • MuJoCoRenderer.close()
      • MuJoCoRenderer.save_recording()
      • MuJoCoRenderer.visualize()
    • MuJoCoViewer
      • MuJoCoViewer.close()
      • MuJoCoViewer.visualize()
      • MuJoCoViewer.visualize_com()
      • MuJoCoViewer.visualize_support_poly()
    • mj_render()
  • toddlerbot.sim.real_world module
  • toddlerbot.sim.robot module
    • Robot
      • Robot.arm_fk()
      • Robot.arm_ik()
      • Robot.get_transmission()
      • Robot.joint_to_dof_angles()
      • Robot.joint_to_motor_angles()
      • Robot.leg_fk()
      • Robot.leg_ik()
      • Robot.motor_to_dof_angles()
      • Robot.motor_to_joint_angles()
      • Robot.neck_fk()
      • Robot.neck_ik()
      • Robot.waist_fk()
      • Robot.waist_ik()
  • Module contents
• toddlerbot.tools package
  • Submodules
  • toddlerbot.tools.audio_player_async module
  • toddlerbot.tools.calibrate_zero module
  • toddlerbot.tools.edit_keyframe module
  • toddlerbot.tools.joystick module
    • AsusAxis
      • AsusAxis.L2
      • AsusAxis.LEFT_JOYSTICK_HORIZONTAL
      • AsusAxis.LEFT_JOYSTICK_VERTICAL
      • AsusAxis.R2
      • AsusAxis.RIGHT_JOYSTICK_HORIZONTAL
      • AsusAxis.RIGHT_JOYSTICK_VERTICAL
    • AsusButton
      • AsusButton.A
      • AsusButton.B
      • AsusButton.DPAD_DOWN
      • AsusButton.DPAD_LEFT
      • AsusButton.DPAD_RIGHT
      • AsusButton.DPAD_UP
      • AsusButton.L1
      • AsusButton.MENU
      • AsusButton.R1
      • AsusButton.VIEW
      • AsusButton.X
      • AsusButton.Y
    • DeckAxis
      • DeckAxis.L2
      • DeckAxis.LEFT_JOYSTICK_HORIZONTAL
      • DeckAxis.LEFT_JOYSTICK_VERTICAL
      • DeckAxis.R2
      • DeckAxis.RIGHT_JOYSTICK_HORIZONTAL
      • DeckAxis.RIGHT_JOYSTICK_VERTICAL
    • DeckButton
      • DeckButton.A
      • DeckButton.B
      • DeckButton.DPAD_DOWN
      • DeckButton.DPAD_LEFT
      • DeckButton.DPAD_RIGHT
      • DeckButton.DPAD_UP
      • DeckButton.L1
      • DeckButton.L4
      • DeckButton.L5
      • DeckButton.MENU
      • DeckButton.R1
      • DeckButton.R4
      • DeckButton.R5
      • DeckButton.VIEW
      • DeckButton.X
      • DeckButton.Y
    • Joystick
      • Joystick.get_controller_input()
      • Joystick.update_walk_command()
    • JoystickAction
      • JoystickAction.A
      • JoystickAction.B
      • JoystickAction.DPAD_DOWN
      • JoystickAction.DPAD_LEFT
      • JoystickAction.DPAD_RIGHT
      • JoystickAction.DPAD_UP
      • JoystickAction.L1
      • JoystickAction.L2
      • JoystickAction.L4
      • JoystickAction.L5
      • JoystickAction.LEFT_JOYSTICK_HORIZONTAL
      • JoystickAction.LEFT_JOYSTICK_VERTICAL
      • JoystickAction.MENU
      • JoystickAction.R1
      • JoystickAction.R2
      • JoystickAction.R4
      • JoystickAction.R5
      • JoystickAction.RIGHT_JOYSTICK_HORIZONTAL
      • JoystickAction.RIGHT_JOYSTICK_VERTICAL
      • JoystickAction.VIEW
      • JoystickAction.X
      • JoystickAction.Y
    • StadiaAxis
      • StadiaAxis.L2
      • StadiaAxis.LEFT_JOYSTICK_HORIZONTAL
      • StadiaAxis.LEFT_JOYSTICK_VERTICAL
      • StadiaAxis.R2
      • StadiaAxis.RIGHT_JOYSTICK_HORIZONTAL
      • StadiaAxis.RIGHT_JOYSTICK_VERTICAL
    • StadiaButton
      • StadiaButton.A
      • StadiaButton.B
      • StadiaButton.DPAD_DOWN
      • StadiaButton.DPAD_LEFT
      • StadiaButton.DPAD_RIGHT
      • StadiaButton.DPAD_UP
      • StadiaButton.L1
      • StadiaButton.MENU
      • StadiaButton.R1
      • StadiaButton.VIEW
      • StadiaButton.X
      • StadiaButton.Y
    • XboxAxis
      • XboxAxis.L2
      • XboxAxis.LEFT_JOYSTICK_HORIZONTAL
      • XboxAxis.LEFT_JOYSTICK_VERTICAL
      • XboxAxis.R2
      • XboxAxis.RIGHT_JOYSTICK_HORIZONTAL
      • XboxAxis.RIGHT_JOYSTICK_VERTICAL
    • XboxButton
      • XboxButton.A
      • XboxButton.B
      • XboxButton.DPAD_DOWN
      • XboxButton.DPAD_LEFT
      • XboxButton.DPAD_RIGHT
      • XboxButton.DPAD_UP
      • XboxButton.L1
      • XboxButton.MENU
      • XboxButton.R1
      • XboxButton.VIEW
      • XboxButton.X
      • XboxButton.Y
  • toddlerbot.tools.keyboard module
    • Keyboard
      • Keyboard.check()
      • Keyboard.get_keyboard_input()
      • Keyboard.on_press()
      • Keyboard.on_release()
      • Keyboard.register()
  • toddlerbot.tools.overlay_eval module
    • extract_pair_fields()
    • load_data()
    • main()
  • toddlerbot.tools.run_sysID module
    • evaluate()
    • load_datasets()
    • main()
    • optimize_all()
    • optimize_parameters()
  • toddlerbot.tools.sim2real_eval module
    • evaluate()
    • load_datasets()
    • main()
  • toddlerbot.tools.teleoperate module
    • main()
  • toddlerbot.tools.zmq_jpeg_receiver module
    • main()
  • Module contents
• toddlerbot.utils package
  • Submodules
  • toddlerbot.utils.array_utils module
    • conditional_update()
    • inplace_add()
    • inplace_update()
    • loop_update()
    • random_uniform()
  • toddlerbot.utils.comm_utils module
    • ZMQMessage
      • ZMQMessage.action
      • ZMQMessage.camera_frame
      • ZMQMessage.control_inputs
      • ZMQMessage.fsr
      • ZMQMessage.time
    • ZMQNode
      • ZMQNode.get_msg()
      • ZMQNode.send_msg()
      • ZMQNode.start_zmq()
    • sync_time()
  • toddlerbot.utils.dataset_utils module
    • Data
      • Data.action
      • Data.image
      • Data.motor_pos
      • Data.time
    • DatasetLogger
      • DatasetLogger.log_entry()
      • DatasetLogger.move_files_to_exp_folder()
      • DatasetLogger.save()
  • toddlerbot.utils.io_utils module
    • find_last_result_dir()
    • find_latest_file_with_time_str()
    • find_ports()
    • get_conda_path()
    • pretty_write_xml()
  • toddlerbot.utils.math_utils module
    • binary_search()
    • butterworth()
    • exponential_moving_average()
    • gaussian_basis_functions()
    • get_action_traj()
    • get_chirp_signal()
    • get_local_vec()
    • get_random_sine_signal_config()
    • get_sine_signal()
    • interpolate()
    • interpolate_action()
    • resample_trajectory()
    • round_floats()
    • round_to_sig_digits()
  • toddlerbot.utils.misc_utils module
    • camel2snake()
    • dataclass2dict()
    • dump_profiling_data()
    • log()
    • parse_value()
    • precise_sleep()
    • profile()
    • set_seed()
    • snake2camel()
  • toddlerbot.utils.terrain_utils module
    • center_flat_mask()
    • edge_slope()
    • frustum_with_flat_top()
    • interpolant()
    • perlin()
  • Module contents
• toddlerbot.visualization package
  • Submodules
  • toddlerbot.visualization.vis_depth_comparison module
    • compare_depth_maps_npy()
    • compute_pointcloud_metrics()
    • create_bev_overlap()
    • generate_bev_image()
    • load_point_cloud()
    • run_icp()
  • toddlerbot.visualization.vis_plot module
    • plot_ang_vel_frequency()
    • plot_ankle_mapping()
    • plot_bar_graph()
    • plot_footsteps()
    • plot_joint_drive_direction()
    • plot_joint_tracking()
    • plot_joint_tracking_frequency()
    • plot_joint_tracking_single()
    • plot_line_graph()
    • plot_loop_time()
    • plot_motor_vel_tor_mapping()
    • plot_one_footstep()
    • plot_path_tracking()
    • plot_scatter_graph()
    • plot_sim2real_gap_bar()
    • plot_sim2real_gap_line()
    • plot_teleop_dataset()
    • plot_waist_mapping()
  • toddlerbot.visualization.vis_utils module
    • is_x11_available()
    • load_and_run_visualization()
    • log_plot_config()
    • make_vis_function()
  • Module contents

Module contents

ToddlerBot: A comprehensive robotics framework for humanoid robot development.

This package provides tools and utilities for: - Robot simulation and control - Motion planning and locomotion - Manipulation and grasping - Sensor processing and depth estimation - System identification and calibration - Real-time teleoperation and control

The ToddlerBot framework supports both simulation and real robot deployment, with a focus on research and development of humanoid robotics capabilities.