toddlerbot.locomotion package

Submodules

toddlerbot.locomotion.cartwheel_env module

toddlerbot.locomotion.crawl_env module

toddlerbot.locomotion.mjx_config module

toddlerbot.locomotion.mjx_env module

toddlerbot.locomotion.on_policy_runner module

toddlerbot.locomotion.ppo_config module

toddlerbot.locomotion.rsl_rl_wrapper module

toddlerbot.locomotion.train_mjx module

toddlerbot.locomotion.walk_env module

Module contents

Locomotion and movement control for ToddlerBot.

This package contains implementations for various locomotion strategies and movement patterns for the ToddlerBot humanoid robot, including:

• Walking gaits using reinforcement learning (PPO) and classical control

• Cartwheel and acrobatic movement patterns

• Crawling and low-profile locomotion

• Balance and stability control

• Environment interaction and terrain adaptation

The locomotion modules support both MuJoCo-based training environments and real robot deployment, with configurable parameters for different robot configurations and movement requirements.

Key components include environment definitions, training configurations, reward functions, and policy interfaces for various locomotion behaviors.