toddlerbot.reference package

Submodules

toddlerbot.reference.cartwheel_ref module

toddlerbot.reference.crawl_ref module

toddlerbot.reference.motion_ref module

toddlerbot.reference.walk_zmp_ref module

Module contents

Reference motion generation and trajectory planning for ToddlerBot.

This package provides reference motion generators and trajectory planning utilities for various robot behaviors and movements, including:

• ZMP-based walking reference trajectories

• Cartwheel and acrobatic motion references

• Crawling and low-profile movement references

• General motion reference framework and base classes

• Trajectory interpolation and smoothing utilities

The reference motion system provides target trajectories for various controllers and policies, supporting both scripted motions and dynamically generated reference patterns based on user commands and environmental conditions.