Index

A

A (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) action (toddlerbot.reference.motion_ref.Motion attribute) (toddlerbot.utils.comm_utils.ZMQMessage attribute) (toddlerbot.utils.dataset_utils.Data attribute) action_parts (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) action_rate (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) action_scale (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) action_size (toddlerbot.locomotion.mjx_env.MJXEnv property) activation (toddlerbot.locomotion.ppo_config.PPOConfig attribute) actuator_force (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) add_debug_spheres_from_hmap() (in module toddlerbot.sim.terrain.generate_terrain) add_domain_rand (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) add_ee_marker() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) add_gripper_constraints() (in module toddlerbot.descriptions.assemble_xml) add_head_pose (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) add_keyframes() (in module toddlerbot.descriptions.assemble_xml) add_offsets() (in module toddlerbot.descriptions.assemble_xml)

add_push (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) add_regularization (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) add_self_contacts() (in module toddlerbot.descriptions.assemble_xml) add_sites() (in module toddlerbot.descriptions.assemble_xml) add_waist_constraints() (in module toddlerbot.descriptions.assemble_xml) align_body_frames_to_global() (in module toddlerbot.descriptions.assemble_xml) align_ground (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) amplitude_list (toddlerbot.policies.sysID.SysIDSpecs attribute) ang_vel (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) ang_vel_tracking_sigma (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) ang_vel_xy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) ang_vel_z (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) anim_pose_callback() (toddlerbot.sim.mujoco_utils.MuJoCoRenderer method) AprilTagDetector (class in toddlerbot.sensing.camera) arm_fk() (toddlerbot.sim.robot.Robot method) arm_ik() (toddlerbot.sim.robot.Robot method) arm_joint_pos_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) arm_weight (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) armature_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) assemble_xml() (in module toddlerbot.descriptions.assemble_xml) AsusAxis (class in toddlerbot.tools.joystick) AsusButton (class in toddlerbot.tools.joystick)

B

B (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) backlash_activation (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) backlash_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) BalancePDPolicy (class in toddlerbot.policies.balance_pd) BasePolicy (class in toddlerbot.policies)

batch_size (toddlerbot.locomotion.ppo_config.PPOConfig attribute) binary_search() (in module toddlerbot.utils.math_utils) body_ang_vel (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) body_lin_vel (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) body_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) body_pos (toddlerbot.reference.motion_ref.Motion attribute) body_quat (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) (toddlerbot.reference.motion_ref.Motion attribute) build_lookup_table() (toddlerbot.algorithms.zmp_walk.ZMPWalk method) butterworth() (in module toddlerbot.utils.math_utils)

C

c_frame_stack (toddlerbot.locomotion.mjx_config.MJXConfig.ObsConfig attribute) CalibratePolicy (class in toddlerbot.policies.calibrate) camel2snake() (in module toddlerbot.utils.misc_utils) Camera (class in toddlerbot.sensing.camera) camera_frame (toddlerbot.utils.comm_utils.ZMQMessage attribute) CartwheelEnv (class in toddlerbot.locomotion.cartwheel_env) CartwheelPolicy (class in toddlerbot.policies.cartwheel) CartwheelReference (class in toddlerbot.reference.cartwheel_ref) center_flat_mask() (in module toddlerbot.utils.terrain_utils) check() (toddlerbot.tools.keyboard.Keyboard method) check_self_collisions() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) clipping_epsilon (toddlerbot.locomotion.ppo_config.PPOConfig attribute) close() (toddlerbot.locomotion.train_mjx.Tee method) (toddlerbot.policies.BasePolicy method) (toddlerbot.policies.calibrate.CalibratePolicy method) (toddlerbot.policies.dp_policy.DPPolicy method) (toddlerbot.policies.sysID.SysIDPolicy method) (toddlerbot.policies.teleop_follower_pd.TeleopFollowerPDPolicy method) (toddlerbot.policies.teleop_joystick.TeleopJoystickPolicy method) (toddlerbot.sensing.camera.Camera method) (toddlerbot.sensing.FSR.FSR method) (toddlerbot.sensing.IMU.IMU method) (toddlerbot.sensing.IMU.ThreadedIMU method) (toddlerbot.sim.mujoco_sim.MuJoCoSim method) (toddlerbot.sim.mujoco_utils.MuJoCoRenderer method) (toddlerbot.sim.mujoco_utils.MuJoCoViewer method) collision (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) com_acc_to_cop() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) com_fk() (toddlerbot.policies.balance_pd.BalancePDPolicy method) com_ik() (toddlerbot.policies.balance_pd.BalancePDPolicy method)

command_obs_indices (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) command_range (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) compare_depth_maps_npy() (in module toddlerbot.visualization.vis_depth_comparison) compute_bounding_box() (in module toddlerbot.descriptions.assemble_xml) compute_foot_trajectories() (toddlerbot.algorithms.zmp_walk.ZMPWalk method) compute_pointcloud_metrics() (in module toddlerbot.visualization.vis_depth_comparison) conditional_update() (in module toddlerbot.utils.array_utils) ConditionalResidualBlock1D (class in toddlerbot.manipulation.models.diffusion_model) ConditionalUnet1D (class in toddlerbot.manipulation.models.diffusion_model) configure_fixed() (in module toddlerbot.descriptions.assemble_xml) configure_mjx() (in module toddlerbot.descriptions.assemble_xml) configure_motors() (in module toddlerbot.descriptions.assemble_xml) contact (toddlerbot.reference.motion_ref.Motion attribute) contact_force_threshold (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) contact_number (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) control_inputs (toddlerbot.utils.comm_utils.ZMQMessage attribute) Conv1dBlock (class in toddlerbot.manipulation.models.diffusion_model) convert() (in module toddlerbot.descriptions.convert_to_urdf) CrawlEnv (class in toddlerbot.locomotion.crawl_env) CrawlPolicy (class in toddlerbot.policies.crawl) CrawlReference (class in toddlerbot.reference.crawl_ref) create_bev_overlap() (in module toddlerbot.visualization.vis_depth_comparison) create_body() (in module toddlerbot.descriptions.convert_to_urdf) create_dummy_body() (in module toddlerbot.descriptions.convert_to_urdf) create_joint() (in module toddlerbot.descriptions.convert_to_urdf) create_sample_indices() (in module toddlerbot.manipulation.utils.dataset_utils) create_scene_xml() (in module toddlerbot.descriptions.assemble_xml) create_terrain_spec() (in module toddlerbot.sim.terrain.generate_terrain) create_video_grid() (in module toddlerbot.manipulation.utils.dataset_utils) cycle_time (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute)

D

damping_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) Data (class in toddlerbot.utils.dataset_utils) data_list (toddlerbot.utils.dataset_utils.DatasetLogger attribute) dataclass2dict() (in module toddlerbot.utils.misc_utils) DatasetLogger (class in toddlerbot.utils.dataset_utils) deadzone (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) decay_rate (toddlerbot.policies.sysID.SysIDSpecs attribute) DeckAxis (class in toddlerbot.tools.joystick) DeckButton (class in toddlerbot.tools.joystick) depth (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) depth_to_xyzmap() (in module toddlerbot.depth.depth_utils) DepthEstimatorFoundationStereo (class in toddlerbot.depth.depth_estimator_foundation_stereo) DepthResult (class in toddlerbot.depth.depth_estimator_foundation_stereo) derivative() (toddlerbot.algorithms.zmp_planner.ExpPlusPPoly method) (toddlerbot.algorithms.zmp_planner.PPoly method) detect() (toddlerbot.sensing.camera.AprilTagDetector method) detect_tags() (toddlerbot.sensing.camera.Camera method) direction (toddlerbot.policies.sysID.SysIDSpecs attribute) discounting (toddlerbot.locomotion.ppo_config.PPOConfig attribute) disparity (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) distribution_type (toddlerbot.locomotion.ppo_config.PPOConfig attribute) dof_pos (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) dof_vel (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute)

domain_randomize() (in module toddlerbot.locomotion.train_mjx) Downsample1d (class in toddlerbot.manipulation.models.diffusion_model) DPAD_DOWN (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) DPAD_LEFT (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) DPAD_RIGHT (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) DPAD_UP (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) DPModel (class in toddlerbot.manipulation.inference_class) DPPolicy (class in toddlerbot.policies.dp_policy) dump_profiling_data() (in module toddlerbot.utils.misc_utils) dynamic_import_envs() (in module toddlerbot.locomotion.train_mjx)

E

edge_slope() (in module toddlerbot.utils.terrain_utils) energy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) entropy_cost (toddlerbot.locomotion.ppo_config.PPOConfig attribute) episode_length (toddlerbot.locomotion.ppo_config.PPOConfig attribute) eval_mode() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method)

evaluate() (in module toddlerbot.locomotion.train_mjx) (in module toddlerbot.tools.run_sysID) (in module toddlerbot.tools.sim2real_eval) exponential_moving_average() (in module toddlerbot.utils.math_utils) ExpPlusPPoly (class in toddlerbot.algorithms.zmp_planner) extract_pair_fields() (in module toddlerbot.tools.overlay_eval)

F

feet_air_time (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) feet_clearance (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) feet_contact (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) feet_distance (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) feet_slip (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) fileno() (toddlerbot.locomotion.train_mjx.Tee method) final_frequency (toddlerbot.policies.sysID.SysIDSpecs attribute) find_body_and_parent() (in module toddlerbot.descriptions.assemble_xml) find_last_result_dir() (in module toddlerbot.utils.io_utils) find_latest_file_with_time_str() (in module toddlerbot.utils.io_utils) find_ports() (in module toddlerbot.utils.io_utils) flush() (toddlerbot.locomotion.train_mjx.Tee method) foot_ik() (toddlerbot.algorithms.zmp_walk.ZMPWalk method)

forward() (toddlerbot.manipulation.models.diffusion_model.ConditionalResidualBlock1D method) (toddlerbot.manipulation.models.diffusion_model.ConditionalUnet1D method) (toddlerbot.manipulation.models.diffusion_model.Conv1dBlock method) (toddlerbot.manipulation.models.diffusion_model.Downsample1d method) (toddlerbot.manipulation.models.diffusion_model.SinusoidalPosEmb method) (toddlerbot.manipulation.models.diffusion_model.Upsample1d method) (toddlerbot.sim.mujoco_sim.MuJoCoSim method) frame_stack (toddlerbot.locomotion.mjx_config.MJXConfig.ObsConfig attribute) friction_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) frictionloss_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) frustum_with_flat_top() (in module toddlerbot.utils.terrain_utils) FSR (class in toddlerbot.sensing.FSR) fsr (toddlerbot.utils.comm_utils.ZMQMessage attribute)

G

gae_lambda (toddlerbot.locomotion.ppo_config.PPOConfig attribute) gaussian_basis_functions() (in module toddlerbot.utils.math_utils) generate_bev_image() (in module toddlerbot.visualization.vis_depth_comparison) generate_boxes_patch() (in module toddlerbot.sim.terrain.terrain_types) generate_bumps_patch() (in module toddlerbot.sim.terrain.terrain_types) generate_rough_patch() (in module toddlerbot.sim.terrain.terrain_types) generate_slope_patch() (in module toddlerbot.sim.terrain.terrain_types) generate_stairs_patch() (in module toddlerbot.sim.terrain.terrain_types) get_action_from_obs() (toddlerbot.manipulation.inference_class.DPModel method) get_action_traj() (in module toddlerbot.utils.math_utils) get_arm_motor_pos() (toddlerbot.policies.balance_pd.BalancePDPolicy method) (toddlerbot.policies.dp_policy.DPPolicy method) (toddlerbot.policies.reset_pd.ResetPDPolicy method) (toddlerbot.policies.teleop_follower_pd.TeleopFollowerPDPolicy method) get_body_mass_attr_range() (in module toddlerbot.locomotion.train_mjx) get_body_transform() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) get_chirp_signal() (in module toddlerbot.utils.math_utils) get_command() (toddlerbot.policies.balance_pd.BalancePDPolicy method) (toddlerbot.policies.mjx_policy.MJXPolicy method) (toddlerbot.policies.walk.WalkPolicy method) get_conda_path() (in module toddlerbot.utils.io_utils) get_controller_input() (toddlerbot.tools.joystick.Joystick method) get_data_stats() (in module toddlerbot.manipulation.utils.dataset_utils) get_default_state() (toddlerbot.reference.motion_ref.MotionReference method) get_depth() (toddlerbot.depth.depth_estimator_foundation_stereo.DepthEstimatorFoundationStereo method) get_desired_zmp() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_desired_zmp_traj() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_env_class() (in module toddlerbot.locomotion.mjx_env) get_env_config() (in module toddlerbot.locomotion.mjx_env) get_frame() (toddlerbot.sensing.camera.Camera method) get_geom_pose() (in module toddlerbot.descriptions.convert_to_urdf) get_inference_policy() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method) get_joint_angles() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) get_jpeg() (toddlerbot.sensing.camera.Camera method) get_keyboard_input() (toddlerbot.tools.keyboard.Keyboard method) get_latest_state() (toddlerbot.sensing.IMU.ThreadedIMU method) get_local_vec() (in module toddlerbot.utils.math_utils) get_mesh_paths() (in module toddlerbot.descriptions.convert_to_urdf) get_motor_angles() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) get_motor_target() (toddlerbot.policies.balance_pd.BalancePDPolicy method)

get_msg() (toddlerbot.utils.comm_utils.ZMQNode method) get_neck_motor_pos() (toddlerbot.policies.balance_pd.BalancePDPolicy method) (toddlerbot.policies.teleop_follower_pd.TeleopFollowerPDPolicy method) get_nominal_com() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_nominal_com_acc() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_nominal_com_vel() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_observation() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) get_observations() (toddlerbot.locomotion.rsl_rl_wrapper.RSLRLWrapper method) get_optim_com_acc() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) get_pcl() (toddlerbot.depth.depth_estimator_foundation_stereo.DepthEstimatorFoundationStereo method) get_phase_signal() (toddlerbot.policies.cartwheel.CartwheelPolicy method) (toddlerbot.policies.crawl.CrawlPolicy method) (toddlerbot.policies.mjx_policy.MJXPolicy method) (toddlerbot.policies.walk.WalkPolicy method) (toddlerbot.reference.cartwheel_ref.CartwheelReference method) (toddlerbot.reference.crawl_ref.CrawlReference method) (toddlerbot.reference.motion_ref.MotionReference method) (toddlerbot.reference.walk_zmp_ref.WalkZMPReference method) get_random_sine_signal_config() (in module toddlerbot.utils.math_utils) get_rectification_maps() (in module toddlerbot.depth.depth_utils) get_resnet() (in module toddlerbot.manipulation.utils.model_utils) get_sine_signal() (in module toddlerbot.utils.math_utils) get_site_transform() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) get_state() (toddlerbot.sensing.FSR.FSR method) (toddlerbot.sensing.IMU.IMU method) get_state_ref() (toddlerbot.reference.cartwheel_ref.CartwheelReference method) (toddlerbot.reference.crawl_ref.CrawlReference method) (toddlerbot.reference.motion_ref.MotionReference method) (toddlerbot.reference.walk_zmp_ref.WalkZMPReference method) get_transmission() (toddlerbot.sim.robot.Robot method) get_vel() (toddlerbot.reference.cartwheel_ref.CartwheelReference method) (toddlerbot.reference.crawl_ref.CrawlReference method) (toddlerbot.reference.motion_ref.MotionReference method) (toddlerbot.reference.walk_zmp_ref.WalkZMPReference method) gpu_preproc() (in module toddlerbot.depth.depth_estimator_foundation_stereo) gyro_amp_max (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) gyro_amp_min (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) gyro_bias_walk_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) gyro_fc (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) gyro_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) gyro_white_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute)

H

hand_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

HandstandPolicy (class in toddlerbot.policies.handstand) healthy_z_range (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute)

I

image (toddlerbot.utils.dataset_utils.Data attribute) IMU (class in toddlerbot.sensing.IMU) inference_ddim() (toddlerbot.manipulation.inference_class.DPModel method) inference_ddpm() (toddlerbot.manipulation.inference_class.DPModel method) init_noise_std (toddlerbot.locomotion.ppo_config.PPOConfig attribute) initial_frequency (toddlerbot.policies.sysID.SysIDSpecs attribute) inplace_add() (in module toddlerbot.utils.array_utils)

inplace_update() (in module toddlerbot.utils.array_utils) integrate_path_state() (toddlerbot.reference.motion_ref.MotionReference method) interpolant() (in module toddlerbot.utils.terrain_utils) interpolate() (in module toddlerbot.utils.math_utils) interpolate_action() (in module toddlerbot.utils.math_utils) is_x11_available() (in module toddlerbot.visualization.vis_utils) isatty() (toddlerbot.locomotion.train_mjx.Tee method)

J

joint_to_dof_angles() (toddlerbot.sim.robot.Robot method) joint_to_motor_angles() (toddlerbot.sim.robot.Robot method)

Joystick (class in toddlerbot.tools.joystick) JoystickAction (class in toddlerbot.tools.joystick)

K

kd_min_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) kd_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

Keyboard (class in toddlerbot.tools.keyboard) kp_list (toddlerbot.policies.sysID.SysIDSpecs attribute) kp_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

L

L1 (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) L2 (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute) L4 (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) L5 (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) learn() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method) learning_rate (toddlerbot.locomotion.ppo_config.PPOConfig attribute) LEFT_JOYSTICK_HORIZONTAL (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute) LEFT_JOYSTICK_VERTICAL (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute)

leg_fk() (toddlerbot.sim.robot.Robot method) leg_ik() (toddlerbot.sim.robot.Robot method) leg_weight (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) level (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) lin_vel (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) lin_vel_tracking_sigma (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) lin_vel_xy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) lin_vel_z (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) list_to_string() (in module toddlerbot.descriptions.assemble_xml) (in module toddlerbot.descriptions.convert_to_urdf) load() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method) load_and_run_visualization() (in module toddlerbot.visualization.vis_utils) load_data() (in module toddlerbot.tools.overlay_eval) load_datasets() (in module toddlerbot.tools.run_sysID) (in module toddlerbot.tools.sim2real_eval) load_jax_ckpt_to_torch() (in module toddlerbot.locomotion.train_mjx) load_model() (toddlerbot.manipulation.inference_class.DPModel method) load_point_cloud() (in module toddlerbot.visualization.vis_depth_comparison) load_runner_config() (in module toddlerbot.locomotion.train_mjx) load_wandb_policy() (in module toddlerbot.policies.mjx_policy) log() (in module toddlerbot.utils.misc_utils) log_entry() (toddlerbot.utils.dataset_utils.DatasetLogger method) log_metrics() (in module toddlerbot.locomotion.train_mjx) log_plot_config() (in module toddlerbot.visualization.vis_utils) loop_update() (in module toddlerbot.utils.array_utils)

M

main() (in module toddlerbot.descriptions.assemble_xml) (in module toddlerbot.descriptions.get_xml) (in module toddlerbot.descriptions.onshape_to_robot) (in module toddlerbot.locomotion.train_mjx) (in module toddlerbot.tools.overlay_eval) (in module toddlerbot.tools.run_sysID) (in module toddlerbot.tools.sim2real_eval) (in module toddlerbot.tools.teleoperate) (in module toddlerbot.tools.zmq_jpeg_receiver) make_vis_function() (in module toddlerbot.visualization.vis_utils) manual_map (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) max_feet_y_dist (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) max_grad_norm (toddlerbot.locomotion.ppo_config.PPOConfig attribute) MENU (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) min_feet_y_dist (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) mj_render() (in module toddlerbot.sim.mujoco_utils) MJXConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.ActionConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.CommandsConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.DomainRandConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.NoiseConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.ObsConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.ObsScales (class in toddlerbot.locomotion.mjx_config) MJXConfig.RewardScales (class in toddlerbot.locomotion.mjx_config) MJXConfig.RewardsConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.SimConfig (class in toddlerbot.locomotion.mjx_config) MJXConfig.TerrainConfig (class in toddlerbot.locomotion.mjx_config) MJXEnv (class in toddlerbot.locomotion.mjx_env) MJXPolicy (class in toddlerbot.policies.mjx_policy) module toddlerbot toddlerbot.actuation toddlerbot.algorithms toddlerbot.algorithms.zmp_planner toddlerbot.algorithms.zmp_walk toddlerbot.depth toddlerbot.depth.depth_estimator_foundation_stereo toddlerbot.depth.depth_utils toddlerbot.descriptions toddlerbot.descriptions.assemble_xml toddlerbot.descriptions.convert_to_urdf toddlerbot.descriptions.get_xml toddlerbot.descriptions.onshape_to_robot toddlerbot.locomotion toddlerbot.locomotion.cartwheel_env toddlerbot.locomotion.crawl_env toddlerbot.locomotion.mjx_config toddlerbot.locomotion.mjx_env toddlerbot.locomotion.on_policy_runner toddlerbot.locomotion.ppo_config toddlerbot.locomotion.rsl_rl_wrapper toddlerbot.locomotion.train_mjx toddlerbot.locomotion.walk_env toddlerbot.manipulation toddlerbot.manipulation.datasets toddlerbot.manipulation.datasets.get_pose_data toddlerbot.manipulation.datasets.process_raw_data toddlerbot.manipulation.datasets.teleop_dataset toddlerbot.manipulation.inference_class toddlerbot.manipulation.models toddlerbot.manipulation.models.diffusion_model toddlerbot.manipulation.train toddlerbot.manipulation.utils toddlerbot.manipulation.utils.dataset_utils toddlerbot.manipulation.utils.model_utils toddlerbot.policies toddlerbot.policies.balance_pd toddlerbot.policies.calibrate toddlerbot.policies.cartwheel toddlerbot.policies.crawl toddlerbot.policies.dp_policy toddlerbot.policies.handstand toddlerbot.policies.mjx_policy toddlerbot.policies.pull_up toddlerbot.policies.replay toddlerbot.policies.reset_pd toddlerbot.policies.stand toddlerbot.policies.sysID toddlerbot.policies.teleop_follower_pd toddlerbot.policies.teleop_joystick toddlerbot.policies.walk toddlerbot.reference toddlerbot.reference.cartwheel_ref toddlerbot.reference.crawl_ref toddlerbot.reference.motion_ref toddlerbot.reference.walk_zmp_ref toddlerbot.sensing toddlerbot.sensing.camera toddlerbot.sensing.FSR toddlerbot.sensing.IMU toddlerbot.sim.motor_control toddlerbot.sim.mujoco_sim toddlerbot.sim.mujoco_utils toddlerbot.sim.robot toddlerbot.sim.terrain toddlerbot.sim.terrain.generate_terrain toddlerbot.sim.terrain.terrain_types toddlerbot.tools toddlerbot.tools.joystick toddlerbot.tools.keyboard toddlerbot.tools.overlay_eval toddlerbot.tools.run_sysID toddlerbot.tools.sim2real_eval toddlerbot.tools.teleoperate toddlerbot.tools.zmq_jpeg_receiver toddlerbot.utils toddlerbot.utils.array_utils toddlerbot.utils.comm_utils toddlerbot.utils.dataset_utils toddlerbot.utils.io_utils toddlerbot.utils.math_utils toddlerbot.utils.misc_utils toddlerbot.utils.terrain_utils toddlerbot.visualization toddlerbot.visualization.vis_depth_comparison toddlerbot.visualization.vis_plot toddlerbot.visualization.vis_utils

Motion (class in toddlerbot.reference.motion_ref) MotionReference (class in toddlerbot.reference.motion_ref) motor_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) (toddlerbot.utils.dataset_utils.Data attribute) motor_to_dof_angles() (toddlerbot.sim.robot.Robot method) motor_to_joint_angles() (toddlerbot.sim.robot.Robot method) motor_torque (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) MotorController (class in toddlerbot.sim.motor_control) move_files_to_exp_folder() (toddlerbot.utils.dataset_utils.DatasetLogger method) mujoco_replay() (toddlerbot.algorithms.zmp_walk.ZMPWalk method) MuJoCoRenderer (class in toddlerbot.sim.mujoco_utils) MuJoCoSim (class in toddlerbot.sim.mujoco_sim) MuJoCoViewer (class in toddlerbot.sim.mujoco_utils)

N

n_episodes (toddlerbot.utils.dataset_utils.DatasetLogger attribute) n_frames (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) n_steps_delay (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) neck_fk() (toddlerbot.sim.robot.Robot method) neck_ik() (toddlerbot.sim.robot.Robot method) neck_weight (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) noise_std_type (toddlerbot.locomotion.ppo_config.PPOConfig attribute) normalize_advantage (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

normalize_data() (in module toddlerbot.manipulation.utils.dataset_utils) normalize_observation (toddlerbot.locomotion.ppo_config.PPOConfig attribute) num_envs (toddlerbot.locomotion.ppo_config.PPOConfig attribute) num_evals (toddlerbot.locomotion.ppo_config.PPOConfig attribute) num_minibatches (toddlerbot.locomotion.ppo_config.PPOConfig attribute) num_single_obs (toddlerbot.locomotion.mjx_config.MJXConfig.ObsConfig attribute) num_single_privileged_obs (toddlerbot.locomotion.mjx_config.MJXConfig.ObsConfig attribute) num_timesteps (toddlerbot.locomotion.ppo_config.PPOConfig attribute) num_updates_per_batch (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

O

on_press() (toddlerbot.tools.keyboard.Keyboard method) on_release() (toddlerbot.tools.keyboard.Keyboard method) OnPolicyRunner (class in toddlerbot.locomotion.on_policy_runner) optimize_all() (in module toddlerbot.tools.run_sysID)

optimize_parameters() (in module toddlerbot.tools.run_sysID) original_left (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) original_right (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) other_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

P

pad_images_np() (in module toddlerbot.depth.depth_utils) pad_to_multiple() (in module toddlerbot.depth.depth_estimator_foundation_stereo) parse_value() (in module toddlerbot.utils.misc_utils) passive_active_ratio_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) perlin() (in module toddlerbot.utils.terrain_utils) pipeline_step() (toddlerbot.locomotion.mjx_env.MJXEnv method) plan() (toddlerbot.algorithms.zmp_planner.ZMPPlanner method) (toddlerbot.algorithms.zmp_walk.ZMPWalk method) plot_ang_vel_frequency() (in module toddlerbot.visualization.vis_plot) plot_ankle_mapping() (in module toddlerbot.visualization.vis_plot) plot_bar_graph() (in module toddlerbot.visualization.vis_plot) plot_footsteps() (in module toddlerbot.visualization.vis_plot) plot_joint_drive_direction() (in module toddlerbot.visualization.vis_plot) plot_joint_tracking() (in module toddlerbot.visualization.vis_plot) plot_joint_tracking_frequency() (in module toddlerbot.visualization.vis_plot) plot_joint_tracking_single() (in module toddlerbot.visualization.vis_plot) plot_line_graph() (in module toddlerbot.visualization.vis_plot) plot_loop_time() (in module toddlerbot.visualization.vis_plot) plot_motor_vel_tor_mapping() (in module toddlerbot.visualization.vis_plot) plot_one_footstep() (in module toddlerbot.visualization.vis_plot) plot_path_tracking() (in module toddlerbot.visualization.vis_plot) plot_scatter_graph() (in module toddlerbot.visualization.vis_plot) plot_sim2real_gap_bar() (in module toddlerbot.visualization.vis_plot)

plot_sim2real_gap_line() (in module toddlerbot.visualization.vis_plot) plot_teleop_dataset() (in module toddlerbot.visualization.vis_plot) plot_waist_mapping() (in module toddlerbot.visualization.vis_plot) policy_hidden_layer_sizes (toddlerbot.locomotion.ppo_config.PPOConfig attribute) pos_tracking_sigma (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) PositionController (class in toddlerbot.sim.motor_control) PPOConfig (class in toddlerbot.locomotion.ppo_config) PPoly (class in toddlerbot.algorithms.zmp_planner) precise_sleep() (in module toddlerbot.utils.misc_utils) prediction_to_action() (toddlerbot.manipulation.inference_class.DPModel method) prepare_inputs() (toddlerbot.manipulation.inference_class.DPModel method) pretty_write_xml() (in module toddlerbot.utils.io_utils) print_metrics() (in module toddlerbot.locomotion.train_mjx) process_raw_dataset() (in module toddlerbot.manipulation.datasets.get_pose_data) (in module toddlerbot.manipulation.datasets.process_raw_data) process_xml_and_stl_files() (in module toddlerbot.descriptions.get_xml) profile() (in module toddlerbot.utils.misc_utils) prompt_yes_no() (in module toddlerbot.descriptions.onshape_to_robot) PullUpPolicy (class in toddlerbot.policies.pull_up) push_duration_s (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) push_interval_s (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) push_other_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) push_torso_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

Q

q_dot_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) q_dot_tau_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) qpos (toddlerbot.reference.motion_ref.Motion attribute) quat (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) quat_amp_max (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute)

quat_amp_min (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) quat_bias_walk_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) quat_fc (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) quat_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) quat_white_std (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute)

R

R1 (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) R2 (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute) R4 (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) R5 (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) rand_init_state_indices (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) random_spawn (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) random_uniform() (in module toddlerbot.utils.array_utils) rectified_left (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) rectified_right (toddlerbot.depth.depth_estimator_foundation_stereo.DepthResult attribute) register() (toddlerbot.tools.keyboard.Keyboard method) render() (toddlerbot.locomotion.mjx_env.MJXEnv method) (toddlerbot.locomotion.walk_env.WalkEnv method) render_nums (toddlerbot.locomotion.ppo_config.PPOConfig attribute) render_video() (in module toddlerbot.locomotion.train_mjx) replace_bn_with_gn() (in module toddlerbot.manipulation.utils.model_utils) replace_submodules() (in module toddlerbot.manipulation.utils.model_utils) ReplayPolicy (class in toddlerbot.policies.replay) resample_time (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) resample_trajectory() (in module toddlerbot.utils.math_utils)

reset() (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales method) (toddlerbot.locomotion.mjx_env.MJXEnv method) (toddlerbot.locomotion.rsl_rl_wrapper.RSLRLWrapper method) (toddlerbot.policies.BasePolicy method) (toddlerbot.policies.dp_policy.DPPolicy method) (toddlerbot.policies.mjx_policy.MJXPolicy method) ResetPDPolicy (class in toddlerbot.policies.reset_pd) resolution_per_meter (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) RIGHT_JOYSTICK_HORIZONTAL (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute) RIGHT_JOYSTICK_VERTICAL (toddlerbot.tools.joystick.AsusAxis attribute) (toddlerbot.tools.joystick.DeckAxis attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaAxis attribute) (toddlerbot.tools.joystick.XboxAxis attribute) rnn_hidden_size (toddlerbot.locomotion.ppo_config.PPOConfig attribute) rnn_num_layers (toddlerbot.locomotion.ppo_config.PPOConfig attribute) rnn_type (toddlerbot.locomotion.ppo_config.PPOConfig attribute) Robot (class in toddlerbot.sim.robot) robot_collision_geom_names (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) rollout() (in module toddlerbot.locomotion.train_mjx) rot_tracking_sigma (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) round_floats() (in module toddlerbot.utils.math_utils) round_to_sig_digits() (in module toddlerbot.utils.math_utils) RSLRLWrapper (class in toddlerbot.locomotion.rsl_rl_wrapper) run_icp() (in module toddlerbot.visualization.vis_depth_comparison) run_onshape_to_robot() (in module toddlerbot.descriptions.get_xml)

S

sample_sequence() (in module toddlerbot.manipulation.utils.dataset_utils) save() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method) (toddlerbot.utils.dataset_utils.DatasetLogger method) save_recording() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) (toddlerbot.sim.mujoco_utils.MuJoCoRenderer method) seed (toddlerbot.locomotion.ppo_config.PPOConfig attribute) self_contact_pairs (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute) send_msg() (toddlerbot.utils.comm_utils.ZMQNode method) set_joint_angles() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_joint_dynamics() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_motor_angles() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_motor_dynamics() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_motor_kps() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_motor_target() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_qpos() (toddlerbot.sim.mujoco_sim.MuJoCoSim method) set_report_interval() (in module toddlerbot.sensing.IMU) set_seed() (in module toddlerbot.utils.misc_utils) SinusoidalPosEmb (class in toddlerbot.manipulation.models.diffusion_model) site_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) (toddlerbot.reference.motion_ref.Motion attribute) site_quat (toddlerbot.reference.motion_ref.Motion attribute) snake2camel() (in module toddlerbot.utils.misc_utils) solve_ik() (toddlerbot.algorithms.zmp_walk.ZMPWalk method) solver (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute) StadiaAxis (class in toddlerbot.tools.joystick) StadiaButton (class in toddlerbot.tools.joystick) stand_still (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute)

StandPolicy (class in toddlerbot.policies.stand) start() (toddlerbot.sensing.IMU.ThreadedIMU method) start_zmq() (toddlerbot.utils.comm_utils.ZMQNode method) step() (toddlerbot.locomotion.mjx_env.MJXEnv method) (toddlerbot.locomotion.rsl_rl_wrapper.RSLRLWrapper method) (toddlerbot.policies.balance_pd.BalancePDPolicy method) (toddlerbot.policies.BasePolicy method) (toddlerbot.policies.calibrate.CalibratePolicy method) (toddlerbot.policies.dp_policy.DPPolicy method) (toddlerbot.policies.handstand.HandstandPolicy method) (toddlerbot.policies.mjx_policy.MJXPolicy method) (toddlerbot.policies.pull_up.PullUpPolicy method) (toddlerbot.policies.replay.ReplayPolicy method) (toddlerbot.policies.reset_pd.ResetPDPolicy method) (toddlerbot.policies.stand.StandPolicy method) (toddlerbot.policies.sysID.SysIDPolicy method) (toddlerbot.policies.teleop_follower_pd.TeleopFollowerPDPolicy method) (toddlerbot.policies.teleop_joystick.TeleopJoystickPolicy method) (toddlerbot.policies.walk.WalkPolicy method) (toddlerbot.sim.motor_control.MotorController method) (toddlerbot.sim.motor_control.PositionController method) (toddlerbot.sim.mujoco_sim.MuJoCoSim method) string_to_list() (in module toddlerbot.descriptions.assemble_xml) (in module toddlerbot.descriptions.convert_to_urdf) survival (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) sync_time() (in module toddlerbot.utils.comm_utils) SysIDPolicy (class in toddlerbot.policies.sysID) SysIDSpecs (class in toddlerbot.policies.sysID)

T

tau_brake_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) tau_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) tau_q_dot_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) Tee (class in toddlerbot.locomotion.train_mjx) TeleopFollowerPDPolicy (class in toddlerbot.policies.teleop_follower_pd) TeleopImageDataset (class in toddlerbot.manipulation.datasets.teleop_dataset) TeleopJoystickPolicy (class in toddlerbot.policies.teleop_joystick) ThreadedIMU (class in toddlerbot.sensing.IMU) tile_length (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) tile_width (toddlerbot.locomotion.mjx_config.MJXConfig.TerrainConfig attribute) time (toddlerbot.reference.motion_ref.Motion attribute) (toddlerbot.utils.comm_utils.ZMQMessage attribute) (toddlerbot.utils.dataset_utils.Data attribute) timestep (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute) to_open3d_Cloud() (in module toddlerbot.depth.depth_utils) toddlerbot module toddlerbot.actuation module toddlerbot.algorithms module toddlerbot.algorithms.zmp_planner module toddlerbot.algorithms.zmp_walk module toddlerbot.depth module toddlerbot.depth.depth_estimator_foundation_stereo module toddlerbot.depth.depth_utils module toddlerbot.descriptions module toddlerbot.descriptions.assemble_xml module toddlerbot.descriptions.convert_to_urdf module toddlerbot.descriptions.get_xml module toddlerbot.descriptions.onshape_to_robot module toddlerbot.locomotion module 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 toddlerbot.manipulation module toddlerbot.manipulation.datasets module toddlerbot.manipulation.datasets.get_pose_data module toddlerbot.manipulation.datasets.process_raw_data module toddlerbot.manipulation.datasets.teleop_dataset module toddlerbot.manipulation.inference_class module toddlerbot.manipulation.models module toddlerbot.manipulation.models.diffusion_model module toddlerbot.manipulation.train module toddlerbot.manipulation.utils module toddlerbot.manipulation.utils.dataset_utils module toddlerbot.manipulation.utils.model_utils module toddlerbot.policies module toddlerbot.policies.balance_pd module toddlerbot.policies.calibrate module toddlerbot.policies.cartwheel module toddlerbot.policies.crawl module toddlerbot.policies.dp_policy module toddlerbot.policies.handstand module toddlerbot.policies.mjx_policy module

toddlerbot.policies.pull_up module toddlerbot.policies.replay module toddlerbot.policies.reset_pd module toddlerbot.policies.stand module toddlerbot.policies.sysID module toddlerbot.policies.teleop_follower_pd module toddlerbot.policies.teleop_joystick module toddlerbot.policies.walk module toddlerbot.reference module toddlerbot.reference.cartwheel_ref module toddlerbot.reference.crawl_ref module toddlerbot.reference.motion_ref module toddlerbot.reference.walk_zmp_ref module toddlerbot.sensing module toddlerbot.sensing.camera module toddlerbot.sensing.FSR module toddlerbot.sensing.IMU module toddlerbot.sim.motor_control module toddlerbot.sim.mujoco_sim module toddlerbot.sim.mujoco_utils module toddlerbot.sim.robot module toddlerbot.sim.terrain module toddlerbot.sim.terrain.generate_terrain module toddlerbot.sim.terrain.terrain_types module toddlerbot.tools module toddlerbot.tools.joystick module toddlerbot.tools.keyboard module toddlerbot.tools.overlay_eval module toddlerbot.tools.run_sysID module toddlerbot.tools.sim2real_eval module toddlerbot.tools.teleoperate module toddlerbot.tools.zmq_jpeg_receiver module toddlerbot.utils module toddlerbot.utils.array_utils module toddlerbot.utils.comm_utils module toddlerbot.utils.dataset_utils module toddlerbot.utils.io_utils module toddlerbot.utils.math_utils module toddlerbot.utils.misc_utils module toddlerbot.utils.terrain_utils module toddlerbot.visualization module toddlerbot.visualization.vis_depth_comparison module toddlerbot.visualization.vis_plot module toddlerbot.visualization.vis_utils module torso_pitch (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_pitch_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) torso_pos_xy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_pos_z (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_quat (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_roll (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_roll_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) train() (in module toddlerbot.locomotion.train_mjx) (in module toddlerbot.manipulation.train) train_mode() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method) turn_chance (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute)

U

unnormalize_data() (in module toddlerbot.manipulation.utils.dataset_utils) unpad_image_np() (in module toddlerbot.depth.depth_utils) unroll_length (toddlerbot.locomotion.ppo_config.PPOConfig attribute) update_collision() (in module toddlerbot.descriptions.assemble_xml) update_episode_metrics() (toddlerbot.locomotion.on_policy_runner.OnPolicyRunner method)

update_joint_params() (in module toddlerbot.descriptions.assemble_xml) update_walk_command() (toddlerbot.tools.joystick.Joystick method) Upsample1d (class in toddlerbot.manipulation.models.diffusion_model) use_exp_reward (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) use_rnn (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

V

value() (toddlerbot.algorithms.zmp_planner.ExpPlusPPoly method) value_hidden_layer_sizes (toddlerbot.locomotion.ppo_config.PPOConfig attribute) VIEW (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute) vis_disparity() (in module toddlerbot.depth.depth_utils)

vis_tag() (toddlerbot.sensing.camera.AprilTagDetector method) visualize() (toddlerbot.sim.mujoco_utils.MuJoCoRenderer method) (toddlerbot.sim.mujoco_utils.MuJoCoViewer method) visualize_com() (toddlerbot.sim.mujoco_utils.MuJoCoViewer method) visualize_force_arrow() (toddlerbot.locomotion.mjx_env.MJXEnv method) visualize_path_frame() (toddlerbot.locomotion.walk_env.WalkEnv method) visualize_support_poly() (toddlerbot.sim.mujoco_utils.MuJoCoViewer method) visualize_world_axes() (toddlerbot.locomotion.mjx_env.MJXEnv method)

W

waist_fk() (toddlerbot.sim.robot.Robot method) waist_ik() (toddlerbot.sim.robot.Robot method) waist_weight (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) WalkEnv (class in toddlerbot.locomotion.walk_env) WalkPolicy (class in toddlerbot.policies.walk) WalkZMPReference (class in toddlerbot.reference.walk_zmp_ref) wandb_entity (toddlerbot.locomotion.ppo_config.PPOConfig attribute) wandb_project (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

warm_up_angles (toddlerbot.policies.sysID.SysIDSpecs attribute) write() (toddlerbot.locomotion.train_mjx.Tee method) write_fixed_xml() (in module toddlerbot.descriptions.assemble_xml) write_mjx_fixed_xml() (in module toddlerbot.descriptions.assemble_xml) write_mjx_xml() (in module toddlerbot.descriptions.assemble_xml) write_pos_fixed_xml() (in module toddlerbot.descriptions.assemble_xml) write_pos_xml() (in module toddlerbot.descriptions.assemble_xml) write_xml() (in module toddlerbot.descriptions.assemble_xml)

X

X (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute)

XboxAxis (class in toddlerbot.tools.joystick) XboxButton (class in toddlerbot.tools.joystick)

Y

Y (toddlerbot.tools.joystick.AsusButton attribute) (toddlerbot.tools.joystick.DeckButton attribute) (toddlerbot.tools.joystick.JoystickAction attribute) (toddlerbot.tools.joystick.StadiaButton attribute) (toddlerbot.tools.joystick.XboxButton attribute)

Z

zero_chance (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) ZMPPlanner (class in toddlerbot.algorithms.zmp_planner)

ZMPWalk (class in toddlerbot.algorithms.zmp_walk) ZMQMessage (class in toddlerbot.utils.comm_utils) ZMQNode (class in toddlerbot.utils.comm_utils)