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.utils.comm_utils.ZMQMessage attribute) (toddlerbot.utils.dataset_utils.Data attribute) action_noise (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) action_parts (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) action_scale (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) add_domain_rand (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) add_noise (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) align_ground (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) alpha (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

ang_vel (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) (toddlerbot.sim.Obs attribute) ang_vel_xy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) ang_vel_z (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) AprilTagDetector (class in toddlerbot.sensing.camera) arm_action_acc (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) arm_action_rate (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) arm_motor_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) arm_name (toddlerbot.descriptions.assemble_urdf.URDFConfig attribute) armature_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) assemble_urdf() (in module toddlerbot.descriptions.assemble_urdf) assembly_list (toddlerbot.descriptions.get_urdf.OnShapeConfig attribute) 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.NoiseConfig attribute) backlash_scale (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute)

BaseController (class in toddlerbot.actuation) BaseSim (class in toddlerbot.sim) batch_size (toddlerbot.locomotion.ppo_config.PPOConfig attribute) baudrate (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) body_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) body_name (toddlerbot.descriptions.assemble_urdf.URDFConfig attribute) bulk_read() (toddlerbot.actuation.dynamixel_client.DynamixelClient method)

C

c_frame_stack (toddlerbot.locomotion.mjx_config.MJXConfig.ObsConfig attribute) calibrate_dynamixel() (in module toddlerbot.tools.calibrate_zero) camel2snake() (in module toddlerbot.utils.misc_utils) Camera (class in toddlerbot.sensing.camera) camera_frame (toddlerbot.utils.comm_utils.ZMQMessage attribute) check() (toddlerbot.tools.keyboard.Keyboard method) check_connected() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) clipping_epsilon (toddlerbot.locomotion.ppo_config.PPOConfig attribute) close() (toddlerbot.sensing.camera.Camera method) (toddlerbot.sensing.FSR.FSR method) (toddlerbot.sim.BaseSim method) (toddlerbot.sim.real_world.RealWorld method) close_motors() (toddlerbot.actuation.BaseController method) (toddlerbot.actuation.dynamixel_control.DynamixelController method)

collider_names (toddlerbot.sim.robot.Robot attribute) collision (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) command_obs_indices (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) command_range (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) connect() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) connect_to_client() (toddlerbot.actuation.BaseController method) (toddlerbot.actuation.dynamixel_control.DynamixelController method) contact_force_threshold (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) control_inputs (toddlerbot.utils.comm_utils.ZMQMessage attribute) control_mode (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) convert_to_unsigned() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) create_sample_indices() (in module toddlerbot.manipulation.utils.dataset_utils) 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_steps (toddlerbot.locomotion.ppo_config.PPOConfig attribute) DeckAxis (class in toddlerbot.tools.joystick) DeckButton (class in toddlerbot.tools.joystick) default_joint_angles (toddlerbot.sim.robot.Robot attribute) default_motor_angles (toddlerbot.sim.robot.Robot attribute) default_vel (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) detect() (toddlerbot.sensing.camera.AprilTagDetector method) detect_tags() (toddlerbot.sensing.camera.Camera method) disable_motors() (toddlerbot.actuation.dynamixel_control.DynamixelController method) disconnect() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) discounting (toddlerbot.locomotion.ppo_config.PPOConfig attribute) doc_id_list (toddlerbot.descriptions.get_urdf.OnShapeConfig 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) 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) dump_profiling_data() (in module toddlerbot.utils.misc_utils) dynamixel_cleanup_handler() (in module toddlerbot.actuation.dynamixel_client) DynamixelClient (class in toddlerbot.actuation.dynamixel_client) DynamixelConfig (class in toddlerbot.actuation.dynamixel_control) DynamixelController (class in toddlerbot.actuation.dynamixel_control)

E

ee_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) enable_motors() (toddlerbot.actuation.dynamixel_control.DynamixelController method) energy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) entropy_cost (toddlerbot.locomotion.ppo_config.PPOConfig attribute)

episode_length (toddlerbot.locomotion.ppo_config.PPOConfig attribute) euler (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) (toddlerbot.sim.Obs attribute) evaluate() (in module toddlerbot.tools.sim2real_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) filter_cutoff (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) filter_order (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) filter_type (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) find_last_result_dir() (in module toddlerbot.utils.file_utils)

find_latest_file_with_time_str() (in module toddlerbot.utils.misc_utils) find_ports() (in module toddlerbot.utils.file_utils) find_robot_file_path() (in module toddlerbot.utils.file_utils) find_root_link_name() (in module toddlerbot.descriptions.assemble_urdf) foot_name (toddlerbot.sim.robot.Robot attribute) 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) FSR (class in toddlerbot.sensing.FSR) fsr (toddlerbot.utils.comm_utils.ZMQMessage attribute)

G

get_controller_input() (toddlerbot.tools.joystick.Joystick method) get_cur_scale() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) get_data_stats() (in module toddlerbot.manipulation.utils.dataset_utils) get_default_config() (in module toddlerbot.descriptions.add_configs) get_env_config() (in module toddlerbot.locomotion.mjx_config) get_env_path() (in module toddlerbot.actuation.dynamixel_control) (in module toddlerbot.descriptions.update_onshape_config) get_frame() (toddlerbot.sensing.camera.Camera method)

get_joint_attrs() (toddlerbot.sim.robot.Robot method) get_jpeg() (toddlerbot.sensing.camera.Camera method) get_keyboard_input() (toddlerbot.tools.keyboard.Keyboard method) get_motor_state() (toddlerbot.actuation.BaseController method) (toddlerbot.actuation.dynamixel_control.DynamixelController method) get_msg() (toddlerbot.utils.comm_utils.ZMQNode method) get_observation() (toddlerbot.sim.BaseSim method) (toddlerbot.sim.real_world.RealWorld method) get_state() (toddlerbot.sensing.FSR.FSR method)

H

handle_packet_result() (toddlerbot.actuation.dynamixel_client.DynamixelClient method)

has_gripper (toddlerbot.sim.robot.Robot attribute) healthy_z_range (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute)

I

image (toddlerbot.utils.dataset_utils.Data attribute) init_joint_angles (toddlerbot.sim.robot.Robot attribute) init_motor_angles (toddlerbot.sim.robot.Robot attribute) init_pos (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) initialize() (toddlerbot.sim.real_world.RealWorld method) (toddlerbot.sim.robot.Robot method)

initialize_motors() (toddlerbot.actuation.BaseController method) (toddlerbot.actuation.dynamixel_control.DynamixelController method) interp_method (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) is_connected (toddlerbot.actuation.dynamixel_client.DynamixelClient property) is_x11_available() (in module toddlerbot.visualization.vis_utils) is_xml_pretty_printed() (in module toddlerbot.descriptions.get_urdf) iterations (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute)

J

joint_groups (toddlerbot.sim.robot.Robot attribute) joint_limits (toddlerbot.sim.robot.Robot attribute) joint_ordering (toddlerbot.sim.robot.Robot attribute) joint_pos (toddlerbot.sim.Obs attribute) joint_to_motor_angles() (toddlerbot.sim.robot.Robot method)

joint_to_motor_name (toddlerbot.sim.robot.Robot attribute) joint_to_passive_angles() (toddlerbot.sim.robot.Robot method) joint_vel (toddlerbot.sim.Obs attribute) JointState (class in toddlerbot.actuation) Joystick (class in toddlerbot.tools.joystick) JoystickAction (class in toddlerbot.tools.joystick)

K

kD (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) kd_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) Keyboard (class in toddlerbot.tools.keyboard) kFF1 (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute)

kFF2 (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) kI (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) kP (toddlerbot.actuation.dynamixel_control.DynamixelConfig 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) 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_action_acc (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) leg_action_rate (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) leg_motor_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) leg_name (toddlerbot.descriptions.assemble_urdf.URDFConfig attribute) lin_vel (toddlerbot.locomotion.mjx_config.MJXConfig.ObsScales attribute) (toddlerbot.sim.Obs attribute) lin_vel_xy (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) lin_vel_z (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) load_and_run_visualization() (in module toddlerbot.visualization.vis_utils) load_datasets() (in module toddlerbot.tools.sim2real_eval) load_robot_config() (toddlerbot.sim.robot.Robot method) log() (in module toddlerbot.utils.misc_utils) log_entry() (toddlerbot.utils.dataset_utils.DatasetLogger method) ls_iterations (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute)

M

main() (in module toddlerbot.descriptions.add_configs) (in module toddlerbot.descriptions.assemble_urdf) (in module toddlerbot.descriptions.get_urdf) (in module toddlerbot.tools.calibrate_zero) (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) max_feet_y_dist (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) maxSTLSize (toddlerbot.descriptions.get_urdf.OnShapeConfig attribute) mean_reversion (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig 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) mergeSTLs (toddlerbot.descriptions.get_urdf.OnShapeConfig attribute) mergeSTLsCollisions (toddlerbot.descriptions.get_urdf.OnShapeConfig attribute) min_feet_y_dist (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) 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) modify_config() (in module toddlerbot.descriptions.update_onshape_config) module toddlerbot toddlerbot.actuation toddlerbot.actuation.dynamixel_client toddlerbot.actuation.dynamixel_control toddlerbot.algorithms toddlerbot.descriptions toddlerbot.descriptions.add_configs toddlerbot.descriptions.assemble_urdf toddlerbot.descriptions.get_urdf toddlerbot.descriptions.update_onshape_config toddlerbot.locomotion toddlerbot.locomotion.mjx_config toddlerbot.locomotion.ppo_config toddlerbot.manipulation toddlerbot.manipulation.datasets toddlerbot.manipulation.datasets.get_pose_data toddlerbot.manipulation.datasets.process_raw_data toddlerbot.manipulation.models toddlerbot.manipulation.utils toddlerbot.manipulation.utils.dataset_utils toddlerbot.reference toddlerbot.sensing toddlerbot.sensing.camera toddlerbot.sensing.FSR toddlerbot.sim toddlerbot.sim.real_world toddlerbot.sim.robot toddlerbot.tools toddlerbot.tools.calibrate_zero toddlerbot.tools.joystick toddlerbot.tools.keyboard toddlerbot.tools.sim2real_eval toddlerbot.tools.teleoperate toddlerbot.tools.zmq_jpeg_receiver toddlerbot.utils toddlerbot.utils.comm_utils toddlerbot.utils.dataset_utils toddlerbot.utils.file_utils toddlerbot.utils.misc_utils toddlerbot.visualization toddlerbot.visualization.vis_plot toddlerbot.visualization.vis_utils

motor_ordering (toddlerbot.sim.robot.Robot attribute) motor_pos (toddlerbot.sim.Obs attribute) (toddlerbot.utils.dataset_utils.Data attribute) motor_to_joint_angles() (toddlerbot.sim.robot.Robot method) motor_to_joint_name (toddlerbot.sim.robot.Robot attribute) motor_tor (toddlerbot.sim.Obs attribute) motor_torque (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) motor_vel (toddlerbot.sim.Obs attribute) move_files_to_exp_folder() (toddlerbot.utils.dataset_utils.DatasetLogger method)

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_action_acc (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) neck_action_rate (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) neck_motor_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) normalize_data() (in module toddlerbot.manipulation.utils.dataset_utils)

nu (toddlerbot.sim.robot.Robot 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

Obs (class in toddlerbot.sim) obs_noise_scale (toddlerbot.locomotion.mjx_config.MJXConfig.NoiseConfig attribute) on_press() (toddlerbot.tools.keyboard.Keyboard method)

on_release() (toddlerbot.tools.keyboard.Keyboard method) OnShapeConfig (class in toddlerbot.descriptions.get_urdf) OPEN_CLIENTS (toddlerbot.actuation.dynamixel_client.DynamixelClient attribute) other_mass_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute)

P

parse_value() (in module toddlerbot.utils.misc_utils) passive_joint_names (toddlerbot.sim.robot.Robot attribute) 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_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) port (toddlerbot.actuation.dynamixel_control.DynamixelConfig attribute) pos (toddlerbot.actuation.JointState attribute) (toddlerbot.sim.Obs attribute) PPOConfig (class in toddlerbot.locomotion.ppo_config) precise_sleep() (in module toddlerbot.utils.misc_utils) prettify() (in module toddlerbot.descriptions.get_urdf) process_motor_reading() (toddlerbot.sim.real_world.RealWorld method) process_raw_dataset() (in module toddlerbot.manipulation.datasets.get_pose_data) (in module toddlerbot.manipulation.datasets.process_raw_data) process_urdf_and_stl_files() (in module toddlerbot.descriptions.get_urdf) profile() (in module toddlerbot.utils.misc_utils) push_ang_vel (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) push_interval_s (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) push_lin_vel (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)

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) read_cur() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_model_number() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_pos() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_pos_vel() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_pos_vel_cur() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_vel() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) read_vin() (toddlerbot.actuation.dynamixel_client.DynamixelClient method)

RealWorld (class in toddlerbot.sim.real_world) reboot() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) register() (toddlerbot.tools.keyboard.Keyboard method) render_interval (toddlerbot.locomotion.ppo_config.PPOConfig attribute) resample_time (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) reset() (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales method) reset_time (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute) return_delay_time (toddlerbot.actuation.dynamixel_control.DynamixelConfig 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) Robot (class in toddlerbot.sim.robot) robot_name (toddlerbot.descriptions.assemble_urdf.URDFConfig attribute) run_onshape_to_robot() (in module toddlerbot.descriptions.get_urdf)

S

sample_sequence() (in module toddlerbot.manipulation.utils.dataset_utils) save() (toddlerbot.utils.dataset_utils.DatasetLogger method) seed (toddlerbot.locomotion.ppo_config.PPOConfig attribute) send_msg() (toddlerbot.utils.comm_utils.ZMQNode method) set_cur() (toddlerbot.actuation.dynamixel_control.DynamixelController method) set_joint_attrs() (toddlerbot.sim.robot.Robot method) set_kp() (toddlerbot.actuation.dynamixel_control.DynamixelController method) set_kp_kd() (toddlerbot.actuation.dynamixel_control.DynamixelController method) set_latency_timer() (in module toddlerbot.actuation.dynamixel_control) set_motor_kps() (toddlerbot.sim.BaseSim method) (toddlerbot.sim.real_world.RealWorld method) set_motor_target() (toddlerbot.sim.BaseSim method) (toddlerbot.sim.real_world.RealWorld method) set_parameters() (toddlerbot.actuation.dynamixel_control.DynamixelController method) set_pos() (toddlerbot.actuation.BaseController method) (toddlerbot.actuation.dynamixel_control.DynamixelController method)

set_seed() (in module toddlerbot.utils.misc_utils) set_torque_enabled() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) signed_to_unsigned() (in module toddlerbot.actuation.dynamixel_client) simplifySTLs (toddlerbot.descriptions.get_urdf.OnShapeConfig attribute) snake2camel() (in module toddlerbot.utils.misc_utils) 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) start_zmq() (toddlerbot.utils.comm_utils.ZMQNode method) step() (toddlerbot.sim.BaseSim method) (toddlerbot.sim.real_world.RealWorld method) survival (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) sync_read() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) sync_time() (in module toddlerbot.utils.comm_utils) sync_write() (toddlerbot.actuation.dynamixel_client.DynamixelClient method)

T

tau_max_range (toddlerbot.locomotion.mjx_config.MJXConfig.DomainRandConfig attribute) time (toddlerbot.actuation.JointState attribute) (toddlerbot.sim.Obs attribute) (toddlerbot.utils.comm_utils.ZMQMessage attribute) (toddlerbot.utils.dataset_utils.Data attribute) timestep (toddlerbot.locomotion.mjx_config.MJXConfig.SimConfig attribute) toddlerbot module toddlerbot.actuation module toddlerbot.actuation.dynamixel_client module toddlerbot.actuation.dynamixel_control module toddlerbot.algorithms module toddlerbot.descriptions module toddlerbot.descriptions.add_configs module toddlerbot.descriptions.assemble_urdf module toddlerbot.descriptions.get_urdf module toddlerbot.descriptions.update_onshape_config module toddlerbot.locomotion module toddlerbot.locomotion.mjx_config module toddlerbot.locomotion.ppo_config module toddlerbot.manipulation module toddlerbot.manipulation.datasets module toddlerbot.manipulation.datasets.get_pose_data module toddlerbot.manipulation.datasets.process_raw_data module toddlerbot.manipulation.models module toddlerbot.manipulation.utils module toddlerbot.manipulation.utils.dataset_utils module toddlerbot.reference module toddlerbot.sensing module

toddlerbot.sensing.camera module toddlerbot.sensing.FSR module toddlerbot.sim module toddlerbot.sim.real_world module toddlerbot.sim.robot module toddlerbot.tools module toddlerbot.tools.calibrate_zero module toddlerbot.tools.joystick module toddlerbot.tools.keyboard module toddlerbot.tools.sim2real_eval module toddlerbot.tools.teleoperate module toddlerbot.tools.zmq_jpeg_receiver module toddlerbot.utils module toddlerbot.utils.comm_utils module toddlerbot.utils.dataset_utils module toddlerbot.utils.file_utils module toddlerbot.utils.misc_utils module toddlerbot.visualization module toddlerbot.visualization.vis_plot module toddlerbot.visualization.vis_utils module tor (toddlerbot.actuation.JointState attribute) torso_pitch (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) torso_pitch_range (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) torso_pos (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.RewardsConfig attribute) tracking_sigma (toddlerbot.locomotion.mjx_config.MJXConfig.RewardsConfig attribute) turn_chance (toddlerbot.locomotion.mjx_config.MJXConfig.CommandsConfig attribute)

U

unnormalize_data() (in module toddlerbot.manipulation.utils.dataset_utils) unroll_length (toddlerbot.locomotion.ppo_config.PPOConfig attribute) unsigned_to_signed() (in module toddlerbot.actuation.dynamixel_client)

update_init_pos() (toddlerbot.actuation.dynamixel_control.DynamixelController method) update_link_names_and_references() (in module toddlerbot.descriptions.assemble_urdf) update_walk_command() (toddlerbot.tools.joystick.Joystick method) URDFConfig (class in toddlerbot.descriptions.assemble_urdf)

V

value_hidden_layer_sizes (toddlerbot.locomotion.ppo_config.PPOConfig attribute) vel (toddlerbot.actuation.JointState 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_tag() (toddlerbot.sensing.camera.AprilTagDetector method)

W

waist_action_acc (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) waist_action_rate (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) waist_fk() (toddlerbot.sim.robot.Robot method) waist_ik() (toddlerbot.sim.robot.Robot method)

waist_motor_pos (toddlerbot.locomotion.mjx_config.MJXConfig.RewardScales attribute) waist_roll_max (toddlerbot.locomotion.mjx_config.MJXConfig.ActionConfig attribute) write_byte() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) write_desired_cur() (toddlerbot.actuation.dynamixel_client.DynamixelClient method) write_desired_pos() (toddlerbot.actuation.dynamixel_client.DynamixelClient method)

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)

ZMQMessage (class in toddlerbot.utils.comm_utils) ZMQNode (class in toddlerbot.utils.comm_utils)