API Reference

The codebase is organized as follows:

.
├── datasets  # store the manipulate datasets
├── docs  # store the source files of the documentation
├── examples  # some example scripts to get started
├── motion  # store the keyframe motion data
├── results  # store the results of the experiments
├── scripts  # store the utility scripts
├── tests   # store the test scripts
├── toddlerbot  # the main codebase
│   ├── actuation  # code for interacting with Dynamixel Motors
│   ├── algorithms  # zero moment point planner
│   ├── brax  # our fork of Google's Brax
│   ├── descriptions  # URDF, MJCF, and config files for all the variations of Toddy
│   ├── locomotion  # RL training code in MJX
│   ├── manipulation  # diffusion policy
│   ├── policies  # deployment code with run_policy.py as the runner and others as policy classes.
│   ├── reference  # code to generate reference motion
│   ├── sensing  # code to interact with the sensors
│   ├── sim   # code for information exchange with MuJoCo and the real world sensors
│   ├── tools  # zero_point calibration, keyframe editing, joystick teleoperation, system identification, sim2real evaluation, etc.
│   ├── utils  # utility functions
│   └── visualization  # visualization functions

The Docstrings are generated using ChatGPT and Sphinx. Please open an GitHub issue if you find any errors or have any suggestions.