Index

_

__enter__() (judo.utils.timer.Timer method) __exit__() (judo.utils.timer.Timer method)

__post_init__() (judo.config.OverridableConfig method) __repr__() (judo.utils.timer.Timer method)

A

acquire_lock() (in module judo.utils.assets) action() (judo.controller.Controller method) (judo.controller.controller.Controller method) action_normalizer (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute) action_normalizer_type (judo.controller.Controller property) (judo.controller.controller.Controller property) action_scale (judo.controller.batched_spot_locomotion.BatchedSpotLocomotion attribute) active_pair (judo.app.benchmark.BenchmarkerNode attribute) actuator_ctrlrange (judo.tasks.base.Task property) (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.SpotBase property) (judo.tasks.SpotBase property) (judo.tasks.Task property) add_box() (in module judo.visualizers.model) add_capsule() (in module judo.visualizers.model) add_cylinder() (in module judo.visualizers.model) add_ellipsoid() (in module judo.visualizers.model) add_geom() (judo.visualizers.model.ViserMjModel method) add_mesh() (in module judo.visualizers.model) add_mesh_from_file() (in module judo.visualizers.model) add_plane() (in module judo.visualizers.model) add_segments() (in module judo.visualizers.model) add_sphere() (in module judo.visualizers.model) add_spline() (in module judo.visualizers.model)

add_traces() (judo.visualizers.model.ViserMjModel method) all_traces_rollout_size (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) (judo.visualizers.model.ViserMjModel attribute) app() (in module judo.cli) apply_mujoco_material() (in module judo.visualizers.utils) apply_quat_to_vec() (in module judo.tasks.spot.spot_utils) apply_selection_mask() (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) ARM_CMD_INDS (in module judo.tasks.spot.spot_constants) ARM_JOINT_NAMES (in module judo.tasks.spot.spot_constants) arm_pos_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) ARM_SOFT_LOWER_JOINT_LIMITS (in module judo.tasks.spot.spot_constants) ARM_SOFT_UPPER_JOINT_LIMITS (in module judo.tasks.spot.spot_constants) ARM_STOWED_POS (in module judo.tasks.spot.spot_constants) ARM_UNSTOWED_POS (in module judo.tasks.spot.spot_constants) available_optimizers (judo.app.benchmark.BenchmarkerNode attribute) (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) (judo.visualizers.visualizer.Visualizer attribute) available_tasks (judo.app.benchmark.BenchmarkerNode attribute) (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) (judo.visualizers.visualizer.Visualizer attribute) axis_angle_diff() (in module judo.utils.math_utils)

B

BASE_SOFT_LIMITS (in module judo.tasks.spot.spot_constants) BASE_VEL_CMD_INDS (in module judo.tasks.spot.spot_constants) BatchedControllers (class in judo.controller) (class in judo.controller.controller) BatchedRolloutBackend (class in judo.utils.rollout_backend) BatchedSpotLocomotion (class in judo.controller.batched_spot_locomotion) benchmark() (in module judo.cli) BenchmarkerNode (class in judo.app.benchmark) body_pose_idx (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_navigate.SpotNavigate attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotNavigate attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.SpotBase attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotNavigate attribute) (judo.tasks.SpotTireRoll attribute)

BOX_HALF_LENGTH (in module judo.tasks.spot.spot_constants) build_observation_kernel() (in module judo.controller.batched_spot_locomotion)

C

CaltechLeapCube (class in judo.tasks) (class in judo.tasks.caltech_leap_cube) CaltechLeapCubeConfig (class in judo.tasks) (class in judo.tasks.caltech_leap_cube) Cartpole (class in judo.tasks) (class in judo.tasks.cartpole) CartpoleConfig (class in judo.tasks) (class in judo.tasks.cartpole) CCD_ITERATIONS (in module judo.utils.mjwarp_rollout_backend) CHANGE_CONTROLLER (judo.app.structs.EventType attribute) CHANGE_TASK (judo.app.structs.EventType attribute) check_nan (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) check_sensor_dists() (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method) cleanup() (judo.app.dora.visualization_node.VisualizationNode method) (judo.visualizers.visualizer.Visualizer method) compute() (judo.controller.Controller method) (judo.controller.controller.Controller method) compute_batch() (judo.controller.batched_spot_locomotion.BatchedSpotLocomotion method) (judo.utils.mjwarp_rollout_backend.PassThroughController method) compute_targets_kernel() (in module judo.controller.batched_spot_locomotion) config (judo.optimizers.base.Optimizer attribute) (judo.optimizers.Optimizer attribute) (judo.tasks.base.Task attribute) (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_navigate.SpotNavigate attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUpright attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotNavigate attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.spot.SpotTireUpright attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotNavigate attribute) (judo.tasks.SpotTireRoll attribute) (judo.tasks.SpotTireUpright attribute) (judo.tasks.Task attribute) CONFIG_PATH (in module judo.cli) config_t (judo.tasks.base.Task attribute) (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.Cartpole attribute) (judo.tasks.cartpole.Cartpole attribute) (judo.tasks.cylinder_push.CylinderPush attribute) (judo.tasks.CylinderPush attribute) (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute) (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_navigate.SpotNavigate attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUpright attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotNavigate attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.spot.SpotTireUpright attribute) (judo.tasks.SpotBase attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotNavigate attribute) (judo.tasks.SpotTireRoll attribute) (judo.tasks.SpotTireUpright attribute) (judo.tasks.Task attribute)

ConfigT (in module judo.tasks.base) (in module judo.tasks.spot.spot_base) control_freq (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute) control_spline (judo.app.dora.simulation_node.SimulationNode attribute) Controller (class in judo.controller) (class in judo.controller.controller) controller (judo.app.dora.controller_node.ControllerNode attribute) controller_cfg (judo.controller.Controller property) (judo.controller.controller.Controller property) ControllerConfig (class in judo.controller) (class in judo.controller.controller) ControllerNode (class in judo.app.dora.controller_node) controllers (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) count (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.timer.Timer property) count_trace_sensors() (in module judo.visualizers.utils) create_gui_elements() (in module judo.gui) CrossEntropyMethod (class in judo.optimizers) (class in judo.optimizers.cem) CrossEntropyMethodConfig (class in judo.optimizers) (class in judo.optimizers.cem) current_state (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) cycle_task_optimizer_pair() (judo.app.benchmark.BenchmarkerNode method) CylinderPush (class in judo.tasks) (class in judo.tasks.cylinder_push) CylinderPushConfig (class in judo.tasks) (class in judo.tasks.cylinder_push)

D

data (judo.tasks.base.Task attribute) (judo.tasks.Task attribute) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) DEFAULT_BEST_SPLINE_COLOR (in module judo.visualizers.model) DEFAULT_GRID_CELL_COLOR (in module judo.visualizers.model) DEFAULT_GRID_SECTION_COLOR (in module judo.visualizers.model) default_policy_command (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) DEFAULT_ROLLOUT_BACKEND_REGISTRY (in module judo.controller.controller) DEFAULT_SIMULATION_BACKEND_REGISTRY (in module judo.simulation) DEFAULT_SLIDER_STEP_FLOAT (in module judo.gui) DEFAULT_SLIDER_STEP_INT (in module judo.gui)

DEFAULT_SPHERE_SUBDIVISIONS (in module judo.visualizers.model) DEFAULT_SPLINE_COLOR (in module judo.visualizers.model) DEFAULT_SPOT_ROLLOUT_CUTOFF_TIME (in module judo.tasks.spot.spot_constants) denormalize() (judo.utils.normalization.IdentityNormalizer method) (judo.utils.normalization.MinMaxNormalizer method) (judo.utils.normalization.Normalizer method) (judo.utils.normalization.RunningMeanStdNormalizer method) DEVICE (in module judo.utils.mjwarp_rollout_backend) device (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) (judo.utils.rollout_backend.BatchedRolloutBackend attribute) dim (judo.utils.normalization.Normalizer attribute) download_and_extract_meshes() (in module judo.utils.assets) dt (judo.tasks.base.Task property) (judo.tasks.Task property)

E

ee_z_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) ee_z_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) ElementType (in module judo.app.dora.visualization_node) (in module judo.visualizers.visualizer)

eps (judo.utils.normalization.MinMaxNormalizer attribute) (judo.utils.normalization.MinMaxNormalizerConfig attribute) (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.normalization.RunningMeanStdNormalizerConfig attribute) event (judo.app.structs.JudoEvent attribute) EventType (class in judo.app.structs) extrapolate (judo.app.structs.SplineData attribute)

F

fall_penalty (judo.tasks.spot.spot_base.SpotBaseConfig attribute) (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_navigate.SpotNavigateConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotBaseConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotNavigateConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotBaseConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotNavigateConfig attribute) (judo.tasks.SpotTireRollConfig attribute) (judo.tasks.SpotTireUprightConfig attribute)

FR3Pick (class in judo.tasks) (class in judo.tasks.fr3_pick) FR3PickConfig (class in judo.tasks) (class in judo.tasks.fr3_pick) FRONT_LEG_CMD_INDS (in module judo.tasks.spot.spot_constants)

G

geom_exclude_substring (judo.visualizers.visualizer.Visualizer attribute) get_action_components() (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) get_class_from_string() (in module judo.app.utils) get_joint_position_start_index() (judo.tasks.base.Task method) (judo.tasks.Task method) get_joint_velocity_start_index() (judo.tasks.base.Task method) (judo.tasks.Task method) get_mesh_data() (in module judo.visualizers.utils) get_mesh_file() (in module judo.visualizers.utils) get_mesh_scale() (in module judo.visualizers.utils) get_registered_optimizers() (in module judo.optimizers) get_registered_tasks() (in module judo.tasks) get_sensor_name() (in module judo.visualizers.utils) get_sensor_start_index() (judo.tasks.base.Task method) (judo.tasks.Task method) get_sim_metadata() (judo.tasks.base.Task method) (judo.tasks.leap_cube.LeapCube method) (judo.tasks.LeapCube method) (judo.tasks.Task method) get_simulation_backend() (in module judo.simulation) get_stats() (judo.utils.timer.Timer method) get_task_registration() (in module judo.tasks) get_trace_sensors() (in module judo.visualizers.utils) global_step_counter (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) global_weights (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) GlobalConfig (class in judo.tasks.fr3_pick) GOAL_DISTANCE_THRESHOLD (in module judo.tasks.cylinder_push) goal_distance_threshold (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_navigate.SpotNavigateConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotNavigateConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotNavigateConfig attribute) (judo.tasks.SpotTireRollConfig attribute) goal_pos (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.cylinder_push.CylinderPushConfig attribute) (judo.tasks.CylinderPushConfig attribute) (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute) (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_navigate.SpotNavigateConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotNavigateConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotNavigateConfig attribute) (judo.tasks.SpotTireRollConfig attribute)

goal_quat (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute) GOAL_RADIUS (in module judo.gui) goal_radius (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) grasp_site_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) GRIPPER_CLOSED_POS (in module judo.tasks.spot.spot_constants) gripper_goal_altitude (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) gripper_goal_offset (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) gripper_not_above_tire_penalty (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) GRIPPER_OPEN_POS (in module judo.tasks.spot.spot_constants) gripper_pos_idx (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotTireRoll attribute) gripper_selection_index (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) gripper_too_inside_tire_penalty (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) GuiBoundedSliderHandle (class in judo.gui)

H

has_material() (in module judo.visualizers.utils) HierarchicalMJRolloutBackend (class in judo.utils.hierarchical_mj_rollout_backend) HierarchicalMJSimulation (class in judo.simulation) (class in judo.simulation.hierarchical_mj_simulation)

HOMING (judo.tasks.fr3_pick.Phase attribute) horizon (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute)

I

IdentityNormalizer (class in judo.utils.normalization) IdentityNormalizerConfig (class in judo.utils.normalization) in_goal_xy() (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method)

init_std (judo.utils.normalization.RunningMeanStdNormalizerConfig attribute) IntOrFloat (in module judo.utils.fields) is_trace_sensor() (in module judo.visualizers.utils) ISAAC_TO_MUJOCO_INDICES_12 (in module judo.tasks.spot.spot_constants) ISAAC_TO_MUJOCO_INDICES_19 (in module judo.tasks.spot.spot_constants)

J

judo module judo.app module judo.app.benchmark module judo.app.dora.controller_node module judo.app.dora.simulation_node module judo.app.dora.visualization_node module judo.app.structs module judo.app.utils module judo.cli module judo.config module judo.controller module judo.controller.batched_spot_locomotion module judo.controller.controller module judo.controller.overrides module judo.examples.example_optimizer module judo.examples.example_task module judo.gui module judo.optimizers module judo.optimizers.base module judo.optimizers.cem module judo.optimizers.mppi module judo.optimizers.overrides module judo.optimizers.ps module judo.simulation module judo.simulation.base module judo.simulation.hierarchical_mj_simulation module judo.simulation.mj_simulation module judo.tasks module judo.tasks.base module

judo.tasks.caltech_leap_cube module judo.tasks.cartpole module judo.tasks.cost_functions module judo.tasks.cylinder_push module judo.tasks.fr3_pick module judo.tasks.leap_cube module judo.tasks.leap_cube_down module judo.tasks.spot module judo.tasks.spot.spot_base module judo.tasks.spot.spot_box_push module judo.tasks.spot.spot_constants module judo.tasks.spot.spot_navigate module judo.tasks.spot.spot_tire_roll module judo.tasks.spot.spot_tire_upright module judo.tasks.spot.spot_utils module judo.utils module judo.utils.assets module judo.utils.fields module judo.utils.hierarchical_mj_rollout_backend module judo.utils.math_utils module judo.utils.mj_rollout_backend module judo.utils.mjwarp_rollout_backend module judo.utils.normalization module judo.utils.rollout_backend module judo.utils.timer module judo.visualizers module judo.visualizers.model module judo.visualizers.utils module judo.visualizers.visualizer module JudoEvent (class in judo.app.structs)

K

key_pairs (judo.app.benchmark.BenchmarkerNode attribute)

kind (judo.app.structs.SplineData attribute) KindType (in module judo.app.structs)

L

last_policy_output (judo.simulation.hierarchical_mj_simulation.HierarchicalMJSimulation property) (judo.simulation.HierarchicalMJSimulation property) LeapCube (class in judo.tasks) (class in judo.tasks.leap_cube) LeapCubeConfig (class in judo.tasks) (class in judo.tasks.leap_cube) LeapCubeDown (class in judo.tasks) (class in judo.tasks.leap_cube_down) LeapCubeDownConfig (class in judo.tasks) (class in judo.tasks.leap_cube_down) left_finger_obj_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) left_finger_table_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) LEG_JOINT_NAMES_BOSDYN (in module judo.tasks.spot.spot_constants) leg_selection_index (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute)

LEG_SOFT_LOWER_JOINT_LIMITS (in module judo.tasks.spot.spot_constants) LEG_SOFT_UPPER_JOINT_LIMITS (in module judo.tasks.spot.spot_constants) LEGS_STANDING_POS (in module judo.tasks.spot.spot_constants) LEGS_STANDING_POS_RL (in module judo.tasks.spot.spot_constants) LIFT (judo.tasks.fr3_pick.Phase attribute) lift_weights (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) LiftConfig (class in judo.tasks.fr3_pick) lock (judo.app.dora.controller_node.ControllerNode attribute) locomotion_controller (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) LOCOMOTION_DEFAULT_JOINTS_OFFSET (in module judo.tasks.spot.spot_constants) LOCOMOTION_DEFAULT_LEGS_OFFSET (in module judo.tasks.spot.spot_constants) locomotion_policy_path (judo.tasks.TaskRegistration attribute) logger (in module judo.utils.mjwarp_rollout_backend)

M

M2 (judo.utils.normalization.RunningMeanStdNormalizer attribute) main_app() (in module judo.cli) main_benchmark() (in module judo.cli) make_controller() (in module judo.controller) (in module judo.controller.controller) make_model_data_pairs() (in module judo.utils.mj_rollout_backend) make_normalizer() (in module judo.utils.normalization) make_spline() (in module judo.controller.controller) max (judo.utils.normalization.MinMaxNormalizer attribute) (judo.utils.normalization.MinMaxNormalizerConfig attribute) (judo.utils.timer.Timer property) max_num_traces (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute) max_opt_iters (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute) max_std (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.normalization.RunningMeanStdNormalizerConfig attribute) mean (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.timer.Timer property) median (judo.utils.timer.Timer property) min (judo.utils.normalization.MinMaxNormalizer attribute) (judo.utils.normalization.MinMaxNormalizerConfig attribute) (judo.utils.timer.Timer property) min_std (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.normalization.RunningMeanStdNormalizerConfig attribute) MinMaxNormalizer (class in judo.utils.normalization) MinMaxNormalizerConfig (class in judo.utils.normalization) MJRolloutBackend (class in judo.utils.mj_rollout_backend) MJSimulation (class in judo.simulation) (class in judo.simulation.mj_simulation) mjw_step_graph (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) MJWarpRolloutBackend (class in judo.utils.mjwarp_rollout_backend) mocap_pos (judo.app.structs.MujocoState attribute) mocap_quat (judo.app.structs.MujocoState attribute) model (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) (judo.tasks.base.Task attribute) (judo.tasks.Task attribute) (judo.utils.hierarchical_mj_rollout_backend.HierarchicalMJRolloutBackend attribute) (judo.utils.mj_rollout_backend.MJRolloutBackend attribute) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) MODEL_PATH (in module judo) model_path (judo.tasks.base.Task attribute) (judo.tasks.Task attribute) module judo judo.app judo.app.benchmark judo.app.dora.controller_node judo.app.dora.simulation_node judo.app.dora.visualization_node judo.app.structs judo.app.utils judo.cli judo.config judo.controller judo.controller.batched_spot_locomotion judo.controller.controller judo.controller.overrides judo.examples.example_optimizer judo.examples.example_task judo.gui judo.optimizers judo.optimizers.base judo.optimizers.cem judo.optimizers.mppi judo.optimizers.overrides judo.optimizers.ps judo.simulation judo.simulation.base judo.simulation.hierarchical_mj_simulation judo.simulation.mj_simulation judo.tasks judo.tasks.base judo.tasks.caltech_leap_cube judo.tasks.cartpole judo.tasks.cost_functions judo.tasks.cylinder_push judo.tasks.fr3_pick judo.tasks.leap_cube judo.tasks.leap_cube_down judo.tasks.spot judo.tasks.spot.spot_base judo.tasks.spot.spot_box_push judo.tasks.spot.spot_constants judo.tasks.spot.spot_navigate judo.tasks.spot.spot_tire_roll judo.tasks.spot.spot_tire_upright judo.tasks.spot.spot_utils judo.utils judo.utils.assets judo.utils.fields judo.utils.hierarchical_mj_rollout_backend judo.utils.math_utils judo.utils.mj_rollout_backend judo.utils.mjwarp_rollout_backend judo.utils.normalization judo.utils.rollout_backend judo.utils.timer judo.visualizers judo.visualizers.model judo.visualizers.utils judo.visualizers.visualizer

MOVE (judo.tasks.fr3_pick.Phase attribute) move_weights (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) MoveConfig (class in judo.tasks.fr3_pick) MPPI (class in judo.optimizers) (class in judo.optimizers.mppi) MPPIConfig (class in judo.optimizers) (class in judo.optimizers.mppi) MUJOCO_TO_ISAAC_INDICES_12 (in module judo.tasks.spot.spot_constants) MUJOCO_TO_ISAAC_INDICES_19 (in module judo.tasks.spot.spot_constants) MujocoState (class in judo.app.structs) my_custom_param (judo.examples.example_optimizer.MyCrossEntropyMethodConfig attribute) (judo.examples.example_task.MyCylinderPushConfig attribute) MyCrossEntropyMethod (class in judo.examples.example_optimizer) MyCrossEntropyMethodConfig (class in judo.examples.example_optimizer) MyCylinderPush (class in judo.examples.example_task) MyCylinderPushConfig (class in judo.examples.example_task)

N

N_LEG_JOINTS (in module judo.tasks.spot.spot_constants) N_LEGS (in module judo.tasks.spot.spot_constants) name (judo.tasks.base.Task attribute) (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.Cartpole attribute) (judo.tasks.cartpole.Cartpole attribute) (judo.tasks.cylinder_push.CylinderPush attribute) (judo.tasks.CylinderPush attribute) (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute) (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_navigate.SpotNavigate attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUpright attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotNavigate attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.spot.SpotTireUpright attribute) (judo.tasks.SpotBase attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotNavigate attribute) (judo.tasks.SpotTireRoll attribute) (judo.tasks.SpotTireUpright attribute) (judo.tasks.Task attribute) (judo.utils.timer.Timer attribute) NCONMAX (in module judo.utils.mjwarp_rollout_backend) NJMAX (in module judo.utils.mjwarp_rollout_backend) noise_ramp (judo.optimizers.base.Optimizer property) (judo.optimizers.base.OptimizerConfig attribute) (judo.optimizers.Optimizer property) (judo.optimizers.OptimizerConfig attribute) norm_dims (judo.utils.normalization.MinMaxNormalizer attribute) normalize() (judo.utils.normalization.IdentityNormalizer method) (judo.utils.normalization.MinMaxNormalizer method) (judo.utils.normalization.Normalizer method) (judo.utils.normalization.RunningMeanStdNormalizer method)

Normalizer (class in judo.utils.normalization) normalizer_registry (in module judo.utils.normalization) NormalizerConfig (in module judo.utils.normalization) NormalizerType (in module judo.utils.normalization) np_1d_field() (in module judo.utils.fields) nu (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.optimizers.base.Optimizer attribute) (judo.optimizers.Optimizer attribute) (judo.tasks.base.Task property) (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.SpotBase property) (judo.tasks.SpotBase property) (judo.tasks.Task property) num_elites (judo.optimizers.cem.CrossEntropyMethod property) (judo.optimizers.cem.CrossEntropyMethodConfig attribute) (judo.optimizers.CrossEntropyMethod property) (judo.optimizers.CrossEntropyMethodConfig attribute) num_nodes (judo.optimizers.base.Optimizer property) (judo.optimizers.base.OptimizerConfig attribute) (judo.optimizers.Optimizer property) (judo.optimizers.OptimizerConfig attribute) num_problems (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) (judo.utils.rollout_backend.BatchedRolloutBackend attribute) num_rollouts (judo.optimizers.base.Optimizer property) (judo.optimizers.base.OptimizerConfig attribute) (judo.optimizers.Optimizer property) (judo.optimizers.OptimizerConfig attribute) num_samples (judo.app.benchmark.BenchmarkerNode attribute) num_threads (judo.utils.hierarchical_mj_rollout_backend.HierarchicalMJRolloutBackend attribute) (judo.utils.mj_rollout_backend.MJRolloutBackend attribute) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) (judo.utils.rollout_backend.RolloutBackend attribute) num_timesteps (judo.controller.Controller property) (judo.controller.controller.Controller property) num_trace_elites (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) num_trace_sensors (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) num_worlds (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute)

O

obj_angvel_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) obj_pos_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) obj_pos_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) obj_table_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) obj_vel_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) object_pose_idx (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotTireRoll attribute) object_vel_idx (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.SpotTireRoll attribute) object_y_axis_idx (judo.tasks.spot.spot_box_push.SpotBoxPush attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRoll attribute) (judo.tasks.spot.SpotBoxPush attribute) (judo.tasks.spot.SpotTireRoll attribute) (judo.tasks.SpotBoxPush attribute) (judo.tasks.SpotTireRoll attribute) on_plan_time() (judo.app.benchmark.BenchmarkerNode method)

opt_keys (judo.app.benchmark.BenchmarkerNode attribute) Optimizer (class in judo.optimizers) (class in judo.optimizers.base) optimizer (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) optimizer_cfg (judo.controller.Controller property) (judo.controller.controller.Controller property) optimizer_cls (judo.controller.Controller property) (judo.controller.controller.Controller property) optimizer_config_cls (judo.controller.Controller property) (judo.controller.controller.Controller property) optimizer_name (judo.visualizers.visualizer.Visualizer attribute) optimizer_warm_start() (judo.tasks.base.Task method) (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) (judo.tasks.Task method) OptimizerConfig (class in judo.optimizers) (class in judo.optimizers.base) OptimizerConfigT (in module judo.optimizers.base) orientation_error_smoothing_width (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) orientation_threshold (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) OverridableConfig (class in judo.config)

P

p_centered (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) p_vertical (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) PACKAGE_ROOT (in module judo) PassThroughController (class in judo.utils.mjwarp_rollout_backend) pause() (judo.simulation.base.Simulation method) (judo.simulation.Simulation method) PAUSE_CONTROLLER (judo.app.structs.EventType attribute) PAUSE_SIMULATION (judo.app.structs.EventType attribute) paused (judo.simulation.base.Simulation attribute) (judo.simulation.Simulation attribute) Phase (class in judo.tasks.fr3_pick) phase (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) physics_substeps (judo.tasks.base.Task property) (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.SpotBase property) (judo.tasks.SpotBase property) (judo.tasks.Task property) (judo.utils.hierarchical_mj_rollout_backend.HierarchicalMJRolloutBackend attribute) pick_height (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) PLACE (judo.tasks.fr3_pick.Phase attribute) place_weights (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) PlaceConfig (class in judo.tasks.fr3_pick) policy_decimation (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute)

POLICY_OUTPUT_DIM (in module judo.tasks.spot.spot_constants) post_rollout() (judo.tasks.base.Task method) (judo.tasks.Task method) post_sim_step() (judo.tasks.base.Task method) (judo.tasks.leap_cube.LeapCube method) (judo.tasks.LeapCube method) (judo.tasks.Task method) pre_optimization() (judo.optimizers.base.Optimizer method) (judo.optimizers.cem.CrossEntropyMethod method) (judo.optimizers.CrossEntropyMethod method) (judo.optimizers.Optimizer method) pre_rollout() (judo.tasks.base.Task method) (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method) (judo.tasks.Task method) pre_sim_step() (judo.tasks.base.Task method) (judo.tasks.Task method) PredictiveSampling (class in judo.optimizers) (class in judo.optimizers.ps) PredictiveSamplingConfig (class in judo.optimizers) (class in judo.optimizers.ps) print_results() (judo.app.benchmark.BenchmarkerNode method) print_stats() (judo.utils.timer.Timer method) print_timer_stats() (judo.controller.BatchedControllers method) (judo.controller.controller.BatchedControllers method) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend method) pusher_goal_offset (judo.tasks.cylinder_push.CylinderPushConfig attribute) (judo.tasks.CylinderPushConfig attribute)

Q

qpos (judo.app.structs.MujocoState attribute) QPOS_HOME (in module judo.tasks.caltech_leap_cube) (in module judo.tasks.fr3_pick) (in module judo.tasks.leap_cube) (in module judo.tasks.leap_cube_down) qpos_home (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute)

quadratic_norm() (in module judo.tasks.cost_functions) quat_diff() (in module judo.utils.math_utils) quat_diff_so3() (in module judo.utils.math_utils) quat_inv() (in module judo.utils.math_utils) quat_mul() (in module judo.tasks.spot.spot_utils) (in module judo.utils.math_utils) quat_vel() (in module judo.utils.math_utils) qvel (judo.app.structs.MujocoState attribute)

R

RADIUS_MAX (in module judo.tasks.spot.spot_box_push) RADIUS_MIN (in module judo.tasks.spot.spot_box_push) register_controller_config_overrides() (judo.visualizers.visualizer.Visualizer method) register_gui_element_callback() (in module judo.gui) register_optimizer() (in module judo.optimizers) register_optimizer_config_overrides() (judo.visualizers.visualizer.Visualizer method) register_optimizers_from_cfg() (in module judo.app.utils) register_task() (in module judo.tasks) register_tasks_from_cfg() (in module judo.app.utils) release_lock() (in module judo.utils.assets) remove() (judo.visualizers.model.ViserMjModel method) remove_handles() (judo.visualizers.visualizer.Visualizer method) remove_traces() (judo.visualizers.model.ViserMjModel method) render_pose (judo.simulation.base.Simulation property) (judo.simulation.Simulation property) RenderPose (class in judo.app.structs) reset() (judo.controller.batched_spot_locomotion.BatchedSpotLocomotion method) (judo.controller.BatchedControllers method) (judo.controller.Controller method) (judo.controller.controller.BatchedControllers method) (judo.controller.controller.Controller method) (judo.tasks.base.Task method) (judo.tasks.Cartpole method) (judo.tasks.cartpole.Cartpole method) (judo.tasks.cylinder_push.CylinderPush method) (judo.tasks.CylinderPush method) (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method) (judo.tasks.leap_cube.LeapCube method) (judo.tasks.LeapCube method) (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) (judo.tasks.Task method) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend method) (judo.utils.mjwarp_rollout_backend.PassThroughController method) (judo.utils.timer.Timer method) reset_arm_pos (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.SpotBase property) (judo.tasks.SpotBase property) reset_command (judo.tasks.caltech_leap_cube.CaltechLeapCube attribute) (judo.tasks.CaltechLeapCube attribute) (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) (judo.tasks.leap_cube.LeapCube attribute) (judo.tasks.leap_cube_down.LeapCubeDown attribute) (judo.tasks.LeapCube attribute) (judo.tasks.LeapCubeDown attribute) reset_policy_state() (judo.simulation.hierarchical_mj_simulation.HierarchicalMJSimulation method) (judo.simulation.HierarchicalMJSimulation method) reset_pose (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.spot_box_push.SpotBoxPush property) (judo.tasks.spot.spot_navigate.SpotNavigate property) (judo.tasks.spot.spot_tire_roll.SpotTireRoll property) (judo.tasks.spot.spot_tire_upright.SpotTireUpright property) (judo.tasks.spot.SpotBase property) (judo.tasks.spot.SpotBoxPush property) (judo.tasks.spot.SpotNavigate property) (judo.tasks.spot.SpotTireRoll property) (judo.tasks.spot.SpotTireUpright property) (judo.tasks.SpotBase property) (judo.tasks.SpotBoxPush property) (judo.tasks.SpotNavigate property) (judo.tasks.SpotTireRoll property) (judo.tasks.SpotTireUpright property)

reset_task() (judo.app.dora.controller_node.ControllerNode method) (judo.app.dora.simulation_node.SimulationNode method) reset_timers() (judo.controller.BatchedControllers method) (judo.controller.controller.BatchedControllers method) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend method) results (judo.app.benchmark.BenchmarkerNode attribute) reward() (judo.tasks.base.Task method) (judo.tasks.Cartpole method) (judo.tasks.cartpole.Cartpole method) (judo.tasks.cylinder_push.CylinderPush method) (judo.tasks.CylinderPush method) (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method) (judo.tasks.leap_cube.LeapCube method) (judo.tasks.LeapCube method) (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.spot_box_push.SpotBoxPush method) (judo.tasks.spot.spot_navigate.SpotNavigate method) (judo.tasks.spot.spot_tire_roll.SpotTireRoll method) (judo.tasks.spot.spot_tire_upright.SpotTireUpright method) (judo.tasks.spot.SpotBase method) (judo.tasks.spot.SpotBoxPush method) (judo.tasks.spot.SpotNavigate method) (judo.tasks.spot.SpotTireRoll method) (judo.tasks.spot.SpotTireUpright method) (judo.tasks.SpotBase method) (judo.tasks.SpotBoxPush method) (judo.tasks.SpotNavigate method) (judo.tasks.SpotTireRoll method) (judo.tasks.SpotTireUpright method) (judo.tasks.Task method) rewards (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) rgba_float_to_int() (in module judo.visualizers.utils) rgba_int_to_float() (in module judo.visualizers.utils) right_finger_obj_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) right_finger_table_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) RL_LOCOMOTION_COMMAND_LENGTH (in module judo.tasks.spot.spot_constants) rollout() (judo.utils.hierarchical_mj_rollout_backend.HierarchicalMJRolloutBackend method) (judo.utils.mj_rollout_backend.MJRolloutBackend method) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend method) (judo.utils.rollout_backend.RolloutBackend method) rollout_backend (judo.controller.BatchedControllers attribute) (judo.controller.Controller attribute) (judo.controller.controller.BatchedControllers attribute) (judo.controller.controller.Controller attribute) (judo.tasks.TaskRegistration attribute) rollout_controls (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) rollout_times (judo.controller.Controller property) (judo.controller.controller.Controller property) RolloutBackend (class in judo.utils.rollout_backend) RolloutBackendEntry (in module judo.controller.controller) RunningMeanStdNormalizer (class in judo.utils.normalization) RunningMeanStdNormalizerConfig (class in judo.utils.normalization)

S

safe_normalize_axis() (in module judo.utils.math_utils) sample_control_knots() (judo.optimizers.base.Optimizer method) (judo.optimizers.cem.CrossEntropyMethod method) (judo.optimizers.CrossEntropyMethod method) (judo.optimizers.MPPI method) (judo.optimizers.mppi.MPPI method) (judo.optimizers.Optimizer method) (judo.optimizers.PredictiveSampling method) (judo.optimizers.ps.PredictiveSampling method) sensor_rollout_size (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) sensors (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) server (judo.visualizers.visualizer.Visualizer attribute) set_command_values() (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) set_config_overrides() (in module judo.config) set_data() (judo.visualizers.model.ViserMjModel method) set_default_caltech_leap_cube_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_cartpole_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_cylinder_push_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_fr3_pick_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_leap_cube_down_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_leap_cube_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_default_spot_overrides() (in module judo.controller.overrides) (in module judo.optimizers.overrides) set_init_previous_actions() (judo.controller.BatchedControllers method) (judo.controller.controller.BatchedControllers method) set_mesh_color() (in module judo.visualizers.model) set_override() (judo.config.OverridableConfig method) set_paused_status() (judo.app.dora.controller_node.ControllerNode method) (judo.app.dora.simulation_node.SimulationNode method) set_segment_points() (in module judo.visualizers.model) set_spline_points() (in module judo.visualizers.model) set_task() (judo.simulation.base.Simulation method) (judo.simulation.hierarchical_mj_simulation.HierarchicalMJSimulation method) (judo.simulation.HierarchicalMJSimulation method) (judo.simulation.Simulation method) (judo.visualizers.visualizer.Visualizer method) set_traces() (judo.visualizers.model.ViserMjModel method) setup_gui() (judo.visualizers.visualizer.Visualizer method) sigma (judo.optimizers.cem.CrossEntropyMethod attribute) (judo.optimizers.CrossEntropyMethod attribute) (judo.optimizers.MPPI property) (judo.optimizers.mppi.MPPI property) (judo.optimizers.mppi.MPPIConfig attribute) (judo.optimizers.MPPIConfig attribute) (judo.optimizers.PredictiveSampling property) (judo.optimizers.PredictiveSamplingConfig attribute) (judo.optimizers.ps.PredictiveSampling property) (judo.optimizers.ps.PredictiveSamplingConfig attribute) sigma_max (judo.optimizers.cem.CrossEntropyMethod property) (judo.optimizers.cem.CrossEntropyMethodConfig attribute) (judo.optimizers.CrossEntropyMethod property) (judo.optimizers.CrossEntropyMethodConfig attribute) sigma_min (judo.optimizers.cem.CrossEntropyMethod property) (judo.optimizers.cem.CrossEntropyMethodConfig attribute) (judo.optimizers.CrossEntropyMethod property) (judo.optimizers.CrossEntropyMethodConfig attribute) sim_metadata (judo.app.structs.MujocoState attribute) sim_model (judo.tasks.base.Task attribute) (judo.tasks.Task attribute) sim_pause_button (judo.visualizers.visualizer.Visualizer attribute) sim_state (judo.simulation.base.Simulation property) (judo.simulation.Simulation property) SIM_XML_PATH (in module judo.tasks.caltech_leap_cube) (in module judo.tasks.leap_cube) (in module judo.tasks.leap_cube_down) Simulation (class in judo.simulation) (class in judo.simulation.base) simulation_backend (judo.tasks.TaskRegistration attribute) SimulationNode (class in judo.app.dora.simulation_node) slider() (in module judo.gui) smooth_l1_norm() (in module judo.tasks.cost_functions) spec (judo.tasks.base.Task attribute) (judo.tasks.Task attribute) spin() (judo.app.dora.controller_node.ControllerNode method) (judo.app.dora.simulation_node.SimulationNode method) (judo.app.dora.visualization_node.VisualizationNode method)

spline() (judo.app.structs.SplineData method) spline_data (judo.controller.Controller property) (judo.controller.controller.Controller property) spline_order (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute) spline_timesteps (judo.controller.Controller property) (judo.controller.controller.Controller property) SplineData (class in judo.app.structs) spot_fallen_threshold (judo.tasks.spot.spot_base.SpotBaseConfig attribute) (judo.tasks.spot.SpotBaseConfig attribute) (judo.tasks.SpotBaseConfig attribute) SPOT_LOCOMOTION_POLICY_PATH (in module judo.tasks.spot.spot_constants) SpotBase (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_base) SpotBaseConfig (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_base) SpotBoxPush (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_box_push) SpotBoxPushConfig (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_box_push) SpotNavigate (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_navigate) SpotNavigateConfig (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_navigate) SpotTireRoll (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_tire_roll) SpotTireRollConfig (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_tire_roll) SpotTireUpright (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_tire_upright) SpotTireUprightConfig (class in judo.tasks) (class in judo.tasks.spot) (class in judo.tasks.spot.spot_tire_upright) STANDING_HEIGHT (in module judo.tasks.spot.spot_constants) STANDING_HEIGHT_CMD (in module judo.tasks.spot.spot_constants) start (judo.utils.timer.Timer attribute) START_CONTROLLER (judo.app.structs.EventType attribute) START_SIMULATION (judo.app.structs.EventType attribute) states (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) std (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.timer.Timer property) step() (judo.app.dora.controller_node.ControllerNode method) (judo.simulation.base.Simulation method) (judo.simulation.hierarchical_mj_simulation.HierarchicalMJSimulation method) (judo.simulation.HierarchicalMJSimulation method) (judo.simulation.mj_simulation.MJSimulation method) (judo.simulation.MJSimulation method) (judo.simulation.Simulation method) stop (judo.utils.timer.Timer attribute) stop_cond() (judo.optimizers.base.Optimizer method) (judo.optimizers.Optimizer method) success() (judo.tasks.base.Task method) (judo.tasks.cylinder_push.CylinderPush method) (judo.tasks.CylinderPush method) (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.spot_box_push.SpotBoxPush method) (judo.tasks.spot.spot_navigate.SpotNavigate method) (judo.tasks.spot.spot_tire_roll.SpotTireRoll method) (judo.tasks.spot.spot_tire_upright.SpotTireUpright method) (judo.tasks.spot.SpotBase method) (judo.tasks.spot.SpotBoxPush method) (judo.tasks.spot.SpotNavigate method) (judo.tasks.spot.SpotTireRoll method) (judo.tasks.spot.SpotTireUpright method) (judo.tasks.SpotBase method) (judo.tasks.SpotBoxPush method) (judo.tasks.SpotNavigate method) (judo.tasks.SpotTireRoll method) (judo.tasks.SpotTireUpright method) (judo.tasks.Task method) system_metadata (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute)

T

t (judo.app.structs.SplineData attribute) target_frequency (judo.controller.batched_spot_locomotion.BatchedSpotLocomotion property) (judo.utils.mjwarp_rollout_backend.PassThroughController property) Task (class in judo.tasks) (class in judo.tasks.base) task (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) task_config (judo.controller.Controller property) (judo.controller.controller.Controller property) task_config_type (judo.tasks.TaskRegistration attribute) task_keys (judo.app.benchmark.BenchmarkerNode attribute) task_lock (judo.visualizers.visualizer.Visualizer attribute) task_name (judo.visualizers.visualizer.Visualizer attribute) task_to_sim_ctrl() (judo.tasks.base.Task method) (judo.tasks.spot.spot_base.SpotBase method) (judo.tasks.spot.SpotBase method) (judo.tasks.SpotBase method) (judo.tasks.Task method) task_type (judo.tasks.TaskRegistration attribute) task_updated (judo.visualizers.visualizer.Visualizer attribute) TaskConfig (class in judo.tasks) (class in judo.tasks.base) TaskRegistration (class in judo.tasks) temperature (judo.optimizers.MPPI property) (judo.optimizers.mppi.MPPI property) (judo.optimizers.mppi.MPPIConfig attribute) (judo.optimizers.MPPIConfig attribute) tic() (judo.utils.timer.Timer method) time (judo.app.structs.MujocoState attribute) (judo.controller.Controller property) (judo.controller.controller.Controller property) (judo.tasks.base.Task property) (judo.tasks.Task property)

Timer (class in judo.utils.timer) timer_cpu_to_gpu (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) timer_gpu_to_cpu (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) timer_post_opt (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) timer_rewards (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) timer_rollout (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend attribute) timer_sample_controls (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) timer_update_iter (judo.controller.BatchedControllers attribute) (judo.controller.controller.BatchedControllers attribute) times (judo.utils.timer.Timer property) timestep (judo.simulation.base.Simulation property) (judo.simulation.Simulation property) tire_fallen_threshold (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) TIRE_HALF_WIDTH (in module judo.tasks.spot.spot_constants) TIRE_RADIUS (in module judo.tasks.spot.spot_constants) toc() (judo.utils.timer.Timer method) TORSO_CMD_INDS (in module judo.tasks.spot.spot_constants) torso_goal_offset (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) TORSO_LOWER (in module judo.tasks.spot.spot_constants) TORSO_UPPER (in module judo.tasks.spot.spot_constants) total (judo.utils.timer.Timer property) trace_sensors (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) traces (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute)

U

unit (judo.utils.timer.Timer attribute) update() (judo.utils.hierarchical_mj_rollout_backend.HierarchicalMJRolloutBackend method) (judo.utils.mj_rollout_backend.MJRolloutBackend method) (judo.utils.mjwarp_rollout_backend.MJWarpRolloutBackend method) (judo.utils.normalization.Normalizer method) (judo.utils.normalization.RunningMeanStdNormalizer method) (judo.utils.rollout_backend.RolloutBackend method) update_action() (judo.controller.BatchedControllers method) (judo.controller.Controller method) (judo.controller.controller.BatchedControllers method) (judo.controller.controller.Controller method) update_control() (judo.app.dora.simulation_node.SimulationNode method) update_controller_config() (judo.app.dora.controller_node.ControllerNode method) update_nominal_knots() (judo.optimizers.base.Optimizer method) (judo.optimizers.cem.CrossEntropyMethod method) (judo.optimizers.CrossEntropyMethod method) (judo.optimizers.MPPI method) (judo.optimizers.mppi.MPPI method) (judo.optimizers.Optimizer method) (judo.optimizers.PredictiveSampling method) (judo.optimizers.ps.PredictiveSampling method) update_optimizer() (judo.app.dora.controller_node.ControllerNode method) update_optimizer_config() (judo.app.dora.controller_node.ControllerNode method) update_plan_time() (judo.app.dora.visualization_node.VisualizationNode method) update_spline() (judo.controller.Controller method) (judo.controller.controller.Controller method) update_states() (judo.app.dora.controller_node.ControllerNode method) (judo.app.dora.visualization_node.VisualizationNode method) (judo.controller.BatchedControllers method) (judo.controller.Controller method) (judo.controller.controller.BatchedControllers method) (judo.controller.controller.Controller method)

update_task() (judo.app.dora.controller_node.ControllerNode method) (judo.app.dora.simulation_node.SimulationNode method) update_task_config() (judo.app.dora.controller_node.ControllerNode method) update_traces() (judo.app.dora.visualization_node.VisualizationNode method) (judo.controller.Controller method) (judo.controller.controller.Controller method) use_arm (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) use_gripper (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) use_legs (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) use_noise_ramp (judo.optimizers.base.Optimizer property) (judo.optimizers.base.OptimizerConfig attribute) (judo.optimizers.Optimizer property) (judo.optimizers.OptimizerConfig attribute) use_torso (judo.tasks.spot.spot_base.SpotBase attribute) (judo.tasks.spot.SpotBase attribute) (judo.tasks.SpotBase attribute) uses_locomotion_policy (judo.tasks.base.Task property) (judo.tasks.spot.spot_base.SpotBase property) (judo.tasks.spot.SpotBase property) (judo.tasks.SpotBase property) (judo.tasks.Task property)

V

value (judo.app.structs.JudoEvent attribute) ViserMjModel (class in judo.visualizers.model)

VisualizationNode (class in judo.app.dora.visualization_node) Visualizer (class in judo.visualizers.visualizer) visualizer (judo.app.dora.visualization_node.VisualizationNode attribute)

W

w_cart_position (judo.tasks.cylinder_push.CylinderPushConfig attribute) (judo.tasks.CylinderPushConfig attribute) w_centered (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) w_coll (judo.tasks.fr3_pick.GlobalConfig attribute) w_control (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) w_controls (judo.tasks.spot.spot_base.SpotBaseConfig attribute) (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_navigate.SpotNavigateConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotBaseConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotNavigateConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotBaseConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotNavigateConfig attribute) (judo.tasks.SpotTireRollConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) w_foot_proximity (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) w_goal (judo.tasks.spot.spot_base.SpotBaseConfig attribute) (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_navigate.SpotNavigateConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotBaseConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotNavigateConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotBaseConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotNavigateConfig attribute) (judo.tasks.SpotTireRollConfig attribute) w_gripper_proximity (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotTireRollConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) w_lift_close (judo.tasks.fr3_pick.LiftConfig attribute) w_lift_height (judo.tasks.fr3_pick.LiftConfig attribute) w_move_close (judo.tasks.fr3_pick.MoveConfig attribute)

w_move_goal (judo.tasks.fr3_pick.MoveConfig attribute) w_open (judo.tasks.fr3_pick.GlobalConfig attribute) w_orientation (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) w_place_goal (judo.tasks.fr3_pick.PlaceConfig attribute) w_place_table (judo.tasks.fr3_pick.PlaceConfig attribute) w_pos (judo.tasks.leap_cube.LeapCubeConfig attribute) (judo.tasks.LeapCubeConfig attribute) w_pusher_proximity (judo.tasks.cylinder_push.CylinderPushConfig attribute) (judo.tasks.CylinderPushConfig attribute) w_pusher_velocity (judo.tasks.cylinder_push.CylinderPushConfig attribute) (judo.tasks.CylinderPushConfig attribute) w_qvel (judo.tasks.fr3_pick.GlobalConfig attribute) w_rot (judo.tasks.leap_cube.LeapCubeConfig attribute) (judo.tasks.leap_cube_down.LeapCubeDownConfig attribute) (judo.tasks.LeapCubeConfig attribute) (judo.tasks.LeapCubeDownConfig attribute) w_tire_angular_velocity (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) w_tire_linear_velocity (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.SpotTireRollConfig attribute) w_tire_orientation (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) w_torso_proximity (judo.tasks.spot.spot_box_push.SpotBoxPushConfig attribute) (judo.tasks.spot.spot_tire_roll.SpotTireRollConfig attribute) (judo.tasks.spot.spot_tire_upright.SpotTireUprightConfig attribute) (judo.tasks.spot.SpotBoxPushConfig attribute) (judo.tasks.spot.SpotTireRollConfig attribute) (judo.tasks.spot.SpotTireUprightConfig attribute) (judo.tasks.SpotBoxPushConfig attribute) (judo.tasks.SpotTireRollConfig attribute) (judo.tasks.SpotTireUprightConfig attribute) w_upright (judo.tasks.fr3_pick.GlobalConfig attribute) w_velocity (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) w_vertical (judo.tasks.cartpole.CartpoleConfig attribute) (judo.tasks.CartpoleConfig attribute) write_controller_config() (judo.app.dora.visualization_node.VisualizationNode method) write_controls() (judo.app.dora.controller_node.ControllerNode method) write_optimizer() (judo.app.dora.visualization_node.VisualizationNode method) write_optimizer_config() (judo.app.dora.visualization_node.VisualizationNode method) write_sim_pause() (judo.app.dora.visualization_node.VisualizationNode method) write_states() (judo.app.dora.simulation_node.SimulationNode method) write_task() (judo.app.dora.visualization_node.VisualizationNode method) write_task_config() (judo.app.dora.visualization_node.VisualizationNode method) write_task_reset() (judo.app.dora.visualization_node.VisualizationNode method)

X

x (judo.app.structs.SplineData attribute) XML_PATH (in module judo.tasks.caltech_leap_cube) (in module judo.tasks.cartpole) (in module judo.tasks.cylinder_push) (in module judo.tasks.fr3_pick) (in module judo.tasks.leap_cube) (in module judo.tasks.leap_cube_down) (in module judo.tasks.spot.spot_base) (in module judo.tasks.spot.spot_box_push) (in module judo.tasks.spot.spot_tire_roll) (in module judo.tasks.spot.spot_tire_upright)

xpos (judo.app.structs.RenderPose attribute) xquat (judo.app.structs.RenderPose attribute)

Z

Z_AXIS (in module judo.tasks.spot.spot_constants)