upkie 6.1.0
Open-source wheeled biped robots
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▼Nupkie | Software for wheeled-biped robots |
▼Ncpp | C++ library to create new spines |
▼Nactuation | Send actions to actuators or simulators |
►Nbullet | Bullet utility functions used in the simulation interface |
►CBulletInterface | Actuation interface for the Bullet simulator |
CImuData | Data from the onboard inertial measurement unit (IMU) |
CImuUncertainty | Uncertainty on IMU measurements |
CInterface | Base class for actuation interfaces |
CMockInterface | Interface whose internal state perfectly tracks commands |
CPi3HatInterface | Interface to moteus controllers |
CServoLayout | Map between servos, their busses and the joints they actuate |
CServoProperties | Servo properties |
▼Nexceptions | Exceptions raised by this project |
CFilterError | Exception for filter errors |
CObserverError | Exception thrown when an observer fails |
CPositionCommandError | Exception raised when an actuation command is incorrect |
CServoError | Exception for filter errors |
CTypeError | Exception raised when a deserialized object does not have the right type |
CUpkieError | Base class for Upkie-related exceptions |
▼Nobservers | State observers available for Upkies |
►CBaseOrientation | Observe the orientation of the base frame relative to the world frame |
►CFloorContact | Observe contact between the wheels and the floor |
CHistoryObserver | Report high-frequency history vectors to lower-frequency agents |
CObserver | Base class for observers |
CObserverPipeline | Observer pipeline |
►CWheelContact | Observe contact between a given wheel and the floor |
►CWheelOdometry | Observe the relative motion of the floating base with respect to the floor |
▼Nsensors | Sensors (pure outputs) available for Upkies |
CCpuTemperature | Sensor for CPU temperature readings |
CJoystick | Sensor for a joystick controller |
CKeyboard | Sensor for reading Keyboard inputs |
CSensor | Base class for sensors |
▼Nspine | Inter-process communication protocol with the spine |
CAgentInterface | Memory map to shared memory |
►CSpine | Loop transmitting actions to the actuation and observations to the agent |
CStateMachine | Spine state machine |
▼Nutils | Utility functions |
CSynchronousClock | Synchronous (blocking) clock |
▼Nenvs | Gymnasium environments |
▼Nupkie_base_env | |
CUpkieBaseEnv | Base class for Upkie environments |
▼Nupkie_ground_velocity | |
CUpkieGroundVelocity | Environment where Upkie is used as a wheeled inverted pendulum |
▼Nupkie_servo_positions | |
CUpkieServoPositions | Command servos by position control |
▼Nupkie_servo_torques | |
CUpkieServoTorques | Command servos by torque control |
▼Nupkie_servos | |
CUpkieServos | Upkie with actions and observations corresponding to the moteus servo API |
▼Nwheeled_inverted_pendulum | |
►CWheeledInvertedPendulum | Wheeled inverted pendulum model |
▼Nwrappers | |
►Nadd_action_to_observation | |
►Nadd_lag_to_action | |
►Ndifferentiate_action | |
►Nnoisify_action | |
►Nnoisify_observation | |
►Nobservation_based_reward | |
►Nrandom_push | |
▼Nexceptions | Exceptions raised by the Python library |
CFallDetected | Raised when a fall is detected |
CMissingOptionalDependency | Raised when an optional feature lacks a corresponding optional dependency |
CModelError | Raised when something is wrong in the robot model |
CPerformanceIssue | Exception raised when a performance issue is detected |
CSpineError | Exception raised when the spine sets an error flag in the request field of the shared memory map |
CUpkieException | Base class for exceptions raised by Upkie agents |
CUpkieRuntimeError | Runtime error, for instance an invalid call to a library function |
▼Nmodel | Robot model |
▼Njoint | |
CJoint | Joint properties |
▼Njoint_limit | |
CJointLimit | Joint limit in configuration and tangent spaces |
▼Nmodel | |
CModel | Robot model parsed from its URDF description |
▼Nspine | Python interface for agents to interact with a spine |
▼Nspine_interface | |
CSpineInterface | Interface to interact with a spine from a Python agent |
▼Nutils | Utility functions |
▼Nrobot_state | |
CRobotState | Robot state (configuration and velocity) with optional randomization |
▼Nrobot_state_randomization | |
CRobotStateRandomization | Domain randomization parameters for Upkie's state |
▼Nspdlog | |
CSpdlogFormatter | Custom logging formatter visually consistent with spdlog |