This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 1234]

▼Cabc.ABC
▼Cupkie.envs.upkie_base_env.UpkieBaseEnv	Base class for Upkie environments
Cupkie.envs.upkie_ground_velocity.UpkieGroundVelocity	Environment where Upkie is used as a wheeled inverted pendulum
▼Cupkie.envs.upkie_servos.UpkieServos	Upkie with actions and observations corresponding to the moteus servo API
Cupkie.envs.upkie_servo_positions.UpkieServoPositions	Command servos by position control
Cupkie.envs.upkie_servo_torques.UpkieServoTorques	Command servos by torque control
▼Cgym.ActionWrapper
Cupkie.envs.wrappers.noisify_action.NoisifyAction	Add noise to the action of an environment
Cupkie::cpp::spine::AgentInterface	Memory map to shared memory
▼Cb3RobotSimulatorClientAPI
Cupkie::cpp::actuation::bullet::RobotSimulatorClientAPI	Child class to enable modification of inertia matrices
Cupkie::cpp::actuation::bullet::ContactData	Contact information for a single link
▼Cgym.Env
Cupkie.envs.upkie_base_env.UpkieBaseEnv	Base class for Upkie environments
Cupkie.envs.wheeled_inverted_pendulum.WheeledInvertedPendulum	Wheeled inverted pendulum model
▼CException
▼Cupkie.exceptions.UpkieException	Base class for exceptions raised by Upkie agents
Cupkie.exceptions.FallDetected	Raised when a fall is detected
Cupkie.exceptions.MissingOptionalDependency	Raised when an optional feature lacks a corresponding optional dependency
Cupkie.exceptions.ModelError	Raised when something is wrong in the robot model
Cupkie.exceptions.PerformanceIssue	Exception raised when a performance issue is detected
Cupkie.exceptions.SpineError	Exception raised when the spine sets an error flag in the request field of the shared memory map
Cupkie.exceptions.UpkieRuntimeError	Runtime error, for instance an invalid call to a library function
Cupkie::cpp::actuation::bullet::ExternalForce	Parameters for a call to Bullet's applyExternalForce
▼Clogging.Formatter
Cupkie.utils.spdlog.SpdlogFormatter	Custom logging formatter visually consistent with spdlog
Cupkie::cpp::actuation::ImuData	Data from the onboard inertial measurement unit (IMU)
Cupkie::cpp::actuation::ImuUncertainty	Uncertainty on IMU measurements
▼Cupkie::cpp::actuation::Interface	Base class for actuation interfaces
Cupkie::cpp::actuation::BulletInterface	Actuation interface for the Bullet simulator
Cupkie::cpp::actuation::MockInterface	Interface whose internal state perfectly tracks commands
Cupkie::cpp::actuation::Pi3HatInterface	Interface to moteus controllers
Cupkie.model.joint.Joint	Joint properties
Cupkie.model.joint_limit.JointLimit	Joint limit in configuration and tangent spaces
Cupkie::cpp::actuation::bullet::JointProperties	Properties for robot joints in the Bullet simulation
Cupkie.model.model.Model	Robot model parsed from its URDF description
▼Cgym.ObservationWrapper
Cupkie.envs.wrappers.add_action_to_observation.AddActionToObservation	Append last action vector to the observation vector
Cupkie.envs.wrappers.noisify_observation.NoisifyObservation	Add noise to the observation of an environment
▼Cupkie::cpp::observers::Observer	Base class for observers
Cupkie::cpp::observers::BaseOrientation	Observe the orientation of the base frame relative to the world frame
Cupkie::cpp::observers::FloorContact	Observe contact between the wheels and the floor
Cupkie::cpp::observers::HistoryObserver< T >	Report high-frequency history vectors to lower-frequency agents
Cupkie::cpp::observers::WheelOdometry	Observe the relative motion of the floating base with respect to the floor
Cupkie::cpp::observers::ObserverPipeline	Observer pipeline
Cupkie::cpp::actuation::BulletInterface::Parameters	Interface parameters
Cupkie::cpp::observers::BaseOrientation::Parameters	Parameters for the base orientation observer
Cupkie::cpp::observers::FloorContact::Parameters	Parameters to the floor contact observer
Cupkie::cpp::observers::WheelContact::Parameters	Observer parameters
Cupkie::cpp::observers::WheelOdometry::Parameters	Observer parameters
Cupkie::cpp::spine::Spine::Parameters	Spine parameters
Cupkie::cpp::actuation::bullet::RobotSimulatorChangeDynamicsArgs	Structure which contains the new link properties
Cupkie.utils.robot_state.RobotState	Robot state (configuration and velocity) with optional randomization
Cupkie.utils.robot_state_randomization.RobotStateRandomization	Domain randomization parameters for Upkie's state
▼Cstd::runtime_error
▼Cupkie::cpp::exceptions::UpkieError	Base class for Upkie-related exceptions
Cupkie::cpp::exceptions::FilterError	Exception for filter errors
Cupkie::cpp::exceptions::ObserverError	Exception thrown when an observer fails
Cupkie::cpp::exceptions::PositionCommandError	Exception raised when an actuation command is incorrect
Cupkie::cpp::exceptions::ServoError	Exception for filter errors
Cupkie::cpp::exceptions::TypeError	Exception raised when a deserialized object does not have the right type
▼CRuntimeError
Cupkie.exceptions.UpkieRuntimeError	Runtime error, for instance an invalid call to a library function
▼Cupkie::cpp::sensors::Sensor	Base class for sensors
Cupkie::cpp::sensors::CpuTemperature	Sensor for CPU temperature readings
Cupkie::cpp::sensors::Joystick	Sensor for a joystick controller
Cupkie::cpp::sensors::Keyboard	Sensor for reading Keyboard inputs
Cupkie::cpp::actuation::ServoLayout	Map between servos, their busses and the joints they actuate
Cupkie::cpp::actuation::ServoProperties	Servo properties
Cupkie::cpp::spine::Spine	Loop transmitting actions to the actuation and observations to the agent
Cupkie.spine.spine_interface.SpineInterface	Interface to interact with a spine from a Python agent
Cupkie::cpp::spine::StateMachine	Spine state machine
Cupkie::cpp::utils::SynchronousClock	Synchronous (blocking) clock
Cupkie.envs.wheeled_inverted_pendulum.WheeledInvertedPendulum.Uncertainty	Biases and noise levels on modeled system uncertainties
Cupkie::cpp::observers::WheelContact	Observe contact between a given wheel and the floor
▼Cgym.Wrapper
Cupkie.envs.wrappers.add_lag_to_action.AddLagToAction	Model lag by applying a low-pass filter to the action of an environment
Cupkie.envs.wrappers.differentiate_action.DifferentiateAction	Act on the derivative of the action
Cupkie.envs.wrappers.observation_based_reward.ObservationBasedReward	Redefine the reward of an environment as a function of its observation
▼CActType
Cupkie.envs.wrappers.observation_based_reward.ObservationBasedReward	Redefine the reward of an environment as a function of its observation
Cupkie.envs.wrappers.observation_based_reward.ObservationBasedReward	Redefine the reward of an environment as a function of its observation
▼CObsType
Cupkie.envs.wrappers.observation_based_reward.ObservationBasedReward	Redefine the reward of an environment as a function of its observation
Cupkie.envs.wrappers.observation_based_reward.ObservationBasedReward	Redefine the reward of an environment as a function of its observation
▼CWrapper
Cupkie.envs.wrappers.random_push.RandomPush	At each step, with a given probability, apply a random push to the robot