Here is a list of all documented namespaces with brief descriptions:

[detail level 1234]

▼Nupkie	Software for wheeled-biped robots
Ncontrollers	Functions and classes related to balance control
▼Ncpp	C++ library to create new spines
Nexceptions	Exceptions raised by this project
▼Ninterfaces	Send actions to actuators or simulators
Nbullet	Bullet utility functions used in the simulation interface
Ndefault_action	Default values for servo actions
Nmoteus	Interface to moteus controllers used in pi3hat spines
Npi3hat	Utility functions specific to the pi3hat interface
Nobservers	State observers available for Upkies
Nsensors	Sensors (pure outputs) available for Upkies
Nspine	Inter-process communication protocol with the spine
Nutils	Utility functions
▼Nenvs	Gymnasium environments
▼Nbackends	Backend implementations for Upkie environments
Nbackend	Interface to a backend for Upkie environments
Ngenesis_backend	Backend using the Genesis physics simulator
Nmock_backend	Backend that mimics perfect commands for testing
Npybullet_backend	Backend using PyBullet physics simulation
Nspine	Python interface to interact with a spine
Nspine_backend	Backend connected to a simulation or real spine
Nupkie_base_velocity	Environment where Upkie is balanced and controlled via base velocity
Nupkie_env	Base class with features shared by all Upkie environments
Nupkie_gyropod	Environment where Upkie behaves like a wheeled inverted pendulum with yaw control
Nupkie_pendulum	Backward-compatible pendulum wrapper (no yaw control)
Nupkie_servos	Upkie environment where actions command servomotors directly
▼Nwrappers	Wrappers to modify Gymnasium environments
Nadd_action_to_observation	Append last action vector to the observation vector
Nadd_lag_to_action	Model lag as a low-pass filter on the action of an environment
Ndifferentiate_action	Act on the derivative of the action
Nnoisify_action	Add noise to the action of an environment
Nnoisify_observation	Add noise to the observation of an environment
Nrandom_push	Apply a random push at each step with a given probability
Nexceptions	Exceptions raised by the Python library
Nlogging	Custom logging formatter and logger for the library
Nmodel	Robot model parsed from its URDF description
▼Nutils	Utility functions
Nclamp	Clamping functions
Nexternal_force	External force data structure
Nfilters	Basic digital filters
Njoystick	Joystick class used by mock spines to mimick the C++ Joystick sensor
Nnested_update	Functions to work with nested dictionaries
Nraspi	Functions to work on the onboard Raspberry Pi
Nrobot_state	Robot state with optional randomization
Nrobot_state_randomization	Domain randomization of robot states
Nrotations	Convert between various rotation representations