Index

_

__call__() (learning.networks.Actor method) (planner.core.action_sampler.ActionSampler method) __contains__() (planner.core.parameter_container.ParameterContainer method) __delattr__() (planner.core.parameter_container.ParameterContainer method) __getattr__() (planner.core.parameter_container.ParameterContainer method) __post_init__() (visualizers.mujoco_helpers.kinematics.IkSolver method)

__setattr__() (planner.core.parameter_container.ParameterContainer method) __str__() (planner.core.parameter_container.ParameterContainer method) (planner.core.types.ActionMode method) (planner.core.types.ActionType method) (planner.core.types.ClippingType method) (planner.core.types.ControlType method) (planner.core.types.SelectionType method)

A

ABSOLUTE_ACTION (planner.core.types.ActionMode attribute) Acrobot (class in visualizers.viser_app.tasks.acrobot) AcrobotConfig (class in visualizers.viser_app.tasks.acrobot) action() (visualizers.viser_app.controllers.controller.Controller method) (visualizers.viser_app.controllers.sampling.cmaes.CMAES method) (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyMethod method) (visualizers.viser_app.controllers.sampling.mppi.MPPI method) (visualizers.viser_app.controllers.sampling.predictive_sampling.PredictiveSampling method) (visualizers.viser_app.controllers.sampling_base.SamplingBase method) ACTION_TYPE_DIRECTIONAL_MAP (in module planner.core.types) ActionMode (class in planner.core.types) ActionSampler (class in planner.core.action_sampler) ActionType (class in planner.core.types) activate_all_nodes() (planner.core.graph.Graph method) Actor (class in learning.networks) actor_actions() (learning.learner.Learner method) actuator_ctrlrange (visualizers.viser_app.tasks.mujoco_task.MujocoTask property) (visualizers.viser_app.tasks.spot.spot_box.SpotBox property) (visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigation property) (visualizers.viser_app.tasks.spot.spot_navigation.SpotNavigation property) (visualizers.viser_app.tasks.spot.spot_tire.SpotTire property) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChair property) (visualizers.viser_app.tasks.task.Task property) add_box() (in module visualizers.mujoco.model)

add_capsule() (in module visualizers.mujoco.model) add_child_ids_to_node() (planner.core.graph.Graph method) add_cylinder() (in module visualizers.mujoco.model) add_ellipsoid() (in module visualizers.mujoco.model) add_geom() (visualizers.mujoco.model.ViserMjModel method) add_mesh() (in module visualizers.mujoco.model) add_nodes() (learning.replay_buffer.ReplayBuffer method) (planner.core.graph.Graph method) add_package_paths() (in module common.paths) add_plane() (in module visualizers.mujoco.model) add_segments() (in module visualizers.mujoco.model) add_sphere() (in module visualizers.mujoco.model) add_spline() (in module visualizers.mujoco.model) add_total_rewards() (planner.core.graph.Graph method) add_traces() (visualizers.mujoco.model.ViserMjModel method) additional_task_info (visualizers.viser_app.tasks.task.Task property) angs_vel_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) ARM_JOINT_NAMES (in module visualizers.viser_app.constants) ARM_LINK_NAMES (in module visualizers.viser_app.constants) ARM_STOWED_POS (in module visualizers.viser_app.constants) ARM_UNSTOWED_POS (in module visualizers.viser_app.constants) arms_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) arms_vel_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) autofill() (planner.core.parameter_container.ParameterContainer method)

B

backward_step() (learning.networks.Actor method) (learning.networks.Critic method) benchmark_wrapper() (visualizers.viser_app.profiler.ViserProfiler method)

black_cross (visualizers.viser_app.tasks.spot_base.GOAL_POSITIONS attribute) blue_cross (visualizers.viser_app.tasks.spot_base.GOAL_POSITIONS attribute) body_vel_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) box_scaling() (in module planner.core.clipping_method)

C

calculate_distance_rewards() (planner.core.graph.Graph method) calculate_proximity_rewards() (planner.core.graph.Graph method) calculate_reachability_rewards() (planner.core.graph.Graph method) callback() (planner.experts.expert_sampler.ExpertSampler method) (planner.experts.network.NetworkSampler method) callback_and_progress_check() (planner.core.graph_worker.GraphWorker method) cart_goal_position (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute) Cartpole (class in visualizers.viser_app.tasks.cartpole) CartpoleConfig (class in visualizers.viser_app.tasks.cartpole) change_sub_goal_states() (planner.core.graph.Graph method) cleanup() (planner.core.parameter_container.ParameterContainer method) clip_actions() (in module planner.core.clipping_method) ClippingType (class in planner.core.types) CMAES (class in visualizers.viser_app.controllers.sampling.cmaes) CMAESConfig (class in visualizers.viser_app.controllers.sampling.cmaes) color_gradient() (in module planner.core.graph_visuals) common module common.path_resolvers module common.paths module CommonGoalWorkerInterface (class in planner.core.graph_worker) config_download_callback() (visualizers.viser_app.app.ViserApp method) ConfigEncoder (class in visualizers.viser_app.json_serializer) ConfigT (in module visualizers.viser_app.tasks.spot_base) (in module visualizers.viser_app.tasks.task) configuration (visualizers.mujoco_helpers.kinematics.IkSolver property) configuration_limit (visualizers.mujoco_helpers.kinematics.IkSolver property) CONTINUATION (planner.core.types.ActionType attribute) continuation_directions() (planner.core.action_sampler.ActionSampler method)

control_cycle_callback() (visualizers.viser_app.app.ViserApp method) control_freq (visualizers.viser_app.controllers.sampling_base.SamplingBaseConfig attribute) control_loop() (visualizers.viser_app.app.ControlProcess method) control_selection_callback() (visualizers.viser_app.app.ViserApp method) ControlBufferKeys (class in visualizers.viser_app.io) Controller (class in visualizers.viser_app.controllers.controller) ControllerConfig (class in visualizers.viser_app.controllers.controller) ControlProcess (class in visualizers.viser_app.app) controls (visualizers.viser_app.controllers.controller.Controller property) (visualizers.viser_app.controllers.sampling_base.SamplingBase property) ControlType (class in planner.core.types) convert_dtype() (in module planner.core.types) count_trace_sensors() (in module visualizers.mujoco_helpers.utils) create_action_trajectory() (in module planner.dynamics.action_trajectory) create_action_trajectory_batch() (in module planner.dynamics.action_trajectory) create_distance_log() (planner.core.logger.Logger method) create_gui_elements() (in module visualizers.viser_app.gui) create_reward_log() (planner.core.logger.Logger method) create_visualization() (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.task.Task method) Critic (class in learning.networks) CriticNetwork (class in learning.networks) CrossEntropyConfig (class in visualizers.viser_app.controllers.sampling.cross_entropy_method) CrossEntropyMethod (class in visualizers.viser_app.controllers.sampling.cross_entropy_method) cutoff_time (visualizers.viser_app.tasks.acrobot.AcrobotConfig attribute) (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute) (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) cycle_pause_button() (visualizers.mujoco.trajectory.TrajectoryVisualizer method) CylinderPush (class in visualizers.viser_app.tasks.cylinder_push) CylinderPushConfig (class in visualizers.viser_app.tasks.cylinder_push)

D

damping (visualizers.mujoco_helpers.kinematics.IkSolver attribute) DATA_PATH (in module visualizers.viser_app.path_utils) DDP (class in learning.networks) deactivate_nodes() (planner.core.graph.Graph method) decode_config() (in module visualizers.viser_app.json_serializer) decompose_state_dimensions() (in module planner.dynamics.mujoco_dynamics) DEFAULT_BEST_SPLINE_COLOR (in module visualizers.mujoco.model) DEFAULT_COLORS (in module visualizers.meshcat.visuals) DEFAULT_GRID_CELL_COLOR (in module visualizers.mujoco.model) DEFAULT_GRID_SECTION_COLOR (in module visualizers.mujoco.model) default_idle_command (visualizers.viser_app.tasks.mujoco_task.MujocoTask property) (visualizers.viser_app.tasks.spot_base.SpotBase property) DEFAULT_PREFIXES (in module visualizers.meshcat.visuals) DEFAULT_SLIDER_STEP_FLOAT (in module visualizers.viser_app.gui)

DEFAULT_SLIDER_STEP_INT (in module visualizers.viser_app.gui) DEFAULT_SPHERE_SUBDIVISIONS (in module visualizers.mujoco.model) DEFAULT_SPLINE_COLOR (in module visualizers.mujoco.model) DEFAULT_SPOT_ROLLOUT_CUTOFF_TIME (in module visualizers.viser_app.tasks.spot_base) destroy() (planner.core.graph.Graph method) directions_actions() (planner.core.action_sampler.ActionSampler method) display_3d_graph() (in module planner.core.graph_visuals) display_colormap_point_cloud() (in module planner.core.graph_visuals) display_edges_by_category() (in module planner.core.graph_visuals) display_point_cloud() (in module planner.core.graph_visuals) display_segments() (in module planner.core.graph_visuals) dt (visualizers.mujoco_helpers.kinematics.IkSolver attribute) (visualizers.viser_app.tasks.mujoco_task.MujocoTask property) (visualizers.viser_app.tasks.task.Task property) dynamics() (planner.dynamics.mujoco_dynamics.MujocoPlant method)

E

einsum_ij_ij_i() (in module planner.core.linear_algebra) einsum_ij_kj_ki() (in module planner.core.linear_algebra) einsum_ijk_ik_ij() (in module planner.core.linear_algebra) einsum_ijk_ikl_ijl() (in module planner.core.linear_algebra) einsum_ijk_ilk_ijl() (in module planner.core.linear_algebra) einsum_ikj_ik_ij() (in module planner.core.linear_algebra) einsum_ikj_ikl_ijl() (in module planner.core.linear_algebra) einsum_jk_ikl_ijl() (in module planner.core.linear_algebra)

enable_profiling_callback() (visualizers.viser_app.app.ViserApp method) eval() (learning.networks.Actor method) eval_agent() (learning.learner.Learner method) Expert (class in planner.experts.expert) EXPERT (planner.core.types.ActionType attribute) expert_actions() (planner.experts.expert.Expert method) ExpertSampler (class in planner.experts.expert_sampler) ExplorerWorker (class in planner.core.graph_worker)

F

fall_penalty (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) find_latest_model_path() (in module planner.core.data_collection) FIRST_ORDER_HOLD (planner.core.types.ControlType attribute)

first_order_hold_trajectory() (in module planner.dynamics.action_trajectory) frame_names (visualizers.mujoco_helpers.kinematics.IkSolver attribute) frame_tasks_damping (visualizers.mujoco_helpers.kinematics.IkSolver attribute) frame_type (visualizers.mujoco_helpers.kinematics.IkSolver attribute)

G

get_action() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_active_main_ids() (planner.core.graph.Graph method) get_best_id() (planner.core.graph.Graph method) get_collision_free() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_color() (visualizers.mujoco.model.ViserMjModel method) get_end_actions() (planner.core.graph_worker.GraphWorker method) get_gradient_placeholders() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_gradients() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_joint_dimensions() (in module planner.dynamics.mujoco_dynamics) get_log_name() (planner.core.logger.Logger method) get_mass() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_mesh_data() (in module visualizers.mujoco_helpers.utils) get_num_substeps() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_package_path() (in module common.path_resolvers) get_progress_info() (planner.core.graph_worker.GraphWorker method) get_quat_indices() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_registered_controllers() (in module visualizers.viser_app.controllers) get_registered_tasks() (in module visualizers.viser_app.tasks) get_root_ids() (planner.core.graph.Graph method) get_sensor() (planner.dynamics.mujoco_dynamics.MujocoPlant method)

get_sensor_name() (in module visualizers.mujoco_helpers.utils) get_start_actions() (planner.core.graph_worker.GraphWorker method) get_state() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_sub_stepped_gradients() (planner.dynamics.mujoco_dynamics.MujocoPlant method) get_trace_sensors() (in module visualizers.mujoco_helpers.utils) goal_position (visualizers.viser_app.tasks.spot.spot_box.SpotBoxConfig attribute) (visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigationConfig attribute) (visualizers.viser_app.tasks.spot.spot_navigation.SpotNavigationConfig attribute) (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) GOAL_POSITIONS (class in visualizers.viser_app.tasks.spot_base) GOAL_RADIUS (in module visualizers.viser_app.gui) goal_tire_pos (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) GRADIENT (planner.core.types.ActionType attribute) gradient_actions() (planner.core.action_sampler.ActionSampler method) gram_schmidt() (in module planner.core.linear_algebra) Graph (class in planner.core.graph) graph_rollout() (learning.learner.Learner method) GraphWorker (class in planner.core.graph_worker) gripper_goal_altitude (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) gripper_goal_offset (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute)

H

HardwareIOContext (class in visualizers.viser_app.io)

HardwareStateBufferKeys (class in visualizers.viser_app.io) horizon (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute)

I

IkSolver (class in visualizers.mujoco_helpers.kinematics) initialize() (planner.core.action_sampler.ActionSampler method) (planner.dynamics.mujoco_dynamics.MujocoPlant method) inspect_action_type() (in module planner.core.graph_worker) IOContext (class in visualizers.viser_app.io)

is_better_than() (planner.core.graph.Graph method) is_terminated() (visualizers.viser_app.tasks.cartpole.Cartpole method) (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.task.Task method) is_trace_sensor() (in module visualizers.mujoco_helpers.utils) is_worse_than() (planner.core.graph.Graph method)

L

LAST (planner.core.types.SelectionType attribute) last_policy_output (visualizers.viser_app.io.StateBufferKeys attribute) Learner (class in learning.learner) learning module learning.learner module learning.networks module learning.normalizer module learning.replay_buffer module LEG_JOINT_NAMES (in module visualizers.viser_app.constants) LEG_LINK_NAMES (in module visualizers.viser_app.constants) LEGS_SITTING_POS (in module visualizers.viser_app.constants) legs_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute)

LEGS_STANDING_POS (in module visualizers.viser_app.constants) legs_vel_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) load() (learning.networks.Actor method) (learning.networks.Critic method) (learning.normalizer.Normalizer method) (planner.core.graph.Graph method) load_base() (planner.core.parameter_container.ParameterContainer method) load_model() (in module planner.core.data_collection) load_models() (learning.learner.Learner method) load_task() (planner.core.parameter_container.ParameterContainer method) load_yaml() (planner.core.parameter_container.ParameterContainer method) log_action_sampler() (planner.core.logger.Logger method) log_node_extension() (planner.core.logger.Logger method) log_node_pruning() (planner.core.logger.Logger method) log_node_selection() (planner.core.logger.Logger method) log_params() (planner.core.logger.Logger method) log_search() (planner.core.logger.Logger method) Logger (class in planner.core.logger)

M

main() (in module visualizers.viser_app.app) make_models() (visualizers.viser_app.controllers.controller.Controller method) (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.spot_base.SpotBase method) (visualizers.viser_app.tasks.task.Task method) make_spline() (in module visualizers.viser_app.controllers.sampling_base) max_iter (visualizers.viser_app.controllers.sampling.cmaes.CMAESConfig attribute) max_iters (visualizers.mujoco_helpers.kinematics.IkSolver attribute) MAX_NUM_TRACES (in module visualizers.viser_app.controllers.sampling_base) max_scaling() (in module planner.core.linear_algebra) meshcat (visualizers.meshcat.visuals.TrajectoryVisualizer property) MjVisualization (class in visualizers.mujoco.visualization) model (visualizers.mujoco_helpers.kinematics.IkSolver attribute) MODEL_PATH (in module visualizers.viser_app.path_utils) ModelT (in module visualizers.viser_app.tasks.task) module common common.path_resolvers common.paths learning learning.learner learning.networks learning.normalizer learning.replay_buffer planner planner.core planner.core.action_sampler planner.core.clipping_method planner.core.data_collection planner.core.graph planner.core.graph_visuals planner.core.graph_worker planner.core.linear_algebra planner.core.logger planner.core.parameter_container planner.core.planner planner.core.types planner.dynamics planner.dynamics.action_trajectory planner.dynamics.mujoco_dynamics planner.dynamics.simulator_plant planner.experts planner.experts.expert planner.experts.expert_sampler planner.experts.network visualizers visualizers.meshcat visualizers.meshcat.visuals visualizers.mujoco visualizers.mujoco.model visualizers.mujoco.trajectory visualizers.mujoco.visualization visualizers.mujoco_helpers visualizers.mujoco_helpers.dynamics visualizers.mujoco_helpers.kinematics visualizers.mujoco_helpers.utils visualizers.viser_app visualizers.viser_app.app visualizers.viser_app.constants visualizers.viser_app.controllers visualizers.viser_app.controllers.controller visualizers.viser_app.controllers.sampling visualizers.viser_app.controllers.sampling.cmaes visualizers.viser_app.controllers.sampling.cross_entropy_method visualizers.viser_app.controllers.sampling.mppi visualizers.viser_app.controllers.sampling.predictive_sampling visualizers.viser_app.controllers.sampling_base visualizers.viser_app.gui visualizers.viser_app.io visualizers.viser_app.json_serializer visualizers.viser_app.path_utils visualizers.viser_app.profiler visualizers.viser_app.tasks visualizers.viser_app.tasks.acrobot visualizers.viser_app.tasks.cartpole visualizers.viser_app.tasks.cost_functions visualizers.viser_app.tasks.cylinder_push visualizers.viser_app.tasks.mujoco_task visualizers.viser_app.tasks.spot visualizers.viser_app.tasks.spot.spot_box visualizers.viser_app.tasks.spot.spot_hand_navigation visualizers.viser_app.tasks.spot.spot_navigation visualizers.viser_app.tasks.spot.spot_tire visualizers.viser_app.tasks.spot.spot_yellow_chair visualizers.viser_app.tasks.spot_base visualizers.viser_app.tasks.task visualizers.visualization

MPPI (class in visualizers.viser_app.controllers.sampling.mppi) MPPIConfig (class in visualizers.viser_app.controllers.sampling.mppi) MujocoPlant (class in planner.dynamics.mujoco_dynamics) (class in visualizers.mujoco_helpers.dynamics) MujocoTask (class in visualizers.viser_app.tasks.mujoco_task)

N

NetworkSampler (class in planner.experts.network) node_extension() (planner.core.graph_worker.GraphWorker method) node_id_to_search_index_map (planner.core.graph.Graph property) node_pruning() (planner.core.graph_worker.GraphWorker method) node_replacement() (planner.core.graph_worker.GraphWorker method) node_selection() (planner.core.graph_worker.GraphWorker method) noise_ramp (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute) (visualizers.viser_app.controllers.sampling.predictive_sampling.PredictiveSamplingConfig attribute) normalize() (in module planner.core.linear_algebra) (learning.normalizer.Normalizer method)

normalize_multiple() (in module planner.core.linear_algebra) normalize_state() (planner.dynamics.mujoco_dynamics.MujocoPlant method) Normalizer (class in learning.normalizer) nu (visualizers.viser_app.tasks.mujoco_task.MujocoTask property) num_elites (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute) num_nodes (visualizers.viser_app.controllers.sampling_base.SamplingBaseConfig attribute) num_rollouts (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute) (visualizers.viser_app.controllers.sampling_base.SamplingBaseConfig attribute) number_of_nodes() (planner.core.graph.Graph method)

O

ori_threshold (visualizers.mujoco_helpers.kinematics.IkSolver attribute) orientation_cost (visualizers.mujoco_helpers.kinematics.IkSolver attribute)

orientation_threshold (visualizers.viser_app.tasks.spot.spot_box.SpotBoxConfig attribute) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute)

P

p_centered (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) p_vertical (visualizers.viser_app.tasks.acrobot.AcrobotConfig attribute) (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) PACKAGE_ROOT (in module visualizers.viser_app.path_utils) ParallelGoalsWorker (class in planner.core.graph_worker) ParameterContainer (class in planner.core.parameter_container) pareto_distribution() (in module planner.core.graph_worker) parse_hardware_parameters() (in module planner.core.parameter_container) parse_params() (planner.core.parameter_container.ParameterContainer method) path_data() (planner.core.planner.Planner method) path_trajectory() (planner.core.planner.Planner method) percentage_range() (planner.core.graph_worker.GraphWorker method) planner module Planner (class in planner.core.planner) planner.core module planner.core.action_sampler module planner.core.clipping_method module planner.core.data_collection module planner.core.graph module planner.core.graph_visuals module planner.core.graph_worker module planner.core.linear_algebra module planner.core.logger module planner.core.parameter_container module

planner.core.planner module planner.core.types module planner.dynamics module planner.dynamics.action_trajectory module planner.dynamics.mujoco_dynamics module planner.dynamics.simulator_plant module planner.experts module planner.experts.expert module planner.experts.expert_sampler module planner.experts.network module planner_exploration() (learning.learner.Learner method) plot_search_results() (planner.core.planner.Planner method) policy_rollout() (learning.learner.Learner method) pos_threshold (visualizers.mujoco_helpers.kinematics.IkSolver attribute) position_cost (visualizers.mujoco_helpers.kinematics.IkSolver attribute) posture_cost (visualizers.mujoco_helpers.kinematics.IkSolver attribute) PredictiveSampling (class in visualizers.viser_app.controllers.sampling.predictive_sampling) PredictiveSamplingConfig (class in visualizers.viser_app.controllers.sampling.predictive_sampling) pretrain() (learning.learner.Learner method) project_v_on_u() (in module planner.core.linear_algebra) project_vectors_on_eigenspace() (in module planner.core.linear_algebra) PROXIMITY (planner.core.types.ActionType attribute) proximity_directions() (planner.core.action_sampler.ActionSampler method) pusher_goal_offset (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute)

Q

qpos (visualizers.viser_app.io.StateBufferKeys attribute) quadratic_norm() (in module visualizers.viser_app.tasks.cost_functions)

quat_slice (visualizers.viser_app.constants.SPOT_STATE_INDS attribute) qvel (visualizers.viser_app.io.StateBufferKeys attribute)

R

RADIUS_MAX (in module visualizers.viser_app.tasks.spot.spot_box) (in module visualizers.viser_app.tasks.spot.spot_yellow_chair) RADIUS_MIN (in module visualizers.viser_app.tasks.spot.spot_box) (in module visualizers.viser_app.tasks.spot.spot_yellow_chair) random_directions() (planner.core.action_sampler.ActionSampler method) reachability_cache() (planner.core.graph.Graph method) register_controller() (in module visualizers.viser_app.controllers) register_task() (in module visualizers.viser_app.tasks) RelatedGoalWorker (class in planner.core.graph_worker) relative_distances_to() (learning.learner.Learner method) RELATIVE_TO_PREVIOUS_END_ACTION (planner.core.types.ActionMode attribute) remove() (visualizers.mujoco.model.ViserMjModel method) (visualizers.mujoco.visualization.MjVisualization method) (visualizers.viser_app.app.ControlProcess method) (visualizers.visualization.Visualization method) remove_traces() (visualizers.mujoco.model.ViserMjModel method) ReplayBuffer (class in learning.replay_buffer) reset() (learning.replay_buffer.ReplayBuffer method) (planner.core.action_sampler.ActionSampler method) (planner.core.graph.Graph method) (planner.core.graph_worker.GraphWorker method) (planner.core.logger.Logger method) (planner.core.planner.Planner method) (planner.dynamics.mujoco_dynamics.MujocoPlant method) (visualizers.viser_app.app.SimulationProcess method) (visualizers.viser_app.controllers.controller.Controller method) (visualizers.viser_app.controllers.sampling_base.SamplingBase method) (visualizers.viser_app.tasks.acrobot.Acrobot method) (visualizers.viser_app.tasks.cartpole.Cartpole method) (visualizers.viser_app.tasks.cylinder_push.CylinderPush method) (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.spot.spot_box.SpotBox method) (visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigation method) (visualizers.viser_app.tasks.spot.spot_navigation.SpotNavigation method) (visualizers.viser_app.tasks.spot.spot_tire.SpotTire method) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChair method) (visualizers.viser_app.tasks.task.Task method)

reset_finished_workers() (planner.core.graph_worker.ParallelGoalsWorker method) reset_next_temporary_id() (learning.replay_buffer.ReplayBuffer method) RESET_OBJECT_POSE (in module visualizers.viser_app.tasks.spot.spot_box) (in module visualizers.viser_app.tasks.spot.spot_tire) (in module visualizers.viser_app.tasks.spot.spot_yellow_chair) reset_seed() (planner.core.parameter_container.ParameterContainer method) reset_sub_goal_states() (planner.core.graph.Graph method) resize_data() (visualizers.viser_app.controllers.sampling_base.SamplingBase method) reward() (visualizers.viser_app.tasks.spot.spot_box.SpotBox method) (visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigation method) (visualizers.viser_app.tasks.spot.spot_navigation.SpotNavigation method) (visualizers.viser_app.tasks.spot.spot_tire.SpotTire method) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChair method) (visualizers.viser_app.tasks.task.Task method) reward_distance_scaling_sqrt() (planner.core.parameter_container.ParameterContainer method) reward_function() (learning.learner.Learner method) rgba_float_to_int() (in module visualizers.mujoco.model) rgba_int_to_float() (in module visualizers.mujoco.model) rgba_palette() (in module planner.core.graph_visuals) rollout() (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.spot_base.SpotBase method) (visualizers.viser_app.tasks.task.Task method) rollout_times (visualizers.viser_app.controllers.controller.Controller property) (visualizers.viser_app.controllers.sampling_base.SamplingBase property) RolloutWorker (class in planner.core.graph_worker) run_autofill_rule() (planner.core.parameter_container.ParameterContainer method)

S

sample_feasible_states() (in module planner.core.graph) sample_random_goal_states() (in module planner.core.graph) sample_random_start_states() (in module planner.core.graph) sample_random_states() (in module planner.core.graph) sample_random_sub_goal_states() (in module planner.core.graph) sample_related_sub_goal_states() (in module planner.core.graph) sampling() (learning.replay_buffer.ReplayBuffer method) SamplingBase (class in visualizers.viser_app.controllers.sampling_base) SamplingBaseConfig (class in visualizers.viser_app.controllers.sampling_base) save() (learning.networks.Actor method) (learning.networks.Critic method) (learning.normalizer.Normalizer method) (planner.core.graph.Graph method) save_model() (in module planner.core.data_collection) save_models() (learning.learner.Learner method) SCALE (planner.core.types.ClippingType attribute) scale_distances() (in module planner.dynamics.simulator_plant) scaled_distances_to() (in module planner.dynamics.simulator_plant) search() (planner.core.planner.Planner method) SelectionType (class in planner.core.types) set_action() (planner.dynamics.mujoco_dynamics.MujocoPlant method) set_color_of_models() (visualizers.meshcat.visuals.TrajectoryVisualizer method) set_data() (visualizers.mujoco.model.ViserMjModel method) set_default_controls() (visualizers.viser_app.controllers.controller.Controller method) (visualizers.viser_app.controllers.sampling_base.SamplingBase method) set_default_device_and_dtype() (in module planner.core.types) set_demonstration_injection() (learning.learner.Learner method) set_directives_prefix() (visualizers.meshcat.visuals.TrajectoryVisualizer method) set_goal_state() (planner.core.graph.Graph method) set_mesh_color() (in module visualizers.mujoco.model) set_mocap_pose() (in module visualizers.mujoco_helpers.utils) set_mocap_poses() (in module visualizers.mujoco_helpers.utils) set_profiler_recording() (visualizers.viser_app.app.ControlProcess method) set_seed() (planner.core.parameter_container.ParameterContainer method) set_segment_points() (in module visualizers.mujoco.model) set_spline_positions() (in module visualizers.mujoco.model) set_start_states() (planner.core.graph.Graph method) set_state() (in module visualizers.mujoco_helpers.utils) (planner.dynamics.mujoco_dynamics.MujocoPlant method) set_target_pose() (visualizers.mujoco_helpers.kinematics.IkSolver method) set_traces() (visualizers.mujoco.model.ViserMjModel method) set_trajectory() (visualizers.mujoco.trajectory.TrajectoryVisualizer method) setup_and_connect() (visualizers.meshcat.visuals.TrajectoryVisualizer method) setup_context() (visualizers.viser_app.app.ViserApp method) setup_controller() (visualizers.viser_app.app.ViserApp method) setup_physics() (visualizers.viser_app.app.ViserApp method) setup_task() (visualizers.viser_app.app.ViserApp method) setup_visualization() (visualizers.viser_app.app.ViserApp method) shortest_path_data() (planner.core.planner.Planner method) shortest_path_to() (planner.core.graph.Graph method) shortest_path_trajectory() (planner.core.planner.Planner method) show() (visualizers.meshcat.visuals.TrajectoryVisualizer method) sigma_max (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute)

sim_step() (visualizers.viser_app.tasks.mujoco_task.MujocoTask method) (visualizers.viser_app.tasks.spot_base.SpotBase method) (visualizers.viser_app.tasks.task.Task method) simple_path_statistics() (planner.core.logger.Logger method) simple_progress_statistics() (planner.core.logger.Logger method) simulation_cycle_callback() (visualizers.viser_app.app.ViserApp method) simulation_reset_callback() (visualizers.viser_app.app.ViserApp method) SimulationIOContext (class in visualizers.viser_app.io) SimulationProcess (class in visualizers.viser_app.app) SimulatorPlant (class in planner.dynamics.simulator_plant) SingleGoalWorker (class in planner.core.graph_worker) SITTING_STOWED_POS (in module visualizers.viser_app.constants) SITTING_UNSTOWED_POS (in module visualizers.viser_app.constants) slider() (in module visualizers.viser_app.gui) smooth_l1_norm() (in module visualizers.viser_app.tasks.cost_functions) soft_update() (in module learning.networks) solve() (visualizers.mujoco_helpers.kinematics.IkSolver method) solver (visualizers.mujoco_helpers.kinematics.IkSolver attribute) sorted_progress_ids() (planner.core.graph.Graph method) spin() (visualizers.mujoco.trajectory.TrajectoryVisualizer method) spline (visualizers.viser_app.controllers.sampling_base.SamplingBase property) (visualizers.viser_app.io.ControlBufferKeys attribute) spline_order (visualizers.viser_app.controllers.sampling_base.SamplingBaseConfig attribute) spline_timesteps (visualizers.viser_app.controllers.sampling_base.SamplingBase property) SPOT_ANGS_VEL_SLICE (in module visualizers.viser_app.constants) SPOT_ARMS_SLICE (in module visualizers.viser_app.constants) SPOT_ARMS_VEL_SLICE (in module visualizers.viser_app.constants) SPOT_BODY_SLICE (in module visualizers.viser_app.constants) SPOT_BODY_VEL_SLICE (in module visualizers.viser_app.constants) spot_fallen_threshold (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) SPOT_LEGS_SLICE (in module visualizers.viser_app.constants) SPOT_LEGS_VEL_SLICE (in module visualizers.viser_app.constants) SPOT_QUAT_SLICE (in module visualizers.viser_app.constants) SPOT_STATE_INDS (class in visualizers.viser_app.constants) SpotBase (class in visualizers.viser_app.tasks.spot_base) SpotBaseConfig (class in visualizers.viser_app.tasks.spot_base) SpotBox (class in visualizers.viser_app.tasks.spot.spot_box) SpotBoxConfig (class in visualizers.viser_app.tasks.spot.spot_box) SpotHandNavigation (class in visualizers.viser_app.tasks.spot.spot_hand_navigation) SpotHandNavigationConfig (class in visualizers.viser_app.tasks.spot.spot_hand_navigation) SpotNavigation (class in visualizers.viser_app.tasks.spot.spot_navigation) SpotNavigationConfig (class in visualizers.viser_app.tasks.spot.spot_navigation) SpotTire (class in visualizers.viser_app.tasks.spot.spot_tire) SpotTireConfig (class in visualizers.viser_app.tasks.spot.spot_tire) SpotYellowChair (class in visualizers.viser_app.tasks.spot.spot_yellow_chair) SpotYellowChairConfig (class in visualizers.viser_app.tasks.spot.spot_yellow_chair) STANDING_HEIGHT (in module visualizers.viser_app.constants) STANDING_STOWED_POS (in module visualizers.viser_app.constants) STANDING_UNSTOWED_POS (in module visualizers.viser_app.constants) state_action_training_data() (learning.learner.Learner method) state_addition() (planner.dynamics.mujoco_dynamics.MujocoPlant method) state_difference() (planner.dynamics.mujoco_dynamics.MujocoPlant method) (planner.dynamics.simulator_plant.SimulatorPlant method) StateBufferKeys (class in visualizers.viser_app.io)

T

target() (learning.networks.Actor method) (learning.networks.Critic method) Task (class in visualizers.viser_app.tasks.task) task_selection_callback() (visualizers.viser_app.app.ViserApp method) TaskConfig (class in visualizers.viser_app.tasks.task) temperature (visualizers.viser_app.controllers.sampling.mppi.MPPIConfig attribute) terminate() (visualizers.viser_app.app.ControlProcess method) time (visualizers.viser_app.io.StateBufferKeys attribute) tire_fallen_threshold (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) TIRE_GOAL (in module visualizers.viser_app.tasks.spot.spot_tire) TIRE_HEIGHT (in module visualizers.viser_app.tasks.spot.spot_tire) torso_goal_offset (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute)

traces (visualizers.viser_app.io.ControlBufferKeys attribute) train() (learning.learner.Learner method) (learning.networks.Actor method) train_actor_critic() (in module learning.networks) train_actor_imitation() (in module learning.networks) train_critic_imitation() (in module learning.networks) TrajectoryVisualizer (class in visualizers.meshcat.visuals) (class in visualizers.mujoco.trajectory) transformation_matrix() (in module planner.core.linear_algebra) truncpareto_cdf() (in module planner.core.linear_algebra) try_to_reallocate_workers() (planner.core.graph_worker.ParallelGoalsWorker method) typeify() (planner.core.parameter_container.ParameterContainer method)

U

update() (learning.normalizer.Normalizer method) (planner.core.parameter_container.ParameterContainer method) update_action() (visualizers.viser_app.controllers.controller.Controller method) (visualizers.viser_app.controllers.sampling.cmaes.CMAES method) (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyMethod method) (visualizers.viser_app.controllers.sampling.mppi.MPPI method) (visualizers.viser_app.controllers.sampling.predictive_sampling.PredictiveSampling method) (visualizers.viser_app.controllers.sampling_base.SamplingBase method) update_extension_lengths() (planner.core.graph_worker.ParallelGoalsWorker method)

update_norm() (learning.learner.Learner method) update_pareto_parameters() (planner.core.graph_worker.ParallelGoalsWorker method) update_sensor() (planner.dynamics.mujoco_dynamics.MujocoPlant method) update_spline() (visualizers.viser_app.controllers.sampling_base.SamplingBase method) update_target() (learning.networks.Actor method) (learning.networks.Critic method) update_traces() (visualizers.viser_app.controllers.sampling_base.SamplingBase method) update_trajectories() (visualizers.meshcat.visuals.TrajectoryVisualizer method) use_noise_ramp (visualizers.viser_app.controllers.sampling.cross_entropy_method.CrossEntropyConfig attribute) (visualizers.viser_app.controllers.sampling_base.SamplingBaseConfig attribute)

V

ViserApp (class in visualizers.viser_app.app) ViserMjModel (class in visualizers.mujoco.model) ViserProfiler (class in visualizers.viser_app.profiler) ViserProfilerConfig (class in visualizers.viser_app.profiler) Visualization (class in visualizers.visualization) VISUALIZATION_FREQ (in module visualizers.mujoco.visualization) visualize_and_control_model() (in module visualizers.meshcat.visuals) visualize_state_or_trajectory() (in module visualizers.mujoco_helpers.utils) visualize_trajectories() (visualizers.meshcat.visuals.TrajectoryVisualizer method) visualizers module visualizers.meshcat module visualizers.meshcat.visuals module visualizers.mujoco module visualizers.mujoco.model module visualizers.mujoco.trajectory module visualizers.mujoco.visualization module visualizers.mujoco_helpers module visualizers.mujoco_helpers.dynamics module visualizers.mujoco_helpers.kinematics module visualizers.mujoco_helpers.utils module visualizers.viser_app module visualizers.viser_app.app module visualizers.viser_app.constants module visualizers.viser_app.controllers module visualizers.viser_app.controllers.controller module visualizers.viser_app.controllers.sampling module visualizers.viser_app.controllers.sampling.cmaes module visualizers.viser_app.controllers.sampling.cross_entropy_method module

visualizers.viser_app.controllers.sampling.mppi module visualizers.viser_app.controllers.sampling.predictive_sampling module visualizers.viser_app.controllers.sampling_base module visualizers.viser_app.gui module visualizers.viser_app.io module visualizers.viser_app.json_serializer module visualizers.viser_app.path_utils module visualizers.viser_app.profiler module visualizers.viser_app.tasks module visualizers.viser_app.tasks.acrobot module visualizers.viser_app.tasks.cartpole module visualizers.viser_app.tasks.cost_functions module visualizers.viser_app.tasks.cylinder_push module visualizers.viser_app.tasks.mujoco_task module visualizers.viser_app.tasks.spot module visualizers.viser_app.tasks.spot.spot_box module visualizers.viser_app.tasks.spot.spot_hand_navigation module visualizers.viser_app.tasks.spot.spot_navigation module visualizers.viser_app.tasks.spot.spot_tire module visualizers.viser_app.tasks.spot.spot_yellow_chair module visualizers.viser_app.tasks.spot_base module visualizers.viser_app.tasks.task module visualizers.visualization module

W

w_cart_position (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute) w_centered (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) w_control (visualizers.viser_app.tasks.acrobot.AcrobotConfig attribute) (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) w_controls (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) w_goal (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) w_gripper_proximity (visualizers.viser_app.tasks.spot.spot_box.SpotBoxConfig attribute) (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) w_leg_proximity (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) w_object_velocity (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) w_orientation (visualizers.viser_app.tasks.spot.spot_box.SpotBoxConfig attribute) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) w_proximity (visualizers.viser_app.tasks.spot_base.SpotBaseConfig attribute) w_pusher_proximity (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute) w_pusher_velocity (visualizers.viser_app.tasks.cylinder_push.CylinderPushConfig attribute)

w_tire_angular_velocity (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) w_tire_linear_velocity (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) w_torso_proximity (visualizers.viser_app.tasks.spot.spot_box.SpotBoxConfig attribute) (visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig attribute) (visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig attribute) w_velocity (visualizers.viser_app.tasks.acrobot.AcrobotConfig attribute) (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) w_vertical (visualizers.viser_app.tasks.acrobot.AcrobotConfig attribute) (visualizers.viser_app.tasks.cartpole.CartpoleConfig attribute) work() (planner.core.graph_worker.ExplorerWorker method) (planner.core.graph_worker.ParallelGoalsWorker method) (planner.core.graph_worker.RelatedGoalWorker method) (planner.core.graph_worker.RolloutWorker method) (planner.core.graph_worker.SingleGoalWorker method) wrap_obs() (learning.normalizer.Normalizer method) write_controls() (visualizers.viser_app.app.ControlProcess method) write_states() (visualizers.viser_app.app.SimulationProcess method) write_traces() (visualizers.viser_app.app.ControlProcess method)

X

xml_folder (planner.core.parameter_container.ParameterContainer property) XML_PATH (in module visualizers.viser_app.tasks.acrobot) (in module visualizers.viser_app.tasks.cartpole) (in module visualizers.viser_app.tasks.cylinder_push)

xpos (visualizers.viser_app.io.StateBufferKeys attribute) xquat (visualizers.viser_app.io.StateBufferKeys attribute)

Z

Z_AXIS (in module visualizers.viser_app.tasks.spot.spot_box) (in module visualizers.viser_app.tasks.spot.spot_tire) (in module visualizers.viser_app.tasks.spot.spot_yellow_chair)

zero_order_hold_trajectory() (in module planner.dynamics.action_trajectory)