Index

_

__post_init__() (judo.config.OverridableConfig 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) active_pair (judo.app.benchmark.BenchmarkerNode attribute) actuator_ctrlrange (judo.tasks.base.Task 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) arm_pos_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) available_optimizers (judo.app.benchmark.BenchmarkerNode attribute) (judo.app.controller.ControllerNode attribute) (judo.app.visualization.VisualizationNode attribute) available_tasks (judo.app.benchmark.BenchmarkerNode attribute) (judo.app.controller.ControllerNode attribute) (judo.app.visualization.VisualizationNode attribute) axis_angle_diff() (in module judo.utils.math_utils)

B

backend (judo.utils.mujoco.RolloutBackend attribute)

benchmark() (in module judo.cli) BenchmarkerNode (class in judo.app.benchmark)

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) CHANGE_CONTROLLER (judo.app.structs.EventType attribute) CHANGE_TASK (judo.app.structs.EventType attribute) check_sensor_dists() (judo.tasks.fr3_pick.FR3Pick method) (judo.tasks.FR3Pick method) cleanup() (judo.app.visualization.VisualizationNode method) config (judo.optimizers.base.Optimizer attribute) (judo.optimizers.Optimizer attribute) config_lock (judo.app.simulation.SimulationNode attribute) CONFIG_PATH (in module judo.cli) ConfigT (in module judo.tasks.base) control (judo.app.simulation.SimulationNode attribute) control_freq (judo.controller.controller.ControllerConfig attribute) (judo.controller.ControllerConfig attribute)

control_lock (judo.app.simulation.SimulationNode attribute) Controller (class in judo.controller) (class in judo.controller.controller) controller_cfg (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) ControllerConfig (class in judo.controller) (class in judo.controller.controller) ControllerNode (class in judo.app.controller) count (judo.utils.normalization.RunningMeanStdNormalizer attribute) 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) 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) 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_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) denormalize() (judo.utils.normalization.IdentityNormalizer method) (judo.utils.normalization.MinMaxNormalizer method) (judo.utils.normalization.Normalizer method) (judo.utils.normalization.RunningMeanStdNormalizer method) 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_sensor (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.visualization)

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

FR3Pick (class in judo.tasks) (class in judo.tasks.fr3_pick)

FR3PickConfig (class in judo.tasks) (class in judo.tasks.fr3_pick)

G

geom_exclude_substring (judo.app.visualization.VisualizationNode attribute) get_class_from_string() (in module judo.app.utils) 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_sim_metadata() (judo.tasks.base.Task method) (judo.tasks.leap_cube.LeapCube method) (judo.tasks.LeapCube method) (judo.tasks.Task method) get_trace_sensors() (in module judo.visualizers.utils) global_weights (judo.tasks.fr3_pick.FR3PickConfig attribute) (judo.tasks.FR3PickConfig attribute) GlobalConfig (class in judo.tasks.fr3_pick) 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)

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) grasp_site_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute)

H

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)

J

judo module judo.app module judo.app.benchmark module judo.app.controller module judo.app.simulation module judo.app.structs module judo.app.utils module judo.app.visualization module judo.cli module judo.config module judo.controller 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.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.utils module judo.utils.assets module judo.utils.fields module judo.utils.math_utils module judo.utils.mujoco module judo.utils.normalization module judo.visualizers module judo.visualizers.model module judo.visualizers.utils 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

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_obj_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) left_finger_table_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) left_finger_table_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) 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.controller.ControllerNode attribute)

M

M2 (judo.utils.normalization.RunningMeanStdNormalizer attribute) main_app() (in module judo.cli) main_benchmark() (in module judo.cli) make_model_data_pairs() (in module judo.utils.mujoco) 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) 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) min (judo.utils.normalization.MinMaxNormalizer attribute) (judo.utils.normalization.MinMaxNormalizerConfig attribute) min_std (judo.utils.normalization.RunningMeanStdNormalizer attribute) (judo.utils.normalization.RunningMeanStdNormalizerConfig attribute) MinMaxNormalizer (class in judo.utils.normalization) MinMaxNormalizerConfig (class in judo.utils.normalization) 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) model_data_pairs (judo.controller.Controller attribute) (judo.controller.controller.Controller 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.controller judo.app.simulation judo.app.structs judo.app.utils judo.app.visualization judo.cli judo.config judo.controller 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.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.utils judo.utils.assets judo.utils.fields judo.utils.math_utils judo.utils.mujoco judo.utils.normalization judo.visualizers judo.visualizers.model judo.visualizers.utils

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) 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

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.optimizers.base.Optimizer attribute) (judo.optimizers.Optimizer attribute) (judo.tasks.base.Task 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_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_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)

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_table_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) obj_vel_slice (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick 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 attribute) (judo.controller.controller.Controller attribute) optimizer_name (judo.app.visualization.VisualizationNode attribute) optimizer_warm_start() (judo.tasks.base.Task method) (judo.tasks.Task method) OptimizerConfig (class in judo.optimizers) (class in judo.optimizers.base) OptimizerConfigT (in module judo.optimizers.base) 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) PAUSE_CONTROLLER (judo.app.structs.EventType attribute) PAUSE_SIMULATION (judo.app.structs.EventType attribute) paused (judo.app.controller.ControllerNode attribute) (judo.app.simulation.SimulationNode attribute) Phase (class in judo.tasks.fr3_pick) phase (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick 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) 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) 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.utils.math_utils) quat_vel() (in module judo.utils.math_utils) qvel (judo.app.structs.MujocoState attribute)

R

register_controller_config_overrides() (judo.app.visualization.VisualizationNode method) register_gui_element_callback() (in module judo.gui) register_optimizer() (in module judo.optimizers) register_optimizer_config_overrides() (judo.app.visualization.VisualizationNode 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.app.visualization.VisualizationNode method) remove_traces() (judo.visualizers.model.ViserMjModel method) reset() (judo.controller.Controller 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.Task method) 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_task() (judo.app.controller.ControllerNode method) (judo.app.simulation.SimulationNode 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.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_obj_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) right_finger_table_adr (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) right_finger_table_sensor (judo.tasks.fr3_pick.FR3Pick attribute) (judo.tasks.FR3Pick attribute) rollout() (judo.utils.mujoco.RolloutBackend method) rollout_backend (judo.controller.Controller attribute) (judo.controller.controller.Controller 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.mujoco) 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.app.visualization.VisualizationNode attribute) 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_mesh_color() (in module judo.visualizers.model) set_override() (judo.config.OverridableConfig method) set_paused_status() (judo.app.controller.ControllerNode method) (judo.app.simulation.SimulationNode method) set_segment_points() (in module judo.visualizers.model) set_spline_positions() (in module judo.visualizers.model) set_task() (judo.app.simulation.SimulationNode method) (judo.app.visualization.VisualizationNode method) set_traces() (judo.visualizers.model.ViserMjModel method) setup() (judo.app.controller.ControllerNode method) setup_gui() (judo.app.visualization.VisualizationNode method) setup_mujoco_backend() (judo.utils.mujoco.RolloutBackend 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.app.visualization.VisualizationNode attribute) SIM_XML_PATH (in module judo.tasks.caltech_leap_cube) (in module judo.tasks.leap_cube) (in module judo.tasks.leap_cube_down) SimulationNode (class in judo.app.simulation) 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.controller.ControllerNode method) (judo.app.simulation.SimulationNode method) (judo.app.visualization.VisualizationNode method) spline() (judo.app.structs.SplineData method) 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) 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) step() (judo.app.controller.ControllerNode method) (judo.app.simulation.SimulationNode method) stop_cond() (judo.optimizers.base.Optimizer method) (judo.optimizers.Optimizer method) system_metadata (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute)

T

t (judo.app.structs.SplineData attribute) Task (class in judo.tasks) (class in judo.tasks.base) task (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) task_cfg (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) task_keys (judo.app.benchmark.BenchmarkerNode attribute) task_lock (judo.app.visualization.VisualizationNode attribute) task_name (judo.app.visualization.VisualizationNode attribute) task_reset_lock (judo.app.simulation.SimulationNode attribute) task_updated (judo.app.visualization.VisualizationNode attribute)

TaskConfig (class in judo.tasks) (class in judo.tasks.base) temperature (judo.optimizers.MPPI property) (judo.optimizers.mppi.MPPI property) (judo.optimizers.mppi.MPPIConfig attribute) (judo.optimizers.MPPIConfig attribute) time (judo.app.structs.MujocoState attribute) (judo.tasks.base.Task property) (judo.tasks.Task property) trace_sensors (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute) traces (judo.controller.Controller attribute) (judo.controller.controller.Controller attribute)

U

update() (judo.utils.mujoco.RolloutBackend method) (judo.utils.normalization.Normalizer method) (judo.utils.normalization.RunningMeanStdNormalizer method) update_action() (judo.controller.Controller method) (judo.controller.controller.Controller method) update_control() (judo.app.simulation.SimulationNode method) update_controller_config() (judo.app.controller.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.controller.ControllerNode method)

update_optimizer_config() (judo.app.controller.ControllerNode method) update_plan_time() (judo.app.visualization.VisualizationNode method) update_spline() (judo.controller.Controller method) (judo.controller.controller.Controller method) update_states() (judo.app.controller.ControllerNode method) (judo.app.visualization.VisualizationNode method) update_task() (judo.app.controller.ControllerNode method) (judo.app.simulation.SimulationNode method) update_task_config() (judo.app.controller.ControllerNode method) update_traces() (judo.app.visualization.VisualizationNode method) (judo.controller.Controller method) (judo.controller.controller.Controller method) use_noise_ramp (judo.optimizers.base.Optimizer property) (judo.optimizers.base.OptimizerConfig attribute) (judo.optimizers.Optimizer property) (judo.optimizers.OptimizerConfig attribute)

V

value (judo.app.structs.JudoEvent attribute)

ViserMjModel (class in judo.visualizers.model) VisualizationNode (class in judo.app.visualization)

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_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_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_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.visualization.VisualizationNode method) write_controls() (judo.app.controller.ControllerNode method) write_optimizer() (judo.app.visualization.VisualizationNode method) write_optimizer_config() (judo.app.visualization.VisualizationNode method) write_sim_pause() (judo.app.visualization.VisualizationNode method) write_states() (judo.app.simulation.SimulationNode method) write_task() (judo.app.visualization.VisualizationNode method) write_task_config() (judo.app.visualization.VisualizationNode method) write_task_reset() (judo.app.visualization.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)

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