Index

_

__call__() (CustomReward method) (MultiTargetVelocityReward method) (NoReward method) (PosReward method) (RewardInterface method) (TargetVelocityReward method) (VelocityVectorReward method) _add_weight() (Atlas static method) (Talos static method) (UnitreeH1 static method) _get_action_specification() (Atlas static method) (Talos static method) (UnitreeH1 static method) _get_grf_size() (Talos static method) (UnitreeH1 static method)

_get_ground_forces() (Talos method) (UnitreeH1 method) _get_observation_specification() (Atlas static method) (Talos static method) (UnitreeH1 static method) _get_xml_modifications() (Atlas method) (Talos method) (UnitreeH1 method) _has_fallen() (Atlas method) (Talos method) (UnitreeH1 method) _reorient_arms() (Talos static method) (UnitreeH1 static method)

A

apply_domain_randomization() (in module loco_mujoco.utils.domain_randomization)

Atlas (class in loco_mujoco.environments.humanoids.atlas)

B

BaseHumanoid (class in loco_mujoco.environments.humanoids.base_humanoid) BaseHumanoid4Ages (class in loco_mujoco.environments.humanoids.base_humanoid_4_ages)

BaseRobotHumanoid (class in loco_mujoco.environments.humanoids.base_robot_humanoid) build_MjModel_from_xml_handle() (in module loco_mujoco.utils.domain_randomization) build_MjModel_from_xml_handle_job() (in module loco_mujoco.utils.domain_randomization)

C

check_if_trajectory_is_in_range() (Trajectory method), [1] check_lows_singular_values() (in module loco_mujoco.utils.domain_randomization) check_uniform_range_conf() (in module loco_mujoco.utils.domain_randomization) check_uniform_range_delta_conf() (in module loco_mujoco.utils.domain_randomization) close() (GymnasiumWrapper method) create_dataset() (BaseHumanoid method) (BaseRobotHumanoid method) (GymnasiumWrapper method) (LocoEnv method) (Trajectory method), [1] (UnitreeA1 method)

CustomReward (class in loco_mujoco.utils.reward), [1]

D

DomainRandomizationHandler (class in loco_mujoco.utils.domain_randomization)

dt (LocoEnv property)

F

flattened_trajectories() (Trajectory method), [1]

G

generate() (Atlas static method) (BaseHumanoid static method) (BaseHumanoid4Ages static method) (BaseRobotHumanoid static method) (HumanoidMuscle static method) (HumanoidMuscle4Ages static method) (HumanoidTorque static method) (HumanoidTorque4Ages static method) (Talos static method) (UnitreeA1 static method) (UnitreeH1 static method) get_action_indices() (LocoEnv static method) get_action_space() (LocoEnv static method) get_all() (ValidTaskConf method) get_all_combinations() (ValidTaskConf method) get_all_observation_keys() (LocoEnv method)

get_all_task_names() (LocoEnv class method) get_current_sample() (Trajectory method), [1] get_direction() (GoalDirectionVelocity method) get_from_sample() (Trajectory method), [1] get_goal() (GoalDirectionVelocity method) get_idx() (Trajectory method), [1] get_kinematic_obs_mask() (LocoEnv method) (UnitreeA1 method) get_mask() (BaseHumanoid4Ages method) (BaseRobotHumanoid method) get_next_sample() (Trajectory method), [1] get_obs_idx() (LocoEnv method) get_randomized_model() (DomainRandomizationHandler method) get_velocity() (GoalDirectionVelocity method) GoalDirectionVelocity (class in loco_mujoco.utils.goals) GymnasiumWrapper (class in loco_mujoco.environments.gymnasium)

H

HumanoidMuscle (class in loco_mujoco.environments.humanoids.humanoids) HumanoidMuscle4Ages (class in loco_mujoco.environments.humanoids.humanoids)

HumanoidTorque (class in loco_mujoco.environments.humanoids.humanoids) HumanoidTorque4Ages (class in loco_mujoco.environments.humanoids.humanoids)

I

info (LocoEnv property)

is_absorbing() (LocoEnv method)

L

list_registered() (LocoEnv static method) list_registered_loco_mujoco() (LocoEnv static method) load_dataset_and_get_traj_files() (LocoEnv method) (UnitreeA1 method) load_model() (LocoEnv static method) load_trajectory() (BaseHumanoid4Ages method) (LocoEnv method) loco_mujoco.datasets module loco_mujoco.environments.base module loco_mujoco.environments.data module loco_mujoco.environments.gymnasium module loco_mujoco.environments.humanoids.atlas module loco_mujoco.environments.humanoids.base_humanoid module loco_mujoco.environments.humanoids.base_humanoid_4_ages module

loco_mujoco.environments.humanoids.base_robot_humanoid module loco_mujoco.environments.humanoids.humanoids module, [1], [2], [3] loco_mujoco.environments.humanoids.talos module loco_mujoco.environments.humanoids.unitreeH1 module loco_mujoco.environments.quadrupeds.unitreeA1 module loco_mujoco.utils.domain_randomization module loco_mujoco.utils.goals module loco_mujoco.utils.reward module, [1] loco_mujoco.utils.trajectory module, [1] LocoEnv (class in loco_mujoco.environments.base)

M

make() (LocoEnv static method) metadata (GymnasiumWrapper attribute) module loco_mujoco.datasets loco_mujoco.environments.base loco_mujoco.environments.data loco_mujoco.environments.gymnasium loco_mujoco.environments.humanoids.atlas loco_mujoco.environments.humanoids.base_humanoid loco_mujoco.environments.humanoids.base_humanoid_4_ages loco_mujoco.environments.humanoids.base_robot_humanoid loco_mujoco.environments.humanoids.humanoids, [1], [2], [3] loco_mujoco.environments.humanoids.talos loco_mujoco.environments.humanoids.unitreeH1 loco_mujoco.environments.quadrupeds.unitreeA1 loco_mujoco.utils.domain_randomization loco_mujoco.utils.goals loco_mujoco.utils.reward, [1] loco_mujoco.utils.trajectory, [1]

more_than_one_env (LocoEnv property) MultiTargetVelocityReward (class in loco_mujoco.utils.reward), [1]

N

n_all_models (BaseHumanoid4Ages property) NoReward (class in loco_mujoco.utils.reward), [1]

number_obs_trajectory (Trajectory property), [1] number_of_trajectories (Trajectory property), [1]

P

play_trajectory() (GymnasiumWrapper method) (LocoEnv method)

play_trajectory_from_velocity() (GymnasiumWrapper method) (LocoEnv method) PosReward (class in loco_mujoco.utils.reward), [1]

R

register() (LocoEnv class method) render() (GymnasiumWrapper method) (LocoEnv method) reset() (GymnasiumWrapper method) (LocoEnv method)

reset_state() (RewardInterface method), [1] reset_trajectory() (Trajectory method), [1] reward() (LocoEnv method) RewardInterface (class in loco_mujoco.utils.reward), [1]

S

scale_body() (BaseHumanoid4Ages static method) seed() (LocoEnv method) set_geom_conf() (in module loco_mujoco.utils.domain_randomization) set_goal() (GoalDirectionVelocity method) set_inertial_conf() (in module loco_mujoco.utils.domain_randomization) set_joint_conf() (in module loco_mujoco.utils.domain_randomization) set_sim_state() (LocoEnv method) (UnitreeA1 method)

setup() (BaseHumanoid4Ages method) (LocoEnv method) (UnitreeA1 method) step() (GymnasiumWrapper method) (LocoEnv method) stop() (LocoEnv method)

T

Talos (class in loco_mujoco.environments.humanoids.talos) TargetVelocityReward (class in loco_mujoco.utils.reward), [1]

Trajectory (class in loco_mujoco.utils.trajectory), [1] trajectory_length (Trajectory property), [1]

U

UnitreeA1 (class in loco_mujoco.environments.quadrupeds.unitreeA1) UnitreeH1 (class in loco_mujoco.environments.humanoids.unitreeH1)

unwrapped (GymnasiumWrapper property) user_warning_raise_exception() (LocoEnv static method)

V

valid_task_confs (Atlas attribute) (HumanoidMuscle attribute) (HumanoidMuscle4Ages attribute) (HumanoidTorque attribute) (HumanoidTorque4Ages attribute) (Talos attribute) (UnitreeA1 attribute) (UnitreeH1 attribute)

ValidTaskConf (class in loco_mujoco.environments.base) VelocityVectorReward (class in loco_mujoco.utils.reward), [1]