Index _ | A | B | C | D | E | F | G | I | J | K | L | M | N | O | P | R | S | T | U | V | W | Z _ __del__() (ManipulaPy.perception.Perception method) (ManipulaPy.vision.Vision method) __init__() (ManipulaPy.control.ManipulatorController method) (ManipulaPy.dynamics.ManipulatorDynamics method) (ManipulaPy.kinematics.SerialManipulator method) (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) (ManipulaPy.perception.Perception method) (ManipulaPy.potential_field.CollisionChecker method) (ManipulaPy.potential_field.PotentialField method) (ManipulaPy.sim.Simulation method) (ManipulaPy.singularity.Singularity method) (ManipulaPy.urdf_processor.URDFToSerialManipulator method) (ManipulaPy.vision.Vision method) __repr__() (ManipulaPy.urdf.URDF method) __str__() (ManipulaPy.urdf.URDF method) _apply_collision_avoidance_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _apply_collision_avoidance_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _batch_joint_trajectory_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _best_2d_config() (in module ManipulaPy.cuda_kernels) _cartesian_trajectory_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _cartesian_trajectory_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _configure_camera() (ManipulaPy.vision.Vision method) _create_convex_hulls() (ManipulaPy.potential_field.CollisionChecker method) _euler_to_rotation_matrix() (ManipulaPy.vision.Vision method) _forward_dynamics_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _forward_dynamics_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _get_joint_limits_from_pybullet() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) _get_or_resize_gpu_array() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _get_pybullet_view_proj() (ManipulaPy.vision.Vision method) _h2d_pinned() (in module ManipulaPy.cuda_kernels) _inverse_dynamics_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _inverse_dynamics_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _joint_trajectory_cpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _joint_trajectory_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _make_extrinsic_matrix() (ManipulaPy.vision.Vision method) _setup_logger() (ManipulaPy.perception.Perception method) _setup_pybullet_debug_sliders() (ManipulaPy.vision.Vision method) _should_use_gpu() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) _traj_cpu_njit() (in module ManipulaPy.path_planning) _trajectory_cpu_fallback() (in module ManipulaPy.path_planning) _transform_convex_hull() (ManipulaPy.potential_field.CollisionChecker method) _validate_stereo_config() (ManipulaPy.vision.Vision method) A abs() (ManipulaPy.backend.ArrayBackend method) actuated_joint_names (ManipulaPy.urdf.URDF property) actuated_joints (ManipulaPy.urdf.URDF property) adaptive_control() (ManipulaPy.control.ManipulatorController method) adaptive_multi_start_ik() (in module ManipulaPy.ik_helpers) add() (ManipulaPy.ik_helpers.IKInitialGuessCache method) add_additional_parameters() (ManipulaPy.sim.Simulation method) add_joint_parameters() (ManipulaPy.sim.Simulation method) add_package() (ManipulaPy.urdf.PackageResolver method) add_reset_button() (ManipulaPy.sim.Simulation method) add_search_path() (ManipulaPy.urdf.PackageResolver method) all() (ManipulaPy.backend.ArrayBackend method) amax() (ManipulaPy.backend.ArrayBackend method) amin() (ManipulaPy.backend.ArrayBackend method) animate() (ManipulaPy.urdf.URDF method) any() (ManipulaPy.backend.ArrayBackend method) arccos() (ManipulaPy.backend.ArrayBackend method) arctan2() (ManipulaPy.backend.ArrayBackend method) argmax() (ManipulaPy.backend.ArrayBackend method) array() (ManipulaPy.backend.ArrayBackend method) ArrayBackend (class in ManipulaPy.backend) asarray() (ManipulaPy.backend.ArrayBackend method) ascontiguous() (ManipulaPy.backend.ArrayBackend method) attractive_potential_kernel() (in module ManipulaPy.cuda_kernels) B batch_joint_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) batch_trajectory_kernel() (in module ManipulaPy.cuda_kernels) benchmark_kernel_performance() (in module ManipulaPy.cuda_kernels) benchmark_performance() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) C cache_token() (ManipulaPy.backend.ArrayBackend method) calculate_derivatives() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) calculate_percent_overshoot() (ManipulaPy.control.ManipulatorController method) calculate_rise_time() (ManipulaPy.control.ManipulatorController method) calculate_settling_time() (ManipulaPy.control.ManipulatorController method) calculate_steady_state_error() (ManipulaPy.control.ManipulatorController method) capture_image() (ManipulaPy.vision.Vision method) cartesian_space_control() (ManipulaPy.control.ManipulatorController method) cartesian_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) cartesian_trajectory_kernel() (in module ManipulaPy.cuda_kernels) cfg (ManipulaPy.urdf.URDF property) check_collision() (ManipulaPy.potential_field.CollisionChecker method) check_collisions() (ManipulaPy.sim.Simulation method) check_cuda_availability() (in module ManipulaPy.cuda_kernels) check_cupy_availability() (in module ManipulaPy.cuda_kernels) cleanup_gpu_memory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) clear() (ManipulaPy.ik_helpers.IKInitialGuessCache method) clip() (ManipulaPy.backend.ArrayBackend method) close_simulation() (ManipulaPy.sim.Simulation method) cluster_obstacles() (ManipulaPy.perception.Perception method) CollisionChecker (class in ManipulaPy.potential_field) compare_implementations() (in module ManipulaPy.path_planning) compute_attractive_potential() (ManipulaPy.potential_field.PotentialField method) compute_disparity() (ManipulaPy.vision.Vision method) compute_gradient() (ManipulaPy.potential_field.PotentialField method) compute_repulsive_potential() (ManipulaPy.potential_field.PotentialField method) compute_stereo_disparity() (ManipulaPy.perception.Perception method) compute_stereo_rectification_maps() (ManipulaPy.vision.Vision method) computed_torque_control() (ManipulaPy.control.ManipulatorController method) concatenate() (ManipulaPy.backend.ArrayBackend method) condition_number() (ManipulaPy.singularity.Singularity method) connect_simulation() (ManipulaPy.sim.Simulation method) copy() (ManipulaPy.urdf.URDF method) cos() (ManipulaPy.backend.ArrayBackend method) create_handler() (ManipulaPy.urdf.PackageResolver method) create_optimized_planner() (in module ManipulaPy.path_planning) cross() (ManipulaPy.backend.ArrayBackend method) CUDA_AVAILABLE (in module ManipulaPy.cuda_kernels) CUPY_AVAILABLE (in module ManipulaPy.cuda_kernels) D detect_and_cluster_obstacles() (ManipulaPy.perception.Perception method) detect_obstacles() (ManipulaPy.vision.Vision method) diag() (ManipulaPy.backend.ArrayBackend method) disconnect_simulation() (ManipulaPy.sim.Simulation method) disparity_to_pointcloud() (ManipulaPy.vision.Vision method) E end_effector_link (ManipulaPy.urdf.URDF property) end_effector_pose() (ManipulaPy.kinematics.SerialManipulator method) end_effector_velocity() (ManipulaPy.kinematics.SerialManipulator method) end_links (ManipulaPy.urdf.URDF property) enforce_limits() (ManipulaPy.control.ManipulatorController static method) extract_screw_axes() (ManipulaPy.urdf.URDF method) extrapolate_from_current() (in module ManipulaPy.ik_helpers) eye() (ManipulaPy.backend.ArrayBackend method) F FAST_MATH (in module ManipulaPy.cuda_kernels) feedforward_control() (ManipulaPy.control.ManipulatorController method) find_ultimate_gain_and_period() (ManipulaPy.control.ManipulatorController method) float32 (ManipulaPy.backend.ArrayBackend attribute) float64 (ManipulaPy.backend.ArrayBackend attribute) float_t (in module ManipulaPy.cuda_kernels) for_urdf() (ManipulaPy.urdf.PackageResolver class method) forward_dynamics() (ManipulaPy.dynamics.ManipulatorDynamics method) forward_dynamics_kernel() (in module ManipulaPy.cuda_kernels) forward_dynamics_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) forward_kinematics() (ManipulaPy.kinematics.SerialManipulator method) from_xml_string() (ManipulaPy.urdf.URDF class method) fused_potential_gradient_kernel() (in module ManipulaPy.cuda_kernels) G get_backend() (in module ManipulaPy.backend) get_chain() (ManipulaPy.urdf.URDF method) get_cuda_array() (in module ManipulaPy.cuda_kernels) get_gpu_properties() (in module ManipulaPy.cuda_kernels) get_joint() (ManipulaPy.urdf.URDF method) get_joint_parameters() (ManipulaPy.sim.Simulation method) get_joint_positions() (ManipulaPy.sim.Simulation method) get_link() (ManipulaPy.urdf.URDF method) (ManipulaPy.urdf_processor.URDFToSerialManipulator static method) get_nearest() (ManipulaPy.ik_helpers.IKInitialGuessCache method) get_performance_stats() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) get_registered() (in module ManipulaPy.backend) get_stereo_point_cloud() (ManipulaPy.perception.Perception method) (ManipulaPy.vision.Vision method) get_transform() (ManipulaPy.urdf.URDF method) gpu_capable (ManipulaPy.backend.ArrayBackend attribute) gradient_kernel() (in module ManipulaPy.cuda_kernels) gravity_forces() (ManipulaPy.dynamics.ManipulatorDynamics method) I IKInitialGuessCache (class in ManipulaPy.ik_helpers) initialize_manipulator_dynamics() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) initialize_planner_and_controller() (ManipulaPy.sim.Simulation method) initialize_robot() (ManipulaPy.sim.Simulation method) initialize_serial_manipulator() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) inv() (ManipulaPy.backend.ArrayBackend method) inverse_dynamics() (ManipulaPy.dynamics.ManipulatorDynamics method) inverse_dynamics_kernel() (in module ManipulaPy.cuda_kernels) inverse_dynamics_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) is_backend_array() (ManipulaPy.backend.ArrayBackend method) is_concrete (ManipulaPy.backend.ArrayBackend attribute) isfinite() (ManipulaPy.backend.ArrayBackend method) iterative_inverse_kinematics() (ManipulaPy.kinematics.SerialManipulator method) J jacobian() (ManipulaPy.kinematics.SerialManipulator method) joint_limits (ManipulaPy.urdf.URDF property) joint_map (ManipulaPy.urdf.URDF property) joint_space_control() (ManipulaPy.control.ManipulatorController method) joint_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) joint_velocity() (ManipulaPy.kinematics.SerialManipulator method) joints (ManipulaPy.urdf.URDF property) K kalman_filter_control() (ManipulaPy.control.ManipulatorController method) kalman_filter_predict() (ManipulaPy.control.ManipulatorController method) kalman_filter_update() (ManipulaPy.control.ManipulatorController method) kinematic_chain (ManipulaPy.urdf.URDF property) L link_fk() (ManipulaPy.urdf.URDF method) link_fk_batch() (ManipulaPy.urdf.URDF method) link_map (ManipulaPy.urdf.URDF property) links (ManipulaPy.urdf.URDF property) list_packages() (ManipulaPy.urdf.PackageResolver method) list_search_paths() (ManipulaPy.urdf.PackageResolver method) load() (ManipulaPy.urdf.URDF class method) load_urdf() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) logger (ManipulaPy.perception.Perception attribute) M make_1d_grid() (in module ManipulaPy.cuda_kernels) make_2d_grid() (in module ManipulaPy.cuda_kernels) manipulability_ellipsoid() (ManipulaPy.singularity.Singularity method) ManipulaPy.ik_helpers module ManipulaPy.trac_ik module ManipulaPy.utils module ManipulatorController (class in ManipulaPy.control) ManipulatorDynamics (class in ManipulaPy.dynamics) manual_control() (ManipulaPy.sim.Simulation method) mass_matrix() (ManipulaPy.dynamics.ManipulatorDynamics method) matmul() (ManipulaPy.backend.ArrayBackend method) maximum() (ManipulaPy.backend.ArrayBackend method) mean() (ManipulaPy.backend.ArrayBackend method) midpoint_of_limits() (in module ManipulaPy.ik_helpers) minimum() (ManipulaPy.backend.ArrayBackend method) module ManipulaPy.ik_helpers ManipulaPy.trac_ik ManipulaPy.utils N near_singularity_detection() (ManipulaPy.singularity.Singularity method) norm() (ManipulaPy.backend.ArrayBackend method) num_actuated_joints (ManipulaPy.urdf.URDF property) num_dofs (ManipulaPy.urdf.URDF property) O optimized_batch_trajectory_generation() (in module ManipulaPy.cuda_kernels) optimized_potential_field() (in module ManipulaPy.cuda_kernels) optimized_trajectory_generation() (in module ManipulaPy.cuda_kernels) OptimizedTrajectoryPlanning (class in ManipulaPy.path_planning) P PackageResolver (class in ManipulaPy.urdf) partial_derivative() (ManipulaPy.dynamics.ManipulatorDynamics method) pd_control() (ManipulaPy.control.ManipulatorController method) pd_feedforward_control() (ManipulaPy.control.ManipulatorController method) Perception (class in ManipulaPy.perception) pid_control() (ManipulaPy.control.ManipulatorController method) pinv() (ManipulaPy.backend.ArrayBackend method) plan_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) plot_cartesian_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) plot_ee_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) plot_steady_state_response() (ManipulaPy.control.ManipulatorController method) plot_tcp_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) plot_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning static method) (ManipulaPy.sim.Simulation method) plot_trajectory_in_scene() (ManipulaPy.sim.Simulation method) plot_workspace_monte_carlo() (ManipulaPy.singularity.Singularity method) PotentialField (class in ManipulaPy.potential_field) print_joint_info() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) profile_start() (in module ManipulaPy.cuda_kernels) profile_stop() (in module ManipulaPy.cuda_kernels) R random_in_limits() (in module ManipulaPy.ik_helpers) read_debug_parameters() (in module ManipulaPy.vision) rectify_stereo_images() (ManipulaPy.vision.Vision method) register() (in module ManipulaPy.backend) release() (ManipulaPy.perception.Perception method) (ManipulaPy.vision.Vision method) repulsive_potential_kernel() (in module ManipulaPy.cuda_kernels) reset_performance_stats() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) resolve() (ManipulaPy.urdf.PackageResolver method) return_cuda_array() (in module ManipulaPy.cuda_kernels) robust_control() (ManipulaPy.control.ManipulatorController method) root_link (ManipulaPy.urdf.URDF property) root_links (ManipulaPy.urdf.URDF property) run() (ManipulaPy.sim.Simulation method) run_controller() (ManipulaPy.sim.Simulation method) run_trajectory() (ManipulaPy.sim.Simulation method) S save_joint_states() (ManipulaPy.sim.Simulation method) SerialManipulator (class in ManipulaPy.kinematics) set_backend() (in module ManipulaPy.backend) set_joint_positions() (ManipulaPy.sim.Simulation method) setup_logger() (ManipulaPy.sim.Simulation method) setup_simulation() (ManipulaPy.sim.Simulation method) show() (ManipulaPy.urdf.URDF method) simulate_robot_motion() (ManipulaPy.sim.Simulation method) simulate_robot_with_desired_angles() (ManipulaPy.sim.Simulation method) Simulation (class in ManipulaPy.sim) sin() (ManipulaPy.backend.ArrayBackend method) Singularity (class in ManipulaPy.singularity) singularity_analysis() (ManipulaPy.singularity.Singularity method) size() (ManipulaPy.ik_helpers.IKInitialGuessCache method) solve() (ManipulaPy.backend.ArrayBackend method) (ManipulaPy.trac_ik.TracIKSolver method) sqrt() (ManipulaPy.backend.ArrayBackend method) stack() (ManipulaPy.backend.ArrayBackend method) step_simulation() (ManipulaPy.sim.Simulation method) sum() (ManipulaPy.backend.ArrayBackend method) svd() (ManipulaPy.backend.ArrayBackend method) svdvals() (ManipulaPy.backend.ArrayBackend method) T to_device() (ManipulaPy.backend.ArrayBackend method) to_manipulator_dynamics() (ManipulaPy.urdf.URDF method) to_numpy() (ManipulaPy.backend.ArrayBackend method) to_serial_manipulator() (ManipulaPy.urdf.URDF method) trac_ik_solve() (in module ManipulaPy.trac_ik) trace() (ManipulaPy.backend.ArrayBackend method) TracIKSolver (class in ManipulaPy.trac_ik) trajectory_cpu_fallback() (in module ManipulaPy.cuda_kernels) trajectory_kernel() (in module ManipulaPy.cuda_kernels) TrajectoryPlanning (class in ManipulaPy.path_planning) transform_to_xyz() (ManipulaPy.urdf_processor.URDFToSerialManipulator static method) transmission_map (ManipulaPy.urdf.URDF property) transmissions (ManipulaPy.urdf.URDF property) tune_controller() (ManipulaPy.control.ManipulatorController method) U update_cfg() (ManipulaPy.urdf.URDF method) update_simulation_parameters() (ManipulaPy.sim.Simulation method) update_state() (ManipulaPy.kinematics.SerialManipulator method) URDF (class in ManipulaPy.urdf) URDFToSerialManipulator (class in ManipulaPy.urdf_processor) use_backend() (in module ManipulaPy.backend) V velocity_quadratic_forces() (ManipulaPy.dynamics.ManipulatorDynamics method) Vision (class in ManipulaPy.vision) vision (ManipulaPy.perception.Perception attribute) visualize_robot() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) visualize_trajectory() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) W w_p_to_slist() (ManipulaPy.urdf_processor.URDFToSerialManipulator static method) where() (ManipulaPy.backend.ArrayBackend method) workspace_heuristic_guess() (in module ManipulaPy.ik_helpers) Z zeros() (ManipulaPy.backend.ArrayBackend method) ziegler_nichols_tuning() (ManipulaPy.control.ManipulatorController method)