Index

_

__del__() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) (ManipulaPy.perception.Perception method), [1] (ManipulaPy.sim.Simulation method), [1] (ManipulaPy.vision.Vision method), [1] __init__(), [1] (ManipulaPy.control.ManipulatorController method) (ManipulaPy.dynamics.ManipulatorDynamics method) (ManipulaPy.kinematics.SerialManipulator method), [1] (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) (ManipulaPy.perception.Perception method) (ManipulaPy.potential_field.CollisionChecker method) (ManipulaPy.potential_field.PotentialField method) (ManipulaPy.sim.Simulation method), [1] (ManipulaPy.singularity.Singularity method), [1] (ManipulaPy.urdf_processor.URDFToSerialManipulator method) (ManipulaPy.vision.Vision 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

adaptive_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] add_additional_parameters() (ManipulaPy.sim.Simulation method), [1], [2] add_joint_parameters() (ManipulaPy.sim.Simulation method), [1], [2]

add_reset_button() (ManipulaPy.sim.Simulation method), [1], [2] adjoint_transform() (in module ManipulaPy.utils) attractive_potential_kernel() (in module ManipulaPy.cuda_kernels)

B

batch_forward_kinematics() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) batch_joint_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] batch_trajectory_kernel() (in module ManipulaPy.cuda_kernels)

benchmark_all_kernels() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method) benchmark_kernel_performance() (in module ManipulaPy.cuda_kernels) benchmark_performance() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1]

C

calculate_derivatives() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] calculate_percent_overshoot() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] calculate_rise_time() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] calculate_settling_time() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] calculate_steady_state_error() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] capture_image() (ManipulaPy.vision.Vision method), [1] cartesian_space_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] cartesian_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] cartesian_trajectory_kernel() (in module ManipulaPy.cuda_kernels) check_collision() (ManipulaPy.potential_field.CollisionChecker method), [1], [2] check_collisions() (ManipulaPy.sim.Simulation method), [1], [2] check_cuda_availability() (in module ManipulaPy.cuda_kernels) check_cupy_availability() (in module ManipulaPy.cuda_kernels) cleanup_gpu_memory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] clear_trajectory_visualization() (ManipulaPy.sim.Simulation method), [1] close_simulation() (ManipulaPy.sim.Simulation method), [1], [2]

cluster_obstacles() (ManipulaPy.perception.Perception method), [1] CollisionChecker (class in ManipulaPy.potential_field), [1] compare_implementations() (in module ManipulaPy.path_planning) compute_attractive_potential() (ManipulaPy.potential_field.PotentialField method), [1] compute_disparity() (ManipulaPy.vision.Vision method), [1] compute_gradient() (ManipulaPy.potential_field.PotentialField method), [1] compute_repulsive_potential() (ManipulaPy.potential_field.PotentialField method), [1] compute_stereo_disparity() (ManipulaPy.perception.Perception method), [1] compute_stereo_rectification_maps() (ManipulaPy.vision.Vision method) computed_torque_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] condition_number() (ManipulaPy.singularity.Singularity method), [1], [2] connect_simulation() (ManipulaPy.sim.Simulation method), [1], [2] create_modifier() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) create_optimized_planner() (in module ManipulaPy.path_planning) CubicTimeScaling() (in module ManipulaPy.utils) CUDA_AVAILABLE (in module ManipulaPy.cuda_kernels) CUPY_AVAILABLE (in module ManipulaPy.cuda_kernels)

D

detect_and_cluster_obstacles() (ManipulaPy.perception.Perception method), [1] detect_obstacles() (ManipulaPy.vision.Vision method), [1]

disconnect_simulation() (ManipulaPy.sim.Simulation method), [1], [2] disparity_to_pointcloud() (ManipulaPy.vision.Vision method), [1]

E

end_effector_name (ManipulaPy.urdf_processor.URDFToSerialManipulator property) end_effector_pose() (ManipulaPy.kinematics.SerialManipulator method), [1], [2] end_effector_velocity() (ManipulaPy.kinematics.SerialManipulator method), [1], [2] enforce_limits() (ManipulaPy.control.ManipulatorController static method), [1], [2], [3]

euler_to_rotation_matrix() (in module ManipulaPy.utils) extract_omega_list() (in module ManipulaPy.utils) extract_r_list() (in module ManipulaPy.utils) extract_screw_list() (in module ManipulaPy.utils)

F

FAST_MATH (in module ManipulaPy.cuda_kernels) feedforward_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] find_ultimate_gain_and_period() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] float_t (in module ManipulaPy.cuda_kernels) forward_dynamics() (ManipulaPy.dynamics.ManipulatorDynamics method)

forward_dynamics_kernel() (in module ManipulaPy.cuda_kernels) forward_dynamics_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] forward_kinematics() (ManipulaPy.kinematics.SerialManipulator method), [1], [2] (ManipulaPy.urdf_processor.URDFToSerialManipulator method) fused_potential_gradient_kernel() (in module ManipulaPy.cuda_kernels)

G

get_cuda_array() (in module ManipulaPy.cuda_kernels) get_end_effector_transforms() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) get_gpu_properties() (in module ManipulaPy.cuda_kernels) get_joint_parameters() (ManipulaPy.sim.Simulation method), [1], [2] get_joint_positions() (ManipulaPy.sim.Simulation method), [1], [2] get_link() (ManipulaPy.urdf_processor.URDFToSerialManipulator static method)

get_manipulator_dynamics() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) get_performance_stats() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] get_serial_manipulator() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) get_stereo_point_cloud() (ManipulaPy.perception.Perception method), [1] (ManipulaPy.vision.Vision method), [1] get_transform() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) gradient_kernel() (in module ManipulaPy.cuda_kernels) gravity_forces() (ManipulaPy.dynamics.ManipulatorDynamics method)

I

initialize_manipulator_dynamics() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1] initialize_planner_and_controller() (ManipulaPy.sim.Simulation method), [1], [2] initialize_robot() (ManipulaPy.sim.Simulation method), [1], [2]

initialize_serial_manipulator() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1] inverse_dynamics() (ManipulaPy.dynamics.ManipulatorDynamics method) inverse_dynamics_kernel() (in module ManipulaPy.cuda_kernels) inverse_dynamics_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] inverse_kinematics() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) iterative_inverse_kinematics() (ManipulaPy.kinematics.SerialManipulator method), [1], [2]

J

jacobian() (ManipulaPy.kinematics.SerialManipulator method), [1], [2] (ManipulaPy.urdf_processor.URDFToSerialManipulator method) joint_limits_array (ManipulaPy.urdf_processor.URDFToSerialManipulator property)

joint_names (ManipulaPy.urdf_processor.URDFToSerialManipulator property) joint_space_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] joint_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] joint_velocity() (ManipulaPy.kinematics.SerialManipulator method), [1], [2]

K

kalman_filter_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3]

kalman_filter_predict() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] kalman_filter_update() (ManipulaPy.control.ManipulatorController method), [1], [2], [3]

L

link_fk() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) link_names (ManipulaPy.urdf_processor.URDFToSerialManipulator property) load_urdf() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1]

logger (ManipulaPy.perception.Perception attribute) logm() (in module ManipulaPy.utils) logm_to_twist() (in module ManipulaPy.utils)

M

make_1d_grid() (in module ManipulaPy.cuda_kernels) make_2d_grid() (in module ManipulaPy.cuda_kernels) manipulability_ellipsoid() (ManipulaPy.singularity.Singularity method), [1], [2] ManipulaPy.utils module ManipulatorController (class in ManipulaPy.control), [1] ManipulatorDynamics (class in ManipulaPy.dynamics)

manual_control() (ManipulaPy.sim.Simulation method), [1], [2] mass_matrix() (ManipulaPy.dynamics.ManipulatorDynamics method) MatrixExp3() (in module ManipulaPy.utils) MatrixExp6() (in module ManipulaPy.utils) MatrixLog3() (in module ManipulaPy.utils) MatrixLog6() (in module ManipulaPy.utils) module ManipulaPy.utils

N

near_singularity_detection() (ManipulaPy.singularity.Singularity method), [1], [2]

NearZero() (in module ManipulaPy.utils) num_dofs (ManipulaPy.urdf_processor.URDFToSerialManipulator 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

partial_derivative() (ManipulaPy.dynamics.ManipulatorDynamics method), [1] pd_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] pd_feedforward_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] Perception (class in ManipulaPy.perception) pid_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] plan_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] plot_cartesian_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] plot_ee_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] plot_steady_state_response() (ManipulaPy.control.ManipulatorController method), [1], [2], [3] plot_tcp_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1]

plot_trajectory() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning static method) (ManipulaPy.sim.Simulation method), [1], [2] plot_trajectory_in_scene() (ManipulaPy.sim.Simulation method), [1], [2] plot_workspace_monte_carlo() (ManipulaPy.singularity.Singularity method), [1], [2] PotentialField (class in ManipulaPy.potential_field) print_joint_info() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1] profile_start() (in module ManipulaPy.cuda_kernels) profile_stop() (in module ManipulaPy.cuda_kernels)

Q

QuinticTimeScaling() (in module ManipulaPy.utils)

R

read_debug_parameters() (in module ManipulaPy.vision) rectify_stereo_images() (ManipulaPy.vision.Vision method), [1] release() (ManipulaPy.perception.Perception method), [1] (ManipulaPy.vision.Vision method), [1] repulsive_potential_kernel() (in module ManipulaPy.cuda_kernels) reset_performance_stats() (ManipulaPy.path_planning.OptimizedTrajectoryPlanning method), [1] return_cuda_array() (in module ManipulaPy.cuda_kernels) robust_control() (ManipulaPy.control.ManipulatorController method), [1], [2], [3]

robust_inverse_kinematics() (ManipulaPy.kinematics.SerialManipulator method), [1] rotation_logm() (in module ManipulaPy.utils) rotation_matrix_to_euler_angles() (in module ManipulaPy.utils) run() (ManipulaPy.sim.Simulation method), [1], [2] run_controller() (ManipulaPy.sim.Simulation method), [1], [2] run_trajectory() (ManipulaPy.sim.Simulation method), [1], [2]

S

save_joint_states() (ManipulaPy.sim.Simulation method), [1], [2] se3ToVec() (in module ManipulaPy.utils) SerialManipulator (class in ManipulaPy.kinematics), [1] set_joint_positions() (ManipulaPy.sim.Simulation method), [1], [2] set_robot_models() (ManipulaPy.sim.Simulation method), [1] setup_logger() (ManipulaPy.sim.Simulation method), [1], [2] setup_simulation() (ManipulaPy.sim.Simulation method), [1], [2]

simulate_robot_motion() (ManipulaPy.sim.Simulation method), [1], [2] simulate_robot_with_desired_angles() (ManipulaPy.sim.Simulation method), [1], [2] Simulation (class in ManipulaPy.sim), [1] Singularity (class in ManipulaPy.singularity), [1] singularity_analysis() (ManipulaPy.singularity.Singularity method), [1], [2] skew_symmetric() (in module ManipulaPy.utils) skew_symmetric_to_vector() (in module ManipulaPy.utils) smart_inverse_kinematics() (ManipulaPy.kinematics.SerialManipulator method), [1] step_simulation() (ManipulaPy.sim.Simulation method), [1], [2]

T

trac_ik() (ManipulaPy.kinematics.SerialManipulator method), [1] trajectory_cpu_fallback() (in module ManipulaPy.cuda_kernels) trajectory_kernel() (in module ManipulaPy.cuda_kernels) TrajectoryPlanning (class in ManipulaPy.path_planning)

transform_from_twist() (in module ManipulaPy.utils) transform_to_xyz() (ManipulaPy.urdf_processor.URDFToSerialManipulator static method) TransInv() (in module ManipulaPy.utils) TransToRp() (in module ManipulaPy.utils) tune_controller() (ManipulaPy.control.ManipulatorController method), [1], [2], [3]

U

update_simulation_parameters() (ManipulaPy.sim.Simulation method), [1], [2]

update_state() (ManipulaPy.kinematics.SerialManipulator method), [1], [2] URDFToSerialManipulator (class in ManipulaPy.urdf_processor)

V

validate() (ManipulaPy.urdf_processor.URDFToSerialManipulator method) VecTose3() (in module ManipulaPy.utils) VecToso3() (in module ManipulaPy.utils) velocity_quadratic_forces() (ManipulaPy.dynamics.ManipulatorDynamics method)

Vision (class in ManipulaPy.vision) vision (ManipulaPy.perception.Perception attribute) visualize_robot() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1] visualize_trajectory() (ManipulaPy.urdf_processor.URDFToSerialManipulator method), [1]

W

w_p_to_slist() (ManipulaPy.urdf_processor.URDFToSerialManipulator static method)

Z

ziegler_nichols_tuning() (ManipulaPy.control.ManipulatorController method), [1], [2]