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Functions390 in github.com/Mingrui-Yu/retargeting

⨍ Functions 390◇ Types & classes 36
Method__init__
(self, robot_adaptor: RobotAdaptor, targets: Dict, params: Dict)
ws_ros2/src/retargeting_benchmark/src/retarget_optimizer.py:890
Method__init__
(self, robot_adaptor: RobotAdaptor, targets: Dict, params: Dict)
ws_ros2/src/retargeting_benchmark/src/retarget_optimizer.py:1002
Method__init__
( self, robot_model, actuated_joints_name: List[str], touch_joints_name: List[
ws_ros2/src/retargeting_benchmark/src/robot_adaptor.py:9
Method__init__
(self, node: Node)
ws_ros2/src/retargeting_benchmark/src/rviz_visualize.py:21
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/main_robot_real_high_freq.py:19
Method__init__
(self, hand_type: str, robot_adaptor: RobotAdaptor)
ws_ros2/src/retargeting_benchmark/src/robot_benchmark.py:7
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/vision_pro_detector.py:11
Method__init__
(self, node_name: str)
ws_ros2/src/retargeting_benchmark/src/robot_teleoperation_ros.py:20
Method__init__
( self, hand_type, robot_adaptor: RobotAdaptor, robot_control: RobotControl,
ws_ros2/src/retargeting_benchmark/src/robot_teleoperation.py:39
Method__init__
( self, hand_type="Right", min_detection_confidence=0.8, min_tracking_confiden
ws_ros2/src/retargeting_benchmark/src/single_hand_detector.py:21
Method__init__
(self, robot_file_path: str, robot_file_type: str)
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio.py:14
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/main_franka_reduce_state_freq.py:9
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/main_robot_teleoperation.py:67
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/main_robot_control.py:19
Method__init__
(self, node: Node, virtual_hardware=False, use_high_freq_interp=False)
ws_ros2/src/retargeting_benchmark/src/robot_real.py:26
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/record_video.py:13
Method__init__
Args: robot_model: A RobotPinocchio instance used for kinematic calculations. node: A ROS node (optional) used to pub
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio_env.py:16
Method__init__
( self, robot_model: RobotPinocchio, robot_adaptor: RobotAdaptor, hand_type: s
ws_ros2/src/retargeting_benchmark/src/robot_control.py:33
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/main_virtual_robot.py:13
Method__init__
(self, robot_file_path)
ws_ros2/src/retargeting_benchmark/src/robot_mujoco.py:29
Method__init__
(self, window_size)
ws_ros2/src/retargeting_benchmark/src/utils/misc.py:74
Method__init__
(self)
ws_ros2/src/retargeting_benchmark/src/utils/utils_keyboard.py:6
Method__init__
( self, hand_type, robot_adaptor: RobotAdaptor, robot_control: RobotControl,
ws_ros2/src/retargeting_benchmark/src/bck/robot_teleoperation.py:39
Method__len__
(self)
ws_ros2/src/retargeting_benchmark/src/utils/misc.py:94
Method_arm_joint_pos_command_callback
(self, msg)
ws_ros2/src/retargeting_benchmark/src/main_virtual_robot.py:40
Method_arm_joint_states_callback
(self, msg)
ws_ros2/src/retargeting_benchmark/src/robot_real.py:85
Function_element_filter
Default element filter to be used in sort_elements. This will filter for the following groups: :`'root_body'`: Top-level body element
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:586
Method_get_data
Returns a copy of the data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:470
Method_get_data
Returns a copy of the data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:508
Method_get_data
Returns a copy of the data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:540
Method_get_data
Returns a copy of the data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:574
Method_get_data
Returns a copy of the data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:606
Method_initialize_data
Initializes the cached data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:449
Method_initialize_data
Initializes the cached data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:492
Method_initialize_data
Initializes the cached data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:529
Method_initialize_data
Initializes the cached data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:563
Method_initialize_data
Initializes the cached data.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:595
Method_leap_joint_pos_command_callback
(self, msg)
ws_ros2/src/retargeting_benchmark/src/main_virtual_robot.py:47
Method_receive_allegro
(self, msg)
ws_ros2/src/leaphand_ros2_module/scripts/leaphand_node.py:87
Method_receive_ones
(self, msg)
ws_ros2/src/leaphand_ros2_module/scripts/leaphand_node.py:95
Method_receive_pose
(self, msg)
ws_ros2/src/leaphand_ros2_module/scripts/leaphand_node.py:79
Method_robot_command_callback
(self, msg)
ws_ros2/src/retargeting_benchmark/src/main_robot_real_high_freq.py:65
Method_timer_callback
(self)
ws_ros2/src/retargeting_benchmark/src/main_robot_real_high_freq.py:88
Method_update_data
Updates the data index for the given motor ID.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:455
Method_update_data
Updates the data index for the given motor ID.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:497
Method_update_data
Updates the data index for the given motor ID.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:533
Method_update_data
Updates the data index for the given motor ID.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:567
Method_update_data
Updates the data index for the given motor ID.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:599
Functionadd_material
Iterates through all element(s) in @root recursively and adds a material / texture to all visual geoms that don't already have a material spe
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:489
Functionadd_prefix
Find all element(s) matching the requested @tag, and appends @prefix to all @attributes if they exist. Args: root (ET.Element): Root
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:444
Functionadd_to_dict
Helper function to add key-values to dictionary @dic where each entry is its own array (list). Args: dic (dict): Dictionary to which
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:415
Functionallegro_to_LEAPhand
(joints, teleop = False, zeros = True)
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/leap_hand_utils.py:67
Functionangle_safety_clip
(joints)
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/leap_hand_utils.py:18
Functionaxis_angle_to_matrix
Convert rotations given as axis/angle to rotation matrices. Args: axis_angle: Rotations given as a vector in axis angle form,
ws_ros2/src/retargeting_benchmark/src/utils/pytorch3d/rotation_conversions.py:466
FunctionbatchDiagRotMat
Does not support non-batch operation.
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:301
FunctionbatchIsometry3dInverse
(isometry3d)
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:112
FunctionbatchPosQuat2Isometry3d
(pos, quat)
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:84
Methodcam_info_callback
(self, msg)
ws_ros2/src/retargeting_benchmark/src/robot_teleoperation_ros.py:42
Functioncamera_orientation_opengl_to_common
Args: opengl_quat: (w, x, y, z) Return: common_quat: (w, x, y, z)
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:531
FunctionchangeTickerDensity
(xaxis=None, yaxis=None)
ws_ros2/src/retargeting_benchmark/src/utils/utils_plot.py:145
Methodclear
(self)
ws_ros2/src/retargeting_benchmark/src/utils/misc.py:90
Methodconvert_to_unsigned
Converts the given value to its unsigned representation.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:338
Functioncreate_rigid_object_urdf
(object_name: str, meshfile: str, savepath: str)
ws_ros2/src/retargeting_benchmark/src/utils/utils_urdf.py:86
Methodctrl_joint_pos
Control the robot to reach the target joint angles (directly sets them here).
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio_env.py:86
Methoddetect
Returns: joint_pos: joint positions in wrist frame. wrist_pose_in_cam: wrist pose in camera frame; will be None if ar
ws_ros2/src/retargeting_benchmark/src/single_hand_detector.py:77
Methoddoa
(self)
ws_ros2/src/retargeting_benchmark/src/robot_adaptor.py:27
Methoddof
(self)
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio.py:34
Methoddof_joint_names
(self)
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio.py:29
Functiondynamixel_cleanup_handler
Cleanup function to ensure Dynamixels are disconnected properly.
ws_ros2/src/leaphand_ros2_module/scripts/leap_hand_utils/dynamixel_client.py:35
Methodeff_srv
(self, request, response)
ws_ros2/src/leaphand_ros2_module/scripts/leaphand_node.py:112
Functionestimate_wrist_pose_from_hand_points
Args: keypoints_3d: mano representation hand_type: 'right' or 'left'
ws_ros2/src/retargeting_benchmark/src/utils/utils_mano.py:56
Functioneuler_angles_to_matrix
Convert rotations given as Euler angles in radians to rotation matrices. Args: euler_angles: Euler angles in radians as tensor of sh
ws_ros2/src/retargeting_benchmark/src/utils/pytorch3d/rotation_conversions.py:199
Functionfind_actuated_joints_name
(xml_path)
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:842
Functionfind_touch_joints_name
(xml_path, class_name: str)
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:852
Methodframe_names
(self)
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio.py:38
Functiongenerate_launch_description
()
ws_ros2/src/leaphand_ros2_module/launch/launch_leap.py:7
Functiongenerate_launch_description
()
ws_ros2/src/leaphand_ros2_module/launch/leap_bringup.py:8
Functiongenerate_launch_description
()
ws_ros2/src/my_robot_description/launch/vis_shadow.py:11
Functiongenerate_launch_description
()
ws_ros2/src/my_robot_description/launch/vis_panda_leap_paxini.py:11
Functiongenerate_launch_description
()
ws_ros2/src/my_robot_description/launch/vis_panda.py:10
Functiongenerate_launch_description
()
ws_ros2/src/my_robot_description/launch/vis_panda_leap_tac3d.py:11
Functiongenerate_launch_description
()
ws_ros2/src/my_robot_description/launch/vis_panda_shadow.py:11
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/rviz_vis_shadow.py:12
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/rviz_vis_paxini.py:12
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/record_video.launch.py:11
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/rviz_vis.py:12
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/real_prepare.py:13
Functiongenerate_launch_description
()
ws_ros2/src/retargeting_benchmark/launch/virtual_robot.py:12
FunctiongetGaussianRandomDouble
(mean, sigma)
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:14
FunctiongetUniformRandomDouble
(lb, ub)
ws_ros2/src/retargeting_benchmark/src/utils/utils_calc.py:9
Functionget_coupled_joints_from_mjcf
(mjcf_file, type='tendon')
ws_ros2/src/retargeting_benchmark/src/utils/mjcf_urdf_simple_converter.py:69
Functionget_device
Gets the device of the specified variable x if it is a tensor, or falls back to a default CPU device otherwise. Allows overriding by prov
ws_ros2/src/retargeting_benchmark/src/utils/pytorch3d/datatypes.py:37
Methodget_frames_index
(self, names: List[str])
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio.py:59
Functionget_ids
Grabs the mujoco IDs for each element in @elements, corresponding to the specified @element_type. Args: sim (MjSim): Active mujoco s
ws_ros2/src/retargeting_benchmark/src/utils/utils_mjcf.py:770
Methodget_joint_pos
Return the current joint angles.
ws_ros2/src/retargeting_benchmark/src/robot_pinocchio_env.py:74
Methodget_joint_pos
(self)
ws_ros2/src/retargeting_benchmark/src/robot_mujoco.py:112
Methodget_joint_torques
(self)
ws_ros2/src/retargeting_benchmark/src/robot_mujoco.py:121
Methodget_mean
(self)
ws_ros2/src/retargeting_benchmark/src/utils/misc.py:97
Functionget_mesh_dict_from_mjcf
Returns: mesh_dir: {name: {'file': file, 'scale': [x, y, z]}}
ws_ros2/src/retargeting_benchmark/src/utils/mjcf_urdf_simple_converter.py:275
Methodget_object_pose
(self, body_name)
ws_ros2/src/retargeting_benchmark/src/robot_mujoco.py:132
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