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github.com/asu-iris/Complementarity-Free-Dexterous-Manipulation
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Functions
173 in github.com/asu-iris/Complementarity-Free-Dexterous-Manipulation
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Functions
173
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Types & classes
56
Method
detect_once
(self, simulator: MjSimulator)
contact/trifinger_collision_detection.py:16
Method
detect_once
(self, simulator: MjSimulator)
contact/fingertips_collision_detection.py:15
Method
generate_cmd
(self)
examples/sim/boxes_pushing/boxes_pushing_sim.py:69
Method
get_fingertip_position
(self)
envs/trifinger_env.py:59
Method
get_fingertips_position
(self)
envs/allegro_env.py:88
Method
get_state
(self)
envs/trifinger_env.py:65
Method
init_cost_fns
(self)
examples/mpc/trifinger/camera/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/cube/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/mug/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/cup/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/can/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/bunny/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/rubber_duck/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/bowl/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/teapot/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/piggy_bank/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/airplane/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/stick/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/binoculars/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/torus/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/water_bottle/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/foambrick/params.py:101
Method
init_cost_fns
(self)
examples/mpc/trifinger/elephant/params.py:101
Method
init_cost_fns
(self)
examples/mpc/allegro/camera/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/cube/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/cup/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/can/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/bunny/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/rubber_duck/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/bowl/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/teapot/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/piggy_bank/params.py:98
Method
init_cost_fns
(self)
examples/mpc/allegro/airplane/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/stick/params.py:98
Method
init_cost_fns
(self)
examples/mpc/allegro/binoculars/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/torus/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/water_bottle/params.py:97
Method
init_cost_fns
(self)
examples/mpc/allegro/foambrick/params.py:98
Method
init_cost_fns
(self)
examples/mpc/allegro/elephant/params.py:97
Method
init_cost_fns
(self)
examples/mpc/fingertips/cube/params.py:107
Method
init_cost_fns
(self)
examples/mpc/fingertips/bunny/params.py:103
Method
init_cost_fns
(self)
examples/mpc/fingertips/stick/params.py:97
Method
init_cost_fns
(self)
examples/mpc/fingertips/foambrick/params.py:109
Function
keyboardCallback
(keycode)
examples/sim/boxes_pushing/boxes_pushing_sim.py:24
Method
keyboardCallback
(self, keycode)
envs/trifinger_env.py:26
Method
keyboardCallback
(self, keycode)
envs/allegro_env.py:34
Method
keyboardCallback
(self, keycode)
envs/fingertips_env.py:25
Method
keyboardCallback
(self, keycode)
examples/sim/boxes_pushing/boxes_pushing_env.py:23
Function
load_data
(data_name, save_dir=None)
utils/metrics.py:52
Method
plan_once
(self, target_p, target_q, curr_x, phi_vec, jac_mat, sol_guess=None)
planning/mpc_implicit.py:23
Function
quat2angle
(q)
utils/rotations.py:239
Function
quat2rotmat
Covert a quaternion into a full three-dimensional rotation matrix.
utils/rotations.py:202
Function
quat_to_rpy
(q)
utils/rotations.py:32
Function
quaternionToAxisAngle
(p: np.ndarray)
utils/rotations.py:79
Function
quaternion_conjugate
Return conjugate of quaternion.
utils/rotations.py:126
Function
quaternion_imag
Return imaginary part of quaternion.
utils/rotations.py:148
Function
quaternion_inverse
Return inverse of quaternion.
utils/rotations.py:134
Function
quaternion_mul
(q1, q2)
utils/rotations.py:122
Function
quaternion_multiply
Return multiplication of two quaternions.
utils/rotations.py:58
Function
quaternion_real
Return real part of quaternion.
utils/rotations.py:142
Function
quaternion_slerp
Return spherical linear interpolation between two quaternions.
utils/rotations.py:154
Function
random_quaternion
Return uniform random unit quaternion. rand: array like or None Three independent random variables that are uniformly distributed
utils/rotations.py:180
Method
reset_fingers_qpos
(self)
envs/allegro_env.py:73
Function
rpy_to_quaternion
(angles)
utils/rotations.py:21
Function
save_data
(data, data_name, save_dir=None)
utils/metrics.py:37
Method
step
(self, cmd)
envs/trifinger_env.py:41
Method
step
(self, jpos_cmd)
envs/allegro_env.py:64
Method
step
(self, fts_pos_cmd)
envs/fingertips_env.py:41
Method
step
(self, curr_q, cmd, phi_vec, jac_mat, sigma)
examples/sim/boxes_pushing/boxes_pushing_explicit_model.py:84
Method
step
(self, curr_q, cmd, phi_vec, jac_mat)
examples/sim/boxes_pushing/boxes_pushing_qp_model.py:77
Method
step
(self, cmd=0.0)
examples/sim/boxes_pushing/boxes_pushing_env.py:45
Method
step
(self, curr_q, cmd, phi_vec, jac_mat, sigma)
models/explicit_model.py:80
Method
step
(self, curr_q, cmd, phi_vec, jac_mat)
models/qp_model.py:77
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