Index

_

__call__() (pyrcf.utils.time_utils.RateTrigger method) __COMMON_TKINTER_MASTER (pyrcf.utils.gui_utils.tkinter_gui_utils._COMMON_TK_MASTER attribute) __del__() (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherZMQ method) (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberZMQ method) (pyrcf.utils.data_io_utils.PyRCFPublisherZMQ method) (pyrcf.utils.data_io_utils.PyRCFSubscriberZMQ method) __do_checks() (pyrcf.core.types.motion_datatypes.PointMotion method) (pyrcf.core.types.PointMotion method) __eq__() (pyrcf.core.types.FrameMotion method) (pyrcf.core.types.motion_datatypes.FrameMotion method) (pyrcf.core.types.motion_datatypes.PointMotion method) (pyrcf.core.types.PointMotion method) (pyrcf.core.types.Pose3D method) (pyrcf.core.types.RelativePose method) (pyrcf.core.types.tf_types.Pose3D method) (pyrcf.core.types.tf_types.RelativePose method) (pyrcf.core.types.tf_types.Twist method) (pyrcf.core.types.Twist method) __freq (pyrcf.utils.time_utils.RateLimiter attribute) __getitem__() (pyrcf.core.types.EndEffectorStates method) (pyrcf.core.types.GeneralisedTrajectory method) (pyrcf.core.types.JointStates method) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory method) (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.motion_datatypes.Trajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) (pyrcf.core.types.robot_io.EndEffectorStates method) (pyrcf.core.types.robot_io.JointStates method) (pyrcf.core.types.Trajectory3D method) __iter__() (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) __next__() (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) __next_tick (pyrcf.core.logging.ThrottledLogger attribute) (pyrcf.utils.time_utils.RateLimiter attribute) (pyrcf.utils.time_utils.RateTrigger attribute) __period (pyrcf.core.logging.ThrottledLogger attribute) (pyrcf.utils.time_utils.RateLimiter attribute) (pyrcf.utils.time_utils.RateTrigger attribute) __post_init__() (pyrcf.core.types.GeneralisedTrajectory method) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory method) (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.motion_datatypes.PointMotion method) (pyrcf.core.types.motion_datatypes.Trajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) (pyrcf.core.types.PointMotion method) (pyrcf.core.types.Trajectory3D method) __setattr__() (pyrcf.core.types.EndEffectorStates method) (pyrcf.core.types.FrameMotion method) (pyrcf.core.types.JointStates method) (pyrcf.core.types.motion_datatypes.FrameMotion method) (pyrcf.core.types.motion_datatypes.PointMotion method) (pyrcf.core.types.PointMotion method) (pyrcf.core.types.Pose3D method) (pyrcf.core.types.RelativePose method) (pyrcf.core.types.robot_io.EndEffectorStates method) (pyrcf.core.types.robot_io.JointStates method) (pyrcf.core.types.robot_io.RobotCmd method) (pyrcf.core.types.RobotCmd method) (pyrcf.core.types.tf_types.Pose3D method) (pyrcf.core.types.tf_types.RelativePose method) (pyrcf.core.types.tf_types.Twist method) (pyrcf.core.types.Twist method) __slack (pyrcf.utils.time_utils.RateLimiter attribute) _accumulator (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase attribute) (pyrcf.components.controller_manager.ControllerManagerBase attribute) _actuated_joint_names (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _additional_debug_handles (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase attribute) _additional_handles (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger attribute) _allow_conflicts (pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.CmdMuxer attribute) _alpha (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _alternate_binding (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Hold2SwapBindings attribute) _base_pose_target (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _blind_mode (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _bpose_callback (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback attribute) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback attribute) _buffer (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger attribute) _buffer_size (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger attribute) _button (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUIButtonCallback attribute) (pyrcf.components.callback_handlers.PbGUIButtonCallback attribute) (pyrcf.components.callback_handlers.TkGUIButtonCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUIButtonCallback attribute) _button_press_cb() (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton method) (pyrcf.utils.gui_utils.TkinterGUIButton method) _callback (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugFrameVizCallback attribute) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugPointsCallback attribute) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUIButtonCallback attribute) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.PbDebugFrameVizCallback attribute) (pyrcf.components.callback_handlers.PbDebugPointsCallback attribute) (pyrcf.components.callback_handlers.PbGUIButtonCallback attribute) (pyrcf.components.callback_handlers.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.TkGUIButtonCallback attribute) (pyrcf.components.callback_handlers.TkGUISliderCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUIButtonCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUISliderCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback attribute) _callbacks (pyrcf.components.callback_handlers.base_callbacks.RateTriggeredMultiCallbacks attribute) (pyrcf.components.callback_handlers.RateTriggeredMultiCallbacks attribute) _check_and_update (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer attribute) _check_connection() (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface method) _check_first (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback attribute) _check_ready() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer method) _cid (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _clock (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot attribute) (pyrcf.components.robot_interfaces.simulation.PybulletRobot attribute) (pyrcf.control_loop.simple_managed_ctrl_loop._True_dt attribute) _cmd (pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.CmdMuxer attribute) (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) _color (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletText attribute) _COMMON_TK_MASTER (class in pyrcf.utils.gui_utils.tkinter_gui_utils) _compensate (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController attribute) (pyrcf.components.controllers.GravityCompensatedPDController attribute) _connection_verified (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface attribute) _convert_to_fixed() (in module pyrcf.utils.urdf_utils) _curr_idx (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) _current_t (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot.BulletWorldClock attribute) (pyrcf.components.robot_interfaces.simulation.PybulletRobot.BulletWorldClock attribute) _data (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser attribute) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser attribute) _data_length (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser attribute) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser attribute) _data_streamer_config (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase attribute) _debugger_robot (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger.PybulletRobotStateDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotStateDebugger attribute) _default_base_pose (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _default_binding (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Hold2SwapBindings attribute) _default_kd (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _default_kp (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _device (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _dims (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _display (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _draw_lines() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz method) (pyrcf.utils.gui_utils.PybulletDebugFrameViz method) _draw_points() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints method) (pyrcf.utils.gui_utils.PybulletDebugPoints method) _dt (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot.BulletWorldClock attribute) (pyrcf.components.robot_interfaces.simulation.PybulletRobot.BulletWorldClock attribute) _dtype (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _duration (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.PybulletDebugFrameViz attribute) _duration_in_ctrl_mode (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _ee_frame_viz (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger attribute) _ee_name_to_idx (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) _ee_names (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _ee_names_identified (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _enable_ee_sliders (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _enable_joint_sliders (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _enable_stepping (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _erp (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _file (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger attribute) _filename (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser attribute) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser attribute) _font (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _forward_gp (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.JointReferenceInterpolator attribute) _frame_viz (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugFrameVizCallback attribute) (pyrcf.components.callback_handlers.PbDebugFrameVizCallback attribute) _get_closest_timestamp_idx() (in module pyrcf.core.types.motion_datatypes) _get_ee_target_pos_ori_cb() (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) _get_tkinter_common_master() (pyrcf.utils.gui_utils.tkinter_gui_utils._COMMON_TK_MASTER static method) _global_plan (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _GlobalPlanModifiers (class in pyrcf.components.global_planners.ui_reference_generators.ui_utils) _hold_position (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _id (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.PybulletText attribute) _ignore_joints_with_str (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute)

_init_j (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _input_ndarray (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _j_id_offset (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController attribute) (pyrcf.components.controllers.GravityCompensatedPDController attribute) _j_lower_lims (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _j_names (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _j_upper_lims (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _joint_name_to_idx (pyrcf.core.types.JointStates attribute) (pyrcf.core.types.robot_io.JointStates attribute) _joint_name_to_index (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _joint_names (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback attribute) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback attribute) _joint_sliders_enabled (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _jpi (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) _jpi2 (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) _js_callback (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback attribute) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback attribute) _keep_alive (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface attribute) _key_mappings (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _keys (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser attribute) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser attribute) _last_recorded_val (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.PybulletGUISlider attribute) _latest_base_pose (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _latest_ctrl_cmd (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent attribute) (pyrcf.components.agents.PlannerControllerAgent attribute) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _latest_local_plan (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent attribute) (pyrcf.components.agents.PlannerControllerAgent attribute) _len (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.PybulletDebugFrameViz attribute) _lifetime (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.PybulletDebugPoints attribute) _line_ids (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.PybulletDebugFrameViz attribute) _link_ids (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _loop_count (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) _lw (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz attribute) (pyrcf.utils.gui_utils.PybulletDebugFrameViz attribute) _mapping_function (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider attribute) (pyrcf.utils.gui_utils.TkinterGUISlider attribute) _mappings (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface attribute) _max_force (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _max_idx (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) _model (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _ok_to_run (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _on_ramp_target (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _output_plan (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _parallel_mode (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _pb_gui_callbacks (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) _pb_ik (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _pin (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) _pin_iface (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController attribute) (pyrcf.components.controllers.GravityCompensatedPDController attribute) _pin_interface (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio attribute) _points_id (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.PybulletDebugPoints attribute) _points_viz (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugPointsCallback attribute) (pyrcf.components.callback_handlers.PbDebugPointsCallback attribute) _pos (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletText attribute) _prev_ee_pose_targets (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _prev_ref (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.JointReferenceInterpolator attribute) (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator attribute) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator attribute) _prev_t (pyrcf.control_loop.simple_managed_ctrl_loop._True_dt attribute) _prev_val (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton attribute) (pyrcf.utils.gui_utils.TkinterGUIButton attribute) _publish_data (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase attribute) _publisher (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase attribute) _ramp_duration (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _ramp_factor (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _ramp_gravity (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController attribute) (pyrcf.components.controllers.GravityCompensatedPDController attribute) _ramp_start_kd (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _ramp_start_kp (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _ramping_complete (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _rate (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.CtrlLoopDebuggerBase attribute) (pyrcf.components.ctrl_loop_debuggers.CtrlLoopDebuggerBase attribute) _read_button_thread (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) _read_thread() (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface method) _reference_joint_pos (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) _return_arg1() (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) _rgb (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.PybulletDebugPoints attribute) _robot_cmd (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _run_once_impl() (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.DummyDebugger method) (pyrcf.components.ctrl_loop_debuggers.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger method) (pyrcf.components.ctrl_loop_debuggers.DummyDebugger method) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger method) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger.PybulletRobotStateDebugger method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotStateDebugger method) _runner_thread (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface attribute) _set_ee_pose_target_cb() (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) _set_joint_targets_cb() (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) _setup_ee_slider_inits() (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) _should_run() (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.CtrlLoopDebuggerBase method) _show_ee_targets (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger attribute) _sim_robot (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot attribute) (pyrcf.components.robot_interfaces.simulation.PybulletRobot attribute) _size (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletDebugPoints attribute) (pyrcf.utils.gui_utils.PybulletText attribute) _slider (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.PbGUISliderCallback attribute) (pyrcf.components.callback_handlers.TkGUISliderCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUISliderCallback attribute) _sliders (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkMultiGUISliderSingleCallback attribute) (pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback attribute) _squawk (pyrcf.components.agents.agent_base.DummyAgent attribute) (pyrcf.components.agents.DummyAgent attribute) (pyrcf.components.controllers.controller_base.DummyController attribute) (pyrcf.components.controllers.DummyController attribute) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.DummyDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.DummyDebugger attribute) (pyrcf.components.global_planners.ui_reference_generators.DummyUI attribute) (pyrcf.components.global_planners.ui_reference_generators.ui_base.DummyUI attribute) (pyrcf.components.local_planners.DummyLocalPlanner attribute) (pyrcf.components.local_planners.local_planner_base.DummyLocalPlanner attribute) (pyrcf.components.robot_interfaces.DummyRobot attribute) (pyrcf.components.robot_interfaces.robot_interface_base.DummyRobot attribute) (pyrcf.components.state_estimators.DummyStateEstimator attribute) (pyrcf.components.state_estimators.state_estimator_base.DummyStateEstimator attribute) _t (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletText attribute) _target_kd (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _target_kp (pyrcf.components.controllers.joint_pd_controller.JointPDController attribute) (pyrcf.components.controllers.JointPDController attribute) _tensor_inp (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _toggle_mapping_and_return_original_gplan() (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) _toggler_button (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger.PybulletRobotStateDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotStateDebugger attribute) _torch_device (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase attribute) (pyrcf.components.agents.TorchScriptAgentBase attribute) _trigger (pyrcf.utils.gui_utils.pb_gui_utils.PybulletTextWithRateTrigger attribute) (pyrcf.utils.gui_utils.PybulletTextWithRateTrigger attribute) _trigger_held (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Hold2SwapBindings attribute) _True_dt (class in pyrcf.control_loop.simple_managed_ctrl_loop) _true_dt (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) _true_dt_getter (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) _update_global_plan_from_user_input() (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface method) _urdf_path (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio attribute) _use_curr_pose (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger attribute) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger attribute) _val (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton attribute) (pyrcf.utils.gui_utils.TkinterGUIButton attribute) _verbose (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface attribute) _visible (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _viz_robot (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback attribute) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback attribute) _viz_robot_id (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot attribute) (pyrcf.utils.sim_utils.PybulletDebugRobot attribute) _xyz_workspace_range (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute)

A

a (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) abs_bounded_derivative_filter() (in module pyrcf.utils.filters) acceleration (pyrcf.core.types.FrameMotion attribute) (pyrcf.core.types.motion_datatypes.FrameMotion attribute) (pyrcf.core.types.motion_datatypes.PointMotion attribute) (pyrcf.core.types.PointMotion attribute) accumulate() (pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.CmdMuxer method) (pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.CommandAccumulatorBase method) (pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.SimpleCmdOverride method) (pyrcf.components.controller_manager.command_accumulators.CommandAccumulatorBase method) (pyrcf.components.controller_manager.command_accumulators.SimpleCmdOverride method) activate() (pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface method) (pyrcf.components.robot_interfaces.RobotInterface method) actuated_joint_limits (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_lower_limits (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_name_to_q_index (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_name_to_v_index (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_names (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_neutral_position (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_q_ids (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute)

actuated_joint_upper_limits (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) actuated_joint_v_ids (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) add_agent() (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase method) (pyrcf.components.controller_manager.ControllerManagerBase method) add_callback() (pyrcf.components.callback_handlers.base_callbacks.RateTriggeredMultiCallbacks method) (pyrcf.components.callback_handlers.RateTriggeredMultiCallbacks method) add_debug_handle_to_publish() (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase method) AgentBase (class in pyrcf.components.agents) (class in pyrcf.components.agents.agent_base) agents (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase attribute) (pyrcf.components.controller_manager.ControllerManagerBase attribute) air_return_period (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) Analog2GlobalPlanHelper (class in pyrcf.components.global_planners.ui_reference_generators.ui_utils) analog_mappings (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadMappings attribute) ANG_VEL_DELTA (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) angular (pyrcf.core.types.tf_types.Twist attribute) (pyrcf.core.types.Twist attribute) APPLY_JOINT_POS_DELTA() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_LIN_VEL() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_LIN_VEL_DELTA() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_LIN_VEL_SCALED() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Analog2GlobalPlanHelper static method) APPLY_RELATIVE_POS_DELTA() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_ROT_VEL() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_ROT_VEL_DELTA() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper static method) APPLY_ROT_VEL_SCALED() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Analog2GlobalPlanHelper static method)

B

base2teleop() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) BASE_FRAME_POSE_IN_TELEOP() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) BlindForwardingPlanner (class in pyrcf.components.local_planners) (class in pyrcf.components.local_planners.blind_forwarding_planner)

blit_multiline_text() (in module pyrcf.components.global_planners.ui_reference_generators.keyboard_interface) bounded_derivative_filter() (in module pyrcf.utils.filters) button (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton attribute) (pyrcf.utils.gui_utils.TkinterGUIButton attribute) button_mappings (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadMappings attribute)

C

change_clock() (pyrcf.utils.time_utils.RateLimiter method) (pyrcf.utils.time_utils.RateTrigger method) check_format() (pyrcf.core.types.debug_types.ListElementsCompareType method) cid (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText attribute) (pyrcf.utils.gui_utils.PybulletGUIButton attribute) (pyrcf.utils.gui_utils.PybulletGUISlider attribute) (pyrcf.utils.gui_utils.PybulletText attribute) cleanup() (pyrcf.components.callback_handlers.base_callbacks.CustomCallbackBase method) (pyrcf.components.callback_handlers.base_callbacks.RateTriggeredMultiCallbacks method) (pyrcf.components.callback_handlers.CustomCallbackBase method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugFrameVizCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugPointsCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUIButtonCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.PbDebugFrameVizCallback method) (pyrcf.components.callback_handlers.PbDebugPointsCallback method) (pyrcf.components.callback_handlers.PbGUIButtonCallback method) (pyrcf.components.callback_handlers.PbGUISliderCallback method) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.RateTriggeredMultiCallbacks method) (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback method) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback method) clock (pyrcf.utils.time_utils.RateLimiter property) (pyrcf.utils.time_utils.RateTrigger property) ClockBase (class in pyrcf.utils.time_utils) close() (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherBase method) (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherZMQ method) (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberBase method) (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberZMQ method) (pyrcf.utils.data_io_utils.PyRCFPublisherZMQ method) (pyrcf.utils.data_io_utils.PyRCFSubscriberBase method) (pyrcf.utils.data_io_utils.PyRCFSubscriberZMQ method) (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletRobotVisualizer method) CmdMuxer (class in pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies) com_reference (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute) CommandAccumulatorBase (class in pyrcf.components.controller_manager.command_accumulators) (class in pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies)

ComponentDataPublisherDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.data_publish_debuggers) ComponentDataRecorderDataParser (class in pyrcf.utils.data_io_utils) (class in pyrcf.utils.data_io_utils.recorded_data_parser) ComponentDataRecorderDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger) compute_wheel_velocities() (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController method) (pyrcf.components.controllers.SegwayPIDBalanceController method) configuration_handle_continuous_joints() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface static method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface static method) contact_forces (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) contact_states (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) continuous_joint_names (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) continuous_joint_q_ids (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) CONTROL (pyrcf.core.types.ControlMode attribute) (pyrcf.core.types.planner_outputs.ControlMode attribute) control_mode (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute) controller (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent attribute) (pyrcf.components.agents.PlannerControllerAgent attribute) controller_manager (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) ControllerBase (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.controller_base) ControllerManagerBase (class in pyrcf.components.controller_manager) (class in pyrcf.components.controller_manager.controller_manager_base) ControlMode (class in pyrcf.core.types) (class in pyrcf.core.types.planner_outputs) create_new_urdf_with_joints_fixed() (in module pyrcf.utils.urdf_utils) createFromKeywordArgs() (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D class method) (pyrcf.core.types.MultiFrameTrajectory3D class method) createZeros() (pyrcf.core.types.robot_io.RobotCmd class method) (pyrcf.core.types.RobotCmd class method) CtrlLoopDataPublisherBase (class in pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base) CtrlLoopDataStreamConfig (class in pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base) CtrlLoopDebuggerBase (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base) CtrlLoopExitSignal CUSTOM (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper attribute) (pyrcf.core.types.planner_outputs.PlannerMode attribute) (pyrcf.core.types.PlannerMode attribute) CustomCallbackBase (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.base_callbacks)

D

data_streamer_config (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase property) deactivate() (pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface method) (pyrcf.components.robot_interfaces.RobotInterface method) decrease_joint_id() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer method) default() (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFTypesEncoder method) DEFAULT_GAMEPAD_MAPPINGS (in module pyrcf.components.global_planners.ui_reference_generators) (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) DEFAULT_KEYBOARD_MAPPING (in module pyrcf.components.global_planners.ui_reference_generators) (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) DEFAULT_PLOTJUGGLER_PUBLISH_PORT (in module pyrcf.utils.data_io_utils) (in module pyrcf.utils.data_io_utils.pyrcf_publisher) DEFAULT_URDF_PATH (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot attribute) (pyrcf.components.robot_interfaces.simulation.PybulletRobot attribute) DEFAULT_ZMQ_PUBLISH_PORT (in module pyrcf.utils.data_io_utils) (in module pyrcf.utils.data_io_utils.pyrcf_publisher) dim_names (pyrcf.core.types.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory attribute) disable_visualisation() (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method)

DPAD_DOWN (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) DPAD_LEFT (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) DPAD_RIGHT (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) DPAD_UP (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) dt (pyrcf.utils.time_utils.RateLimiter property) (pyrcf.utils.time_utils.RateTrigger property) DummyAgent (class in pyrcf.components.agents) (class in pyrcf.components.agents.agent_base) DummyController (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.controller_base) DummyDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base) DummyLocalPlanner (class in pyrcf.components.local_planners) (class in pyrcf.components.local_planners.local_planner_base) DummyRobot (class in pyrcf.components.robot_interfaces) (class in pyrcf.components.robot_interfaces.robot_interface_base) DummyStateEstimator (class in pyrcf.components.state_estimators) (class in pyrcf.components.state_estimators.state_estimator_base) DummyUI (class in pyrcf.components.global_planners.ui_reference_generators) (class in pyrcf.components.global_planners.ui_reference_generators.ui_base)

E

EAST (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) ee_names (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) ee_poses (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) ee_twists (pyrcf.core.types.EndEffectorStates attribute) (pyrcf.core.types.robot_io.EndEffectorStates attribute) elements (pyrcf.core.types.debug_types.ListElementsCompareType attribute) enable_visualisation() (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) end_effector_references (pyrcf.core.types.GlobalMotionPlan attribute) (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.GlobalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute)

end_effector_states (pyrcf.core.types.robot_io.StateEstimates attribute) (pyrcf.core.types.StateEstimates attribute) EndEffectorStates (class in pyrcf.core.types) (class in pyrcf.core.types.robot_io) extend() (pyrcf.core.types.EndEffectorStates method) (pyrcf.core.types.JointStates method) (pyrcf.core.types.robot_io.EndEffectorStates method) (pyrcf.core.types.robot_io.JointStates method) (pyrcf.core.types.robot_io.RobotCmd method) (pyrcf.core.types.robot_io.RobotState method) (pyrcf.core.types.robot_io.StateEstimates method) (pyrcf.core.types.RobotCmd method) (pyrcf.core.types.RobotState method) (pyrcf.core.types.StateEstimates method)

F

fall_pitch (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) first_order_filter() (in module pyrcf.utils.filters) floating_base (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) footprint_position_damping (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) footprint_position_stiffness (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) frame_ids (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) frame_name (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) frame_names (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute)

FrameMotion (class in pyrcf.core.types) (class in pyrcf.core.types.motion_datatypes) frequency (pyrcf.utils.time_utils.RateLimiter property) fromAwesomeRobotDescriptions() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot class method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot class method) fromBulletRobot() (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer class method) (pyrcf.utils.sim_utils.PybulletRobotVisualizer class method) fromBulletRobotInstance() (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger class method) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger.PybulletRobotStateDebugger class method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger class method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotStateDebugger class method) fromJointStates() (pyrcf.core.types.robot_io.RobotCmd class method) (pyrcf.core.types.RobotCmd class method)

G

gains (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) GamePadAnalogStickMappings (class in pyrcf.components.global_planners.ui_reference_generators.key_mappings) GamePadButtonMappings (class in pyrcf.components.global_planners.ui_reference_generators.key_mappings) GamePadMappings (class in pyrcf.components.global_planners.ui_reference_generators.key_mappings) GeneralisedTrajectory (class in pyrcf.core.types) (class in pyrcf.core.types.motion_datatypes) generate_global_plan() (pyrcf.components.global_planners.global_planner_base.GlobalMotionPlannerBase method) (pyrcf.components.global_planners.GlobalMotionPlannerBase method) (pyrcf.components.global_planners.ui_reference_generators.ui_base.UIBase method) (pyrcf.components.global_planners.ui_reference_generators.UIBase method) generate_local_plan() (pyrcf.components.local_planners.blind_forwarding_planner.BlindForwardingPlanner method) (pyrcf.components.local_planners.BlindForwardingPlanner method) (pyrcf.components.local_planners.DummyLocalPlanner method) (pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator method) (pyrcf.components.local_planners.JointReferenceInterpolator method) (pyrcf.components.local_planners.local_planner_base.DummyLocalPlanner method) (pyrcf.components.local_planners.local_planner_base.LocalPlannerBase method) (pyrcf.components.local_planners.LocalPlannerBase method) (pyrcf.components.local_planners.pb_ik_reference_interpolator.PybulletIKReferenceInterpolator method) (pyrcf.components.local_planners.PybulletIKReferenceInterpolator method) get_action() (pyrcf.components.agents.agent_base.AgentBase method) (pyrcf.components.agents.agent_base.DummyAgent method) (pyrcf.components.agents.AgentBase method) (pyrcf.components.agents.DummyAgent method) (pyrcf.components.agents.ml_agent_base.MLAgentBase method) (pyrcf.components.agents.MLAgentBase method) (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) get_actual_loop_rate() (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop method) (pyrcf.control_loop.SimpleManagedCtrlLoop method) get_all_data() (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser method) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser method) get_all_data_for_key() (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser method) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser method) get_centroidal_inertia() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_centroidal_mass() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_centroidal_momentum_map() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_centroidal_momentum_map_angular() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_centroidal_momentum_map_linear() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_class_info() (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) (pyrcf.components.pyrcf_component.PyRCFComponent method) (pyrcf.components.PyRCFComponent method) get_class_name() (pyrcf.components.pyrcf_component.PyRCFComponent method) (pyrcf.components.PyRCFComponent method) get_com_position() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_com_velocity() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_command_for_joint() (pyrcf.core.types.robot_io.RobotCmd method) (pyrcf.core.types.RobotCmd method) get_dt() (pyrcf.control_loop.simple_managed_ctrl_loop._True_dt method) get_ee_poses() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_ee_velocities() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_acceleration_angular() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_acceleration_linear() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_id() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_jacobian() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_jacobian_angular() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_jacobian_linear() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_poses_at_approx_time() (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) get_frame_poses_at_time() (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D method) (pyrcf.core.types.MultiFrameTrajectory3D method) get_frame_position() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_quaternion() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method)

get_frame_rotation() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_transformation() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_velocity_angular() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_frame_velocity_linear() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_generalised_coordinates_from_q() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_global_frame_pose() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_gravity_vector() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_inertia_matrix() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_joint_positions() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_joint_positions_from_configuration() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_keymapping_doc() (in module pyrcf.components.global_planners.ui_reference_generators.ui_utils) get_last_output() (pyrcf.components.agents.agent_base.AgentBase method) (pyrcf.components.agents.agent_base.DummyAgent method) (pyrcf.components.agents.AgentBase method) (pyrcf.components.agents.DummyAgent method) (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) get_latest_ctrl_cmd() (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) get_latest_local_plan() (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) get_loop_count() (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop method) (pyrcf.control_loop.SimpleManagedCtrlLoop method) get_nonlinear_effects() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_pinocchio_interface() (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio method) get_pinocchio_q_and_v_from_robot_state() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) get_point_at_approx_time() (pyrcf.core.types.GeneralisedTrajectory method) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory method) get_point_at_time() (pyrcf.core.types.GeneralisedTrajectory method) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory method) get_pose_at_approx_time() (pyrcf.core.types.motion_datatypes.Trajectory3D method) (pyrcf.core.types.Trajectory3D method) get_pose_at_time() (pyrcf.core.types.motion_datatypes.Trajectory3D method) (pyrcf.core.types.Trajectory3D method) get_relative_pose_between_vectors() (in module pyrcf.utils.frame_transforms) get_row_names() (pyrcf.core.types.debug_types.JointStatesCompareType method) (pyrcf.core.types.debug_types.ListElementsCompareType method) (pyrcf.core.types.debug_types.Pose3DCompareType method) get_sim_clock() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.sim_robot_base.SimulatedRobotInterface method) get_sliders() (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback method) get_state_of() (pyrcf.core.types.EndEffectorStates method) (pyrcf.core.types.JointStates method) (pyrcf.core.types.robot_io.EndEffectorStates method) (pyrcf.core.types.robot_io.JointStates method) get_time() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot.BulletWorldClock method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot.BulletWorldClock method) (pyrcf.utils.time_utils.ClockBase method) (pyrcf.utils.time_utils.PythonEpochClock method) (pyrcf.utils.time_utils.PythonPerfClock method) get_value() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider method) (pyrcf.utils.gui_utils.TkinterGUISlider method) get_values() (pyrcf.core.types.debug_types.ListElementsCompareType method) global_planner (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) GlobalMotionPlan (class in pyrcf.core.types) (class in pyrcf.core.types.planner_outputs) GlobalMotionPlannerBase (class in pyrcf.components.global_planners) (class in pyrcf.components.global_planners.global_planner_base) GlobalPlanJointPositionIncrementer (class in pyrcf.components.global_planners.ui_reference_generators.ui_utils) GravityCompensatedPDController (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.gravity_compensated_joint_pd_controller)

H

has_pinocchio_interface (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio property) has_triggered (pyrcf.utils.time_utils.RateTrigger property) Hold2SwapBindings (class in pyrcf.components.global_planners.ui_reference_generators.ui_utils)

HOLD_POSITION (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper attribute) (pyrcf.core.types.planner_outputs.PlannerMode attribute) (pyrcf.core.types.PlannerMode attribute)

I

IDLE (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper attribute) (pyrcf.core.types.ControlMode attribute) (pyrcf.core.types.planner_outputs.ControlMode attribute) (pyrcf.core.types.planner_outputs.PlannerMode attribute) (pyrcf.core.types.PlannerMode attribute) increase_joint_id() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer method) increment_joint_position() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) increment_joint_target() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer method) increment_linear_velocity() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) increment_relative_position() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method)

increment_rotational_velocity() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) initialise_robot_cmd() (pyrcf.components.agents.ml_agent_base.MLAgentBase method) (pyrcf.components.agents.MLAgentBase method) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) integral_error_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) invert_quaternion() (in module pyrcf.utils.math_utils) invert_transformation_matrix() (in module pyrcf.utils.math_utils) is_rotation_matrix() (in module pyrcf.utils.math_utils)

J

joint_commands (pyrcf.core.types.robot_io.RobotCmd attribute) (pyrcf.core.types.RobotCmd attribute) joint_efforts (pyrcf.core.types.JointStates attribute) (pyrcf.core.types.robot_io.JointStates attribute) joint_id (pyrcf.components.global_planners.ui_reference_generators.ui_utils.GlobalPlanJointPositionIncrementer attribute) joint_kd (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) joint_kp (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) joint_lower_limits (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) joint_names (pyrcf.core.types.JointStates attribute) (pyrcf.core.types.robot_io.JointStates attribute) (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) joint_neutral_position (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) JOINT_POS_DELTA (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) joint_positions (pyrcf.core.types.JointStates attribute) (pyrcf.core.types.robot_io.JointStates attribute) joint_references (pyrcf.core.types.GlobalMotionPlan attribute) (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.GlobalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute)

joint_states (pyrcf.core.types.robot_io.RobotState attribute) (pyrcf.core.types.RobotState attribute) joint_states_list (pyrcf.core.types.debug_types.JointStatesCompareType attribute) joint_upper_limits (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) joint_velocities (pyrcf.core.types.JointStates attribute) (pyrcf.core.types.robot_io.JointStates attribute) joint_velocity_limit (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) JointPDController (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.joint_pd_controller) JointReferenceInterpolator (class in pyrcf.components.local_planners) (class in pyrcf.components.local_planners.joint_reference_interpolator) JointStates (class in pyrcf.core.types) (class in pyrcf.core.types.robot_io) JointStatesCompareType (class in pyrcf.core.types.debug_types) JoystickGlobalPlannerInterface (class in pyrcf.components.global_planners.ui_reference_generators) (class in pyrcf.components.global_planners.ui_reference_generators.joystick_interface)

K

Kd (pyrcf.core.types.robot_io.RobotCmd attribute) (pyrcf.core.types.RobotCmd attribute) Key2GlobalPlanHelper (class in pyrcf.components.global_planners.ui_reference_generators.ui_utils) key_names (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser property) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser property) KeyboardGlobalPlannerInterface (class in pyrcf.components.global_planners.ui_reference_generators) (class in pyrcf.components.global_planners.ui_reference_generators.keyboard_interface)

ki_ground_vel (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) Kp (pyrcf.core.types.robot_io.RobotCmd attribute) (pyrcf.core.types.RobotCmd attribute) kp_ground_vel (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute)

L

last_read_value (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider property) (pyrcf.utils.gui_utils.PybulletGUISlider property) LB (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) LEFT_X (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute) LEFT_Y (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute) LIN_VEL_DELTA (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) linear (pyrcf.core.types.tf_types.Twist attribute) (pyrcf.core.types.Twist attribute) ListElementsCompareType (class in pyrcf.core.types.debug_types) load_data() (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser method) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser method)

local_planner (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent attribute) (pyrcf.components.agents.PlannerControllerAgent attribute) LocalMotionPlan (class in pyrcf.core.types) (class in pyrcf.core.types.planner_outputs) LocalPlannerBase (class in pyrcf.components.local_planners) (class in pyrcf.components.local_planners.local_planner_base) log() (pyrcf.core.logging.ThrottledLogger method) low_pass_filter() (in module pyrcf.utils.filters) LT (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute)

M

main() (in module pyrcf.executables.visualise_robot) master_widget (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster attribute) (pyrcf.utils.gui_utils.TkinterWidgetMaster attribute) MAX_ANG_VEL (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) max_ground_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) max_integral_error_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) MAX_LIN_VEL (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) max_target_accel (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) max_target_distance (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) max_target_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) max_yaw_accel (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) max_yaw_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) MinimalCtrlLoop (class in pyrcf.control_loop) (class in pyrcf.control_loop.minimal_ctrl_loop) MLAgentBase (class in pyrcf.components.agents) (class in pyrcf.components.agents.ml_agent_base) module pyrcf pyrcf.components pyrcf.components.agents pyrcf.components.agents.agent_base pyrcf.components.agents.ml_agent_base pyrcf.components.agents.planner_controller_agent pyrcf.components.agents.torchscript_agent_base pyrcf.components.callback_handlers pyrcf.components.callback_handlers.base_callbacks pyrcf.components.callback_handlers.pb_gui_callbacks pyrcf.components.callback_handlers.tkinter_gui_callbacks pyrcf.components.controller_manager pyrcf.components.controller_manager.command_accumulators pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies pyrcf.components.controller_manager.controller_manager_base pyrcf.components.controller_manager.simple_controller_manager pyrcf.components.controllers pyrcf.components.controllers.controller_base pyrcf.components.controllers.gravity_compensated_joint_pd_controller pyrcf.components.controllers.joint_pd_controller pyrcf.components.controllers.segway_pid_balance_controller pyrcf.components.ctrl_loop_debuggers pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base pyrcf.components.ctrl_loop_debuggers.data_publish_debuggers pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger pyrcf.components.global_planners pyrcf.components.global_planners.global_planner_base pyrcf.components.global_planners.ui_reference_generators pyrcf.components.global_planners.ui_reference_generators.joystick_interface pyrcf.components.global_planners.ui_reference_generators.key_mappings pyrcf.components.global_planners.ui_reference_generators.keyboard_interface pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface pyrcf.components.global_planners.ui_reference_generators.ui_base pyrcf.components.global_planners.ui_reference_generators.ui_utils pyrcf.components.local_planners pyrcf.components.local_planners.blind_forwarding_planner pyrcf.components.local_planners.joint_reference_interpolator pyrcf.components.local_planners.local_planner_base pyrcf.components.local_planners.pb_ik_reference_interpolator pyrcf.components.pyrcf_component pyrcf.components.robot_interfaces pyrcf.components.robot_interfaces.robot_interface_base pyrcf.components.robot_interfaces.robot_interface_with_pinocchio pyrcf.components.robot_interfaces.simulation pyrcf.components.robot_interfaces.simulation.pybullet_robot pyrcf.components.robot_interfaces.simulation.sim_robot_base pyrcf.components.state_estimators pyrcf.components.state_estimators.state_estimator_base pyrcf.control_loop pyrcf.control_loop.minimal_ctrl_loop pyrcf.control_loop.simple_managed_ctrl_loop pyrcf.core pyrcf.core.exceptions pyrcf.core.logging pyrcf.core.types pyrcf.core.types.debug_types pyrcf.core.types.motion_datatypes pyrcf.core.types.planner_outputs pyrcf.core.types.robot_io pyrcf.core.types.tf_types pyrcf.executables pyrcf.executables.visualise_robot pyrcf.utils pyrcf.utils.data_io_utils pyrcf.utils.data_io_utils.pyrcf_publisher pyrcf.utils.data_io_utils.pyrcf_subscriber pyrcf.utils.data_io_utils.recorded_data_parser pyrcf.utils.filters pyrcf.utils.frame_transforms pyrcf.utils.gui_utils pyrcf.utils.gui_utils.pb_gui_utils pyrcf.utils.gui_utils.tkinter_gui_utils pyrcf.utils.kinematics_dynamics pyrcf.utils.kinematics_dynamics.pinocchio_interface pyrcf.utils.math_utils pyrcf.utils.sim_utils pyrcf.utils.sim_utils.pybullet_debug_robot pyrcf.utils.sim_utils.pybullet_robot_visualizer pyrcf.utils.time_utils pyrcf.utils.urdf_utils pyrcf.variables

MultiFrameTrajectory3D (class in pyrcf.core.types) (class in pyrcf.core.types.motion_datatypes)

N

name (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) (pyrcf.utils.time_utils.RateLimiter attribute), [1] next_tick (pyrcf.utils.time_utils.RateLimiter property) (pyrcf.utils.time_utils.RateTrigger property) NORTH (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) NotConnectedError

num_datapoints (pyrcf.utils.data_io_utils.ComponentDataRecorderDataParser property) (pyrcf.utils.data_io_utils.recorded_data_parser.ComponentDataRecorderDataParser property) num_joints (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) num_of_actuated_joints (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) num_of_frames (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute)

O

orientation (pyrcf.core.types.Pose3D attribute) (pyrcf.core.types.tf_types.Pose3D attribute)

orientation_traj (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute)

P

PbDebugFrameVizCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.pb_gui_callbacks) PbDebugPointsCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.pb_gui_callbacks) PbDebugRobotWithJointCallback (class in pyrcf.utils.sim_utils) (class in pyrcf.utils.sim_utils.pybullet_debug_robot) PbGUIButtonCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.pb_gui_callbacks) PbGUICallback (class in pyrcf.components.callback_handlers.pb_gui_callbacks) PbGUISliderCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.pb_gui_callbacks) PbMultiGUISliderSingleCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.pb_gui_callbacks) period (pyrcf.utils.time_utils.RateLimiter property) (pyrcf.utils.time_utils.RateTrigger property) PinocchioInterface (class in pyrcf.utils.kinematics_dynamics) (class in pyrcf.utils.kinematics_dynamics.pinocchio_interface) pitch (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) pitch_damping (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) pitch_stiffness (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) planner_mode (pyrcf.core.types.GlobalMotionPlan attribute) (pyrcf.core.types.planner_outputs.GlobalMotionPlan attribute) PlannerControllerAgent (class in pyrcf.components.agents) (class in pyrcf.components.agents.planner_controller_agent) PlannerMode (class in pyrcf.core.types) (class in pyrcf.core.types.planner_outputs) PlotjugglerLoopDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.data_publish_debuggers) PlotJugglerPublisher (class in pyrcf.utils.data_io_utils) (class in pyrcf.utils.data_io_utils.pyrcf_publisher) PointMotion (class in pyrcf.core.types) (class in pyrcf.core.types.motion_datatypes) POS_DELTA (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) pos_quat_from_trans_mat() (in module pyrcf.utils.math_utils) pose (pyrcf.core.types.FrameMotion attribute) (pyrcf.core.types.motion_datatypes.FrameMotion attribute) (pyrcf.core.types.robot_io.StateEstimates attribute) (pyrcf.core.types.StateEstimates attribute) Pose3D (class in pyrcf.core.types) (class in pyrcf.core.types.tf_types) Pose3DCompareType (class in pyrcf.core.types.debug_types) pose_list (pyrcf.core.types.debug_types.Pose3DCompareType attribute) PoseTrasfrom (class in pyrcf.utils.frame_transforms) position (pyrcf.core.types.motion_datatypes.PointMotion attribute) (pyrcf.core.types.PointMotion attribute) (pyrcf.core.types.Pose3D attribute) (pyrcf.core.types.RelativePose attribute) (pyrcf.core.types.tf_types.Pose3D attribute) (pyrcf.core.types.tf_types.RelativePose attribute) position_traj (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) prefix_name (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) print_model_info() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) process_user_input() (pyrcf.components.global_planners.ui_reference_generators.DummyUI method) (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.ui_base.DummyUI method) (pyrcf.components.global_planners.ui_reference_generators.ui_base.UIBase method) (pyrcf.components.global_planners.ui_reference_generators.UIBase method) publish() (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherBase method) (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherZMQ method) (pyrcf.utils.data_io_utils.PyRCFPublisherZMQ method) publish_agent_outputs (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_debug_msg (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_ee_pose_comparison (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_global_plan (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_joint_states_comparison (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_robot_cmd (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) publish_robot_states (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataStreamConfig attribute) PybulletDebugFrameViz (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) PybulletDebugPoints (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) PybulletDebugRobot (class in pyrcf.utils.sim_utils) (class in pyrcf.utils.sim_utils.pybullet_debug_robot) PybulletGUIButton (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) PybulletGUIGlobalPlannerInterface (class in pyrcf.components.global_planners.ui_reference_generators) (class in pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface) PybulletGUISlider (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) PybulletIKReferenceInterpolator (class in pyrcf.components.local_planners) (class in pyrcf.components.local_planners.pb_ik_reference_interpolator) PybulletRobot (class in pyrcf.components.robot_interfaces.simulation) (class in pyrcf.components.robot_interfaces.simulation.pybullet_robot) PybulletRobot.BulletWorldClock (class in pyrcf.components.robot_interfaces.simulation) (class in pyrcf.components.robot_interfaces.simulation.pybullet_robot) PybulletRobotPlanDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger) PybulletRobotStateDebugger (class in pyrcf.components.ctrl_loop_debuggers) (class in pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger) PybulletRobotVisualizer (class in pyrcf.utils.sim_utils) (class in pyrcf.utils.sim_utils.pybullet_robot_visualizer) PybulletText (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) PybulletTextWithRateTrigger (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.pb_gui_utils) pyrcf module pyrcf.components module pyrcf.components.agents module pyrcf.components.agents.agent_base module pyrcf.components.agents.ml_agent_base module pyrcf.components.agents.planner_controller_agent module pyrcf.components.agents.torchscript_agent_base module pyrcf.components.callback_handlers module pyrcf.components.callback_handlers.base_callbacks module pyrcf.components.callback_handlers.pb_gui_callbacks module pyrcf.components.callback_handlers.tkinter_gui_callbacks module pyrcf.components.controller_manager module pyrcf.components.controller_manager.command_accumulators module pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies module pyrcf.components.controller_manager.controller_manager_base module pyrcf.components.controller_manager.simple_controller_manager module pyrcf.components.controllers module pyrcf.components.controllers.controller_base module pyrcf.components.controllers.gravity_compensated_joint_pd_controller module

pyrcf.components.controllers.joint_pd_controller module pyrcf.components.controllers.segway_pid_balance_controller module pyrcf.components.ctrl_loop_debuggers module pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base module pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base module pyrcf.components.ctrl_loop_debuggers.data_publish_debuggers module pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger module pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger module pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger module pyrcf.components.global_planners module pyrcf.components.global_planners.global_planner_base module pyrcf.components.global_planners.ui_reference_generators module pyrcf.components.global_planners.ui_reference_generators.joystick_interface module pyrcf.components.global_planners.ui_reference_generators.key_mappings module pyrcf.components.global_planners.ui_reference_generators.keyboard_interface module pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface module pyrcf.components.global_planners.ui_reference_generators.ui_base module pyrcf.components.global_planners.ui_reference_generators.ui_utils module pyrcf.components.local_planners module pyrcf.components.local_planners.blind_forwarding_planner module pyrcf.components.local_planners.joint_reference_interpolator module pyrcf.components.local_planners.local_planner_base module pyrcf.components.local_planners.pb_ik_reference_interpolator module pyrcf.components.pyrcf_component module pyrcf.components.robot_interfaces module pyrcf.components.robot_interfaces.robot_interface_base module pyrcf.components.robot_interfaces.robot_interface_with_pinocchio module pyrcf.components.robot_interfaces.simulation module pyrcf.components.robot_interfaces.simulation.pybullet_robot module pyrcf.components.robot_interfaces.simulation.sim_robot_base module pyrcf.components.state_estimators module pyrcf.components.state_estimators.state_estimator_base module pyrcf.control_loop module pyrcf.control_loop.minimal_ctrl_loop module pyrcf.control_loop.simple_managed_ctrl_loop module pyrcf.core module pyrcf.core.exceptions module pyrcf.core.logging module pyrcf.core.types module pyrcf.core.types.debug_types module pyrcf.core.types.motion_datatypes module pyrcf.core.types.planner_outputs module pyrcf.core.types.robot_io module pyrcf.core.types.tf_types module pyrcf.executables module pyrcf.executables.visualise_robot module pyrcf.utils module pyrcf.utils.data_io_utils module pyrcf.utils.data_io_utils.pyrcf_publisher module pyrcf.utils.data_io_utils.pyrcf_subscriber module pyrcf.utils.data_io_utils.recorded_data_parser module pyrcf.utils.filters module pyrcf.utils.frame_transforms module pyrcf.utils.gui_utils module pyrcf.utils.gui_utils.pb_gui_utils module pyrcf.utils.gui_utils.tkinter_gui_utils module pyrcf.utils.kinematics_dynamics module pyrcf.utils.kinematics_dynamics.pinocchio_interface module pyrcf.utils.math_utils module pyrcf.utils.sim_utils module pyrcf.utils.sim_utils.pybullet_debug_robot module pyrcf.utils.sim_utils.pybullet_robot_visualizer module pyrcf.utils.time_utils module pyrcf.utils.urdf_utils module pyrcf.variables module PyRCFComponent (class in pyrcf.components) (class in pyrcf.components.pyrcf_component) PyRCFExceptionBase PyRCFPublisherBase (class in pyrcf.utils.data_io_utils.pyrcf_publisher) PyRCFPublisherZMQ (class in pyrcf.utils.data_io_utils) (class in pyrcf.utils.data_io_utils.pyrcf_publisher) PyRCFSubscriberBase (class in pyrcf.utils.data_io_utils) (class in pyrcf.utils.data_io_utils.pyrcf_subscriber) PyRCFSubscriberZMQ (class in pyrcf.utils.data_io_utils) (class in pyrcf.utils.data_io_utils.pyrcf_subscriber) PyRCFTypesEncoder (class in pyrcf.utils.data_io_utils.pyrcf_publisher) PythonEpochClock (class in pyrcf.utils.time_utils) PythonPerfClock (class in pyrcf.utils.time_utils)

Q

q (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) quat2rot() (in module pyrcf.utils.math_utils) quat2rpy() (in module pyrcf.utils.math_utils) quat2xyz_local() (in module pyrcf.utils.math_utils) quat_diff() (in module pyrcf.utils.math_utils) quat_error() (in module pyrcf.utils.math_utils) quat_multiply() (in module pyrcf.utils.math_utils) quaternion_slerp() (in module pyrcf.utils.filters) QuatTrajType (in module pyrcf.core.types) (in module pyrcf.core.types.motion_datatypes)

QuatType (in module pyrcf.components.callback_handlers.pb_gui_callbacks) (in module pyrcf.core.types) (in module pyrcf.core.types.tf_types) (in module pyrcf.utils.filters) (in module pyrcf.utils.frame_transforms) (in module pyrcf.utils.gui_utils.pb_gui_utils) (in module pyrcf.utils.kinematics_dynamics.pinocchio_interface) (in module pyrcf.utils.math_utils) (in module pyrcf.utils.sim_utils.pybullet_debug_robot)

R

RateLimiter (class in pyrcf.utils.time_utils) RateTrigger (class in pyrcf.utils.time_utils) RateTriggeredMultiCallbacks (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.base_callbacks) RB (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) read() (pyrcf.components.robot_interfaces.DummyRobot method) (pyrcf.components.robot_interfaces.robot_interface_base.DummyRobot method) (pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface method) (pyrcf.components.robot_interfaces.RobotInterface method) (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot method) read_json() (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberBase method) (pyrcf.utils.data_io_utils.PyRCFSubscriberBase method) read_raw() (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberBase method) (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberZMQ method) (pyrcf.utils.data_io_utils.PyRCFSubscriberBase method) (pyrcf.utils.data_io_utils.PyRCFSubscriberZMQ method) recover_generalised_pos_from_pinocchio_configuration() (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface static method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface static method) relative_pose (pyrcf.core.types.GlobalMotionPlan attribute) (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.GlobalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute) RelativePose (class in pyrcf.core.types) (class in pyrcf.core.types.tf_types) remaining() (pyrcf.utils.time_utils.RateLimiter method) remove() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz method) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints method) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton method) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText method) (pyrcf.utils.gui_utils.PybulletDebugFrameViz method) (pyrcf.utils.gui_utils.PybulletDebugPoints method) (pyrcf.utils.gui_utils.PybulletGUIButton method) (pyrcf.utils.gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.PybulletText method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider method) (pyrcf.utils.gui_utils.TkinterGUIButton method) (pyrcf.utils.gui_utils.TkinterGUISlider method) remove_gui_object() (pyrcf.components.callback_handlers.TkGUIButtonCallback method) (pyrcf.components.callback_handlers.TkGUISliderCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUIButtonCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUISliderCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback method) reset() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton method) (pyrcf.utils.gui_utils.PybulletGUIButton method) rgetattr() (in module pyrcf.utils.data_io_utils.recorded_data_parser) RIGHT_X (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute)

RIGHT_Y (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute) robot (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) RobotCmd (class in pyrcf.core.types) (class in pyrcf.core.types.robot_io) RobotInterface (class in pyrcf.components.robot_interfaces) (class in pyrcf.components.robot_interfaces.robot_interface_base) RobotInterfaceWithPinocchio (class in pyrcf.components.robot_interfaces.robot_interface_with_pinocchio) RobotState (class in pyrcf.core.types) (class in pyrcf.core.types.robot_io) rot2quat() (in module pyrcf.utils.math_utils) rot2rpy() (in module pyrcf.utils.math_utils) rotmat_error() (in module pyrcf.utils.math_utils) row_names (pyrcf.core.types.debug_types.JointStatesCompareType attribute) (pyrcf.core.types.debug_types.ListElementsCompareType attribute) (pyrcf.core.types.debug_types.Pose3DCompareType attribute) rpy (pyrcf.core.types.RelativePose attribute) (pyrcf.core.types.tf_types.RelativePose attribute) rpy2quat() (in module pyrcf.utils.math_utils) rpy2rot() (in module pyrcf.utils.math_utils) rpy_error() (in module pyrcf.utils.math_utils) RT (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings attribute) run() (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop method) (pyrcf.control_loop.SimpleManagedCtrlLoop method) (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer method) (pyrcf.utils.sim_utils.PybulletRobotVisualizer method) run_once() (pyrcf.components.callback_handlers.base_callbacks.CustomCallbackBase method) (pyrcf.components.callback_handlers.base_callbacks.RateTriggeredMultiCallbacks method) (pyrcf.components.callback_handlers.CustomCallbackBase method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugFrameVizCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugPointsCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUIButtonCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback method) (pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.PbDebugFrameVizCallback method) (pyrcf.components.callback_handlers.PbDebugPointsCallback method) (pyrcf.components.callback_handlers.PbGUIButtonCallback method) (pyrcf.components.callback_handlers.PbGUISliderCallback method) (pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.RateTriggeredMultiCallbacks method) (pyrcf.components.callback_handlers.TkGUIButtonCallback method) (pyrcf.components.callback_handlers.TkGUISliderCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUIButtonCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkGUISliderCallback method) (pyrcf.components.callback_handlers.tkinter_gui_callbacks.TkMultiGUISliderSingleCallback method) (pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.CtrlLoopDebuggerBase method) (pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback method) (pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback method)

S

second_order_filter() (in module pyrcf.utils.filters) SegwayPIDBalanceController (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.segway_pid_balance_controller) SegwayPIDBalanceController.Gains (class in pyrcf.components.controllers) (class in pyrcf.components.controllers.segway_pid_balance_controller) send_shutdown_signal() (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop method) (pyrcf.control_loop.SimpleManagedCtrlLoop method) set_base_pose() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.sim_robot_base.SimulatedRobotInterface method) (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) set_cmd_accumulation_policy() (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase method) (pyrcf.components.controller_manager.ControllerManagerBase method) set_frequency() (pyrcf.utils.time_utils.RateLimiter method) set_joint_gains() (pyrcf.core.types.robot_io.RobotCmd method) (pyrcf.core.types.RobotCmd method) set_joint_positions() (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) set_linear_velocity() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) set_plan_mode() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) set_rotational_velocity() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) set_value() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider method) (pyrcf.utils.gui_utils.TkinterGUISlider method) set_visual_rgba() (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) shutdown() (pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent method) (pyrcf.components.agents.PlannerControllerAgent method) (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase method) (pyrcf.components.controller_manager.ControllerManagerBase method) (pyrcf.components.ctrl_loop_debuggers.ComponentDataRecorderDebugger method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_data_publisher_base.CtrlLoopDataPublisherBase method) (pyrcf.components.ctrl_loop_debuggers.ctrl_loop_debugger_base.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.CtrlLoopDebuggerBase method) (pyrcf.components.ctrl_loop_debuggers.data_recorder_debugger.ComponentDataRecorderDebugger method) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_plan_debugger.PybulletRobotPlanDebugger method) (pyrcf.components.ctrl_loop_debuggers.pybullet_robot_state_debugger.PybulletRobotStateDebugger method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotPlanDebugger method) (pyrcf.components.ctrl_loop_debuggers.PybulletRobotStateDebugger method) (pyrcf.components.global_planners.ui_reference_generators.joystick_interface.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.JoystickGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.keyboard_interface.KeyboardGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.KeyboardGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.pb_gui_iinterface.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.global_planners.ui_reference_generators.PybulletGUIGlobalPlannerInterface method) (pyrcf.components.pyrcf_component.PyRCFComponent method) (pyrcf.components.PyRCFComponent method) (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot method) (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop method) (pyrcf.control_loop.SimpleManagedCtrlLoop method)

sim_robot (pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer attribute) (pyrcf.utils.sim_utils.PybulletRobotVisualizer attribute) SimpleCmdOverride (class in pyrcf.components.controller_manager.command_accumulators) (class in pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies) SimpleControllerManager (class in pyrcf.components.controller_manager) (class in pyrcf.components.controller_manager.simple_controller_manager) SimpleManagedCtrlLoop (class in pyrcf.control_loop) (class in pyrcf.control_loop.simple_managed_ctrl_loop) SimulatedRobotInterface (class in pyrcf.components.robot_interfaces.simulation.sim_robot_base) slack (pyrcf.utils.time_utils.RateLimiter property) sleep() (pyrcf.utils.time_utils.RateLimiter method) slider (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider attribute) (pyrcf.utils.gui_utils.TkinterGUISlider attribute) socket (pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherZMQ attribute) (pyrcf.utils.data_io_utils.pyrcf_subscriber.PyRCFSubscriberZMQ attribute) (pyrcf.utils.data_io_utils.PyRCFPublisherZMQ attribute) (pyrcf.utils.data_io_utils.PyRCFSubscriberZMQ attribute) SOUTH (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) START_BUTTON (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) state_estimates (pyrcf.core.types.robot_io.RobotState attribute) (pyrcf.core.types.RobotState attribute) state_estimator (pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop attribute) (pyrcf.control_loop.SimpleManagedCtrlLoop attribute) StateEstimates (class in pyrcf.core.types) (class in pyrcf.core.types.robot_io) StateEstimatorBase (class in pyrcf.components.state_estimators) (class in pyrcf.components.state_estimators.state_estimator_base) step_time() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot.BulletWorldClock method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot.BulletWorldClock method)

T

target_ground_position (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) target_ground_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) target_yaw_position (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) target_yaw_velocity (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) teleop2base() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) teleop2world() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) TELEOP_FRAME_POSE_IN_WORLD() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) temp_path_urdf_with_joints_fixed() (in module pyrcf.utils.urdf_utils) throttled_logging (in module pyrcf.core.logging) ThrottledLogger (class in pyrcf.core.logging) timestamps (pyrcf.core.types.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) tk_master (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton attribute) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider attribute) (pyrcf.utils.gui_utils.TkinterGUIButton attribute) (pyrcf.utils.gui_utils.TkinterGUISlider attribute) TkGUIButtonCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.tkinter_gui_callbacks) TkGUICallback (class in pyrcf.components.callback_handlers.tkinter_gui_callbacks) TkGUISliderCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.tkinter_gui_callbacks) TkinterGUIButton (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.tkinter_gui_utils) TkinterGUISlider (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.tkinter_gui_utils) TkinterWidgetMaster (class in pyrcf.utils.gui_utils) (class in pyrcf.utils.gui_utils.tkinter_gui_utils) TkMultiGUISliderSingleCallback (class in pyrcf.components.callback_handlers) (class in pyrcf.components.callback_handlers.tkinter_gui_callbacks) toggle_compensation() (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController method) (pyrcf.components.controllers.GravityCompensatedPDController method) TOGGLE_CUSTOM_IDLE (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Key2GlobalPlanHelper attribute) toggle_mapping() (in module pyrcf.components.global_planners.ui_reference_generators.key_mappings) toggle_plan_mode() (pyrcf.components.global_planners.ui_reference_generators.ui_utils._GlobalPlanModifiers static method) toggle_visualisation() (pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot method) (pyrcf.utils.sim_utils.PybulletDebugRobot method) TORCH_AVAILABLE (in module pyrcf.variables) TorchScriptAgentBase (class in pyrcf.components.agents) (class in pyrcf.components.agents.torchscript_agent_base)

torque_lims (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) total_mass (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) traj (pyrcf.core.types.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory attribute) traj_end_time (pyrcf.core.types.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) traj_start_time (pyrcf.core.types.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.GeneralisedTrajectory attribute) (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) trajectories (pyrcf.core.types.motion_datatypes.MultiFrameTrajectory3D attribute) (pyrcf.core.types.MultiFrameTrajectory3D attribute) Trajectory3D (class in pyrcf.core.types) (class in pyrcf.core.types.motion_datatypes) transform_pose_to_frame() (in module pyrcf.utils.frame_transforms) transformation_matrix() (in module pyrcf.utils.math_utils) trigger (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster attribute) (pyrcf.utils.gui_utils.TkinterWidgetMaster attribute) trigger_swap() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Hold2SwapBindings method) triggered() (pyrcf.utils.time_utils.RateTrigger method) turning_deadband (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) turning_decision_time (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) turning_gain_scale (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController.Gains attribute) (pyrcf.components.controllers.SegwayPIDBalanceController.Gains attribute) turning_probability (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) Twist (class in pyrcf.core.types) (class in pyrcf.core.types.tf_types) twist (pyrcf.core.types.GlobalMotionPlan attribute) (pyrcf.core.types.LocalMotionPlan attribute) (pyrcf.core.types.planner_outputs.GlobalMotionPlan attribute) (pyrcf.core.types.planner_outputs.LocalMotionPlan attribute) (pyrcf.core.types.robot_io.StateEstimates attribute) (pyrcf.core.types.StateEstimates attribute) twist_transform() (in module pyrcf.utils.frame_transforms)

U

UIBase (class in pyrcf.components.global_planners.ui_reference_generators) (class in pyrcf.components.global_planners.ui_reference_generators.ui_base) UIException update() (pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase method) (pyrcf.components.controller_manager.ControllerManagerBase method) (pyrcf.components.controller_manager.simple_controller_manager.SimpleControllerManager method) (pyrcf.components.controller_manager.SimpleControllerManager method) (pyrcf.components.controllers.controller_base.ControllerBase method) (pyrcf.components.controllers.controller_base.DummyController method) (pyrcf.components.controllers.ControllerBase method) (pyrcf.components.controllers.DummyController method) (pyrcf.components.controllers.gravity_compensated_joint_pd_controller.GravityCompensatedPDController method) (pyrcf.components.controllers.GravityCompensatedPDController method) (pyrcf.components.controllers.joint_pd_controller.JointPDController method) (pyrcf.components.controllers.JointPDController method) (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController method) (pyrcf.components.controllers.SegwayPIDBalanceController method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster method) (pyrcf.utils.gui_utils.TkinterWidgetMaster method) (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface method) (pyrcf.utils.kinematics_dynamics.PinocchioInterface method) update_cmd_from_model_output() (pyrcf.components.agents.ml_agent_base.MLAgentBase method) (pyrcf.components.agents.MLAgentBase method) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) update_frame_pose() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugFrameViz method) (pyrcf.utils.gui_utils.PybulletDebugFrameViz method) update_from() (pyrcf.core.types.EndEffectorStates method) (pyrcf.core.types.JointStates method) (pyrcf.core.types.robot_io.EndEffectorStates method) (pyrcf.core.types.robot_io.JointStates method) (pyrcf.core.types.robot_io.RobotCmd method) (pyrcf.core.types.robot_io.RobotState method) (pyrcf.core.types.robot_io.StateEstimates method) (pyrcf.core.types.RobotCmd method) (pyrcf.core.types.RobotState method) (pyrcf.core.types.StateEstimates method)

update_input_to_model() (pyrcf.components.agents.ml_agent_base.MLAgentBase method) (pyrcf.components.agents.MLAgentBase method) (pyrcf.components.agents.torchscript_agent_base.TorchScriptAgentBase method) (pyrcf.components.agents.TorchScriptAgentBase method) update_pinocchio_robot_state() (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio method) update_point_positions() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletDebugPoints method) (pyrcf.utils.gui_utils.PybulletDebugPoints method) update_robot_state_with_state_estimates() (pyrcf.components.state_estimators.DummyStateEstimator method) (pyrcf.components.state_estimators.state_estimator_base.DummyStateEstimator method) (pyrcf.components.state_estimators.state_estimator_base.StateEstimatorBase method) (pyrcf.components.state_estimators.StateEstimatorBase method) update_text() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletText method) (pyrcf.utils.gui_utils.pb_gui_utils.PybulletTextWithRateTrigger method) (pyrcf.utils.gui_utils.PybulletText method) (pyrcf.utils.gui_utils.PybulletTextWithRateTrigger method) urdf_path (pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio property) usage_string (in module pyrcf.executables.visualise_robot) use_binding() (pyrcf.components.global_planners.ui_reference_generators.ui_utils.Hold2SwapBindings method) useWithDefaults() (pyrcf.control_loop.minimal_ctrl_loop.MinimalCtrlLoop class method) (pyrcf.control_loop.MinimalCtrlLoop class method)

V

v (pyrcf.utils.kinematics_dynamics.pinocchio_interface.PinocchioInterface attribute) (pyrcf.utils.kinematics_dynamics.PinocchioInterface attribute) validate_quaternion (pyrcf.core.types.Pose3D attribute) (pyrcf.core.types.tf_types.Pose3D attribute) validate_trajectory (pyrcf.core.types.motion_datatypes.Trajectory3D attribute) (pyrcf.core.types.Trajectory3D attribute) value_changed() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider method) (pyrcf.utils.gui_utils.PybulletGUISlider method) values (pyrcf.core.types.debug_types.ListElementsCompareType attribute) vec2quatskew() (in module pyrcf.utils.math_utils) vec2skew() (in module pyrcf.utils.math_utils) Vector3D (in module pyrcf.components.callback_handlers.pb_gui_callbacks) (in module pyrcf.core.types) (in module pyrcf.core.types.tf_types) (in module pyrcf.utils.frame_transforms) (in module pyrcf.utils.gui_utils.pb_gui_utils) (in module pyrcf.utils.kinematics_dynamics.pinocchio_interface) (in module pyrcf.utils.math_utils) (in module pyrcf.utils.sim_utils.pybullet_debug_robot)

Vector3DTrajType (in module pyrcf.core.types) (in module pyrcf.core.types.motion_datatypes) velocity (pyrcf.core.types.FrameMotion attribute) (pyrcf.core.types.motion_datatypes.FrameMotion attribute) (pyrcf.core.types.motion_datatypes.PointMotion attribute) (pyrcf.core.types.PointMotion attribute)

W

warn (pyrcf.utils.time_utils.RateLimiter attribute), [1] was_pressed() (pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUIButton method) (pyrcf.utils.gui_utils.PybulletGUIButton method) (pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUIButton method) (pyrcf.utils.gui_utils.TkinterGUIButton method) WEST (pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings attribute) wheel_distance (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) wheel_ee_ids (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) wheel_joint_directions (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) wheel_joint_ids (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute)

wheel_radius (pyrcf.components.controllers.segway_pid_balance_controller.SegwayPIDBalanceController attribute) (pyrcf.components.controllers.SegwayPIDBalanceController attribute) withJointsLocked() (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot class method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot class method) world2teleop() (pyrcf.utils.frame_transforms.PoseTrasfrom static method) wrap_angle() (in module pyrcf.utils.math_utils) write() (pyrcf.components.robot_interfaces.DummyRobot method) (pyrcf.components.robot_interfaces.robot_interface_base.DummyRobot method) (pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface method) (pyrcf.components.robot_interfaces.RobotInterface method) (pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot method) (pyrcf.components.robot_interfaces.simulation.PybulletRobot method)

X

xyz_local2quat() (in module pyrcf.utils.math_utils)