src package

Subpackages

• src.kinematics package
  • Submodules
  • src.kinematics.fk module
    • JointFrame
      • JointFrame.T_world
      • JointFrame.joint
      • JointFrame.joint_name
    • VisualPose
      • VisualPose.T_world
      • VisualPose.link_name
      • VisualPose.visual
    • forward_kinematics()
    • joint_frames()
    • joint_transform()
    • link_transforms()
    • visual_transforms()
  • src.kinematics.ik module
    • finite_difference_grad()
    • ik_jacobian_transpose_position()
    • joint_limit_objective()
    • manipulability_objective()
    • numerical_inverse_kinematics_pose()
    • numerical_inverse_kinematics_position()
  • src.kinematics.jacobian module
    • body_jacobian()
    • check_singularity()
    • damped_least_square_inverse()
    • manipulability()
    • manipulability_ellipsoid()
    • pseudoinverse_jacobian()
    • space_jacobian()
  • src.kinematics.kinematic_model module
    • KinematicModel
      • KinematicModel.M_ee
      • KinematicModel.S_list
      • KinematicModel.B_list
      • KinematicModel.q_min
      • KinematicModel.q_max
      • KinematicModel.B_list
      • KinematicModel.M_ee
      • KinematicModel.S_list
      • KinematicModel.q_max
      • KinematicModel.q_min
    • build_kinematic_model()
    • compute_home_ee_pose()
    • compute_joint_limit_arrays()
    • compute_screw_axes()
    • validate_kinematic_model()
  • src.kinematics.pinocchio_ik module
    • PinocchioIK
      • PinocchioIK.active_to_full()
      • PinocchioIK.clamp_active()
      • PinocchioIK.forward_pose()
      • PinocchioIK.solve_pose()
      • PinocchioIK.solve_position()
  • src.kinematics.poe module
    • body_product_of_exponentials()
    • body_product_of_transforms()
    • space_link_poses()
    • space_product_of_exponentials()
    • space_product_of_transforms()
  • src.kinematics.se3 module
    • adjoint()
    • adjoint_inverse()
    • adjoint_transform()
    • adjoint_transform_list()
    • exp_screw_axis()
    • exp_screw_hat()
    • inv_SE3()
    • log_screw_axis()
    • origin_transform()
    • screw_axis_from_w_q()
    • vec_to_se3()
  • src.kinematics.so3 module
    • AxisAngleToR()
    • RToAxisAngle()
    • Rx()
    • Ry()
    • Rz()
    • rpy_to_R()
    • skew()
    • unskew()
  • Module contents
• src.pyOpenHaptics package
  • Submodules
  • src.pyOpenHaptics.exceptions module
  • src.pyOpenHaptics.hd module
  • src.pyOpenHaptics.hd_callback module
  • src.pyOpenHaptics.hd_define module
    • HDErrorInfo
      • HDErrorInfo.errorCode
      • HDErrorInfo.hHD
      • HDErrorInfo.internalErrorCode
  • src.pyOpenHaptics.hd_device module
  • src.pyOpenHaptics.hdu_matrix module
    • hduMatrix
    • hduQuaternion
    • hduVector3Dd
  • Module contents
• src.robots package
  • Submodules
  • src.robots.ecm module
    • CameraPose
      • CameraPose.focal_point
      • CameraPose.position
      • CameraPose.viewup
    • ECM
      • ECM.base_transform
      • ECM.from_camera_pose()
      • ECM.scope_camera_pose()
      • ECM.scope_stereo_camera_poses()
      • ECM.tool_transform_world()
  • src.robots.mtm module
    • MTM
  • src.robots.phantom module
    • Phantom
  • src.robots.protocols module
    • JointStateLike
      • JointStateLike.joints
    • RobotTreeLike
      • RobotTreeLike.dof
      • RobotTreeLike.expand_theta()
      • RobotTreeLike.get_child_joints()
      • RobotTreeLike.get_joint()
      • RobotTreeLike.get_theta()
      • RobotTreeLike.tool_link
      • RobotTreeLike.world_link
    • ToolKinematicsRobotLike
      • ToolKinematicsRobotLike.forward_kinematics()
    • VisualRobotLike
      • VisualRobotLike.active_joint_names
      • VisualRobotLike.get_link_visuals()
      • VisualRobotLike.link_names
  • src.robots.psm module
    • PSM
  • src.robots.robot module
    • JointInfo
      • JointInfo.name
      • JointInfo.joint_type
      • JointInfo.parent
      • JointInfo.child
      • JointInfo.origin_xyz
      • JointInfo.origin_rpy
      • JointInfo.axis
      • JointInfo.limit
      • JointInfo.mimic
      • JointInfo.axis
      • JointInfo.child
      • JointInfo.joint_type
      • JointInfo.limit
      • JointInfo.mimic
      • JointInfo.name
      • JointInfo.origin_rpy
      • JointInfo.origin_xyz
      • JointInfo.parent
    • JointLimit
      • JointLimit.lower
      • JointLimit.upper
      • JointLimit.lower
      • JointLimit.upper
    • LinkVisual
      • LinkVisual.link_name
      • LinkVisual.mesh_path
      • LinkVisual.origin_xyz
      • LinkVisual.origin_rpy
      • LinkVisual.link_name
      • LinkVisual.mesh_path
      • LinkVisual.origin_rpy
      • LinkVisual.origin_xyz
    • Mimic
      • Mimic.joint
      • Mimic.multiplier
      • Mimic.offset
      • Mimic.joint
      • Mimic.multiplier
      • Mimic.offset
    • Robot
      • Robot.active_joint_names
      • Robot.add_joint()
      • Robot.add_link()
      • Robot.add_visual()
      • Robot.build()
      • Robot.build_kinematic_model()
      • Robot.children_of_link
      • Robot.clamp_theta()
      • Robot.dof
      • Robot.expand_theta()
      • Robot.finalize()
      • Robot.forward_kinematics()
      • Robot.get_active_joints()
      • Robot.get_child_joints()
      • Robot.get_joint()
      • Robot.get_link_visuals()
      • Robot.get_theta()
      • Robot.joint_limits()
      • Robot.joint_names
      • Robot.joints
      • Robot.link_names
      • Robot.link_transforms()
      • Robot.links
      • Robot.resolve_mesh_path()
      • Robot.set_theta()
      • Robot.summary()
      • Robot.visualize()
      • Robot.visuals
      • Robot.zero_theta()
  • src.robots.urdf_robot module
    • UrdfRobot
      • UrdfRobot.build()
  • Module contents
    • CameraPose
      • CameraPose.focal_point
      • CameraPose.position
      • CameraPose.viewup
    • ECM
      • ECM.base_transform
      • ECM.from_camera_pose()
      • ECM.scope_camera_pose()
      • ECM.scope_stereo_camera_poses()
      • ECM.tool_transform_world()
    • JointInfo
      • JointInfo.name
      • JointInfo.joint_type
      • JointInfo.parent
      • JointInfo.child
      • JointInfo.origin_xyz
      • JointInfo.origin_rpy
      • JointInfo.axis
      • JointInfo.limit
      • JointInfo.mimic
      • JointInfo.axis
      • JointInfo.child
      • JointInfo.joint_type
      • JointInfo.limit
      • JointInfo.mimic
      • JointInfo.name
      • JointInfo.origin_rpy
      • JointInfo.origin_xyz
      • JointInfo.parent
    • JointLimit
      • JointLimit.lower
      • JointLimit.upper
      • JointLimit.lower
      • JointLimit.upper
    • JointStateLike
      • JointStateLike.joints
    • LinkVisual
      • LinkVisual.link_name
      • LinkVisual.mesh_path
      • LinkVisual.origin_xyz
      • LinkVisual.origin_rpy
      • LinkVisual.link_name
      • LinkVisual.mesh_path
      • LinkVisual.origin_rpy
      • LinkVisual.origin_xyz
    • MTM
    • Mimic
      • Mimic.joint
      • Mimic.multiplier
      • Mimic.offset
      • Mimic.joint
      • Mimic.multiplier
      • Mimic.offset
    • PSM
    • Phantom
    • Robot
      • Robot.active_joint_names
      • Robot.add_joint()
      • Robot.add_link()
      • Robot.add_visual()
      • Robot.build()
      • Robot.build_kinematic_model()
      • Robot.children_of_link
      • Robot.clamp_theta()
      • Robot.dof
      • Robot.expand_theta()
      • Robot.finalize()
      • Robot.forward_kinematics()
      • Robot.get_active_joints()
      • Robot.get_child_joints()
      • Robot.get_joint()
      • Robot.get_link_visuals()
      • Robot.get_theta()
      • Robot.joint_limits()
      • Robot.joint_names
      • Robot.joints
      • Robot.link_names
      • Robot.link_transforms()
      • Robot.links
      • Robot.resolve_mesh_path()
      • Robot.set_theta()
      • Robot.summary()
      • Robot.visualize()
      • Robot.visuals
      • Robot.zero_theta()
    • RobotTreeLike
      • RobotTreeLike.dof
      • RobotTreeLike.expand_theta()
      • RobotTreeLike.get_child_joints()
      • RobotTreeLike.get_joint()
      • RobotTreeLike.get_theta()
      • RobotTreeLike.tool_link
      • RobotTreeLike.world_link
    • ToolKinematicsRobotLike
      • ToolKinematicsRobotLike.forward_kinematics()
    • UrdfRobot
      • UrdfRobot.build()
    • VisualRobotLike
      • VisualRobotLike.active_joint_names
      • VisualRobotLike.get_link_visuals()
      • VisualRobotLike.link_names
• src.utils package
  • Subpackages
    • src.utils.device_runtime package
      • Submodules
      • src.utils.device_runtime.devices module
      • src.utils.device_runtime.runners module
      • Module contents
    • src.utils.visualization package
      • Submodules
      • src.utils.visualization.camera module
      • src.utils.visualization.helpers module
      • src.utils.visualization.robot_points module
      • src.utils.visualization.teleop_common module
      • src.utils.visualization.viewers module
      • Module contents
  • Submodules
  • src.utils.transforms module
    • inv_transform()
    • make_base_transform()
    • make_transform()
    • normalize_vector()
    • project_to_canvas_point()
    • scaled_relative_transform()
    • tool_transform_world()
  • src.utils.urdf_parser module
    • parse_urdf()
  • Module contents

Module contents