Index

A

active_joint_names (src.robots.protocols.VisualRobotLike property) (src.robots.Robot attribute) (src.robots.robot.Robot attribute) (src.robots.VisualRobotLike property) active_to_full() (src.kinematics.pinocchio_ik.PinocchioIK method) add_canvas() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) add_canvas_waypoints() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) add_fk_marker() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) add_joint() (src.robots.Robot method) (src.robots.robot.Robot method) add_link() (src.robots.Robot method) (src.robots.robot.Robot method) add_polyline_mesh() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) add_robot() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method)

add_robot_meshes_to_plotter() (in module src.utils.visualization) (in module src.utils.visualization.viewers) add_visual() (src.robots.Robot method) (src.robots.robot.Robot method) add_waypoint_highlight_marker() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) add_world_floor_and_object() (in module src.utils.visualization) (in module src.utils.visualization.helpers) adjoint() (in module src.kinematics.se3) adjoint_inverse() (in module src.kinematics.se3) adjoint_transform() (in module src.kinematics.se3) adjoint_transform_list() (in module src.kinematics.se3) apply_camera_pose() (in module src.utils.visualization) (in module src.utils.visualization.helpers) axis (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] AxisAngleToR() (in module src.kinematics.so3)

B

B_list (src.kinematics.kinematic_model.KinematicModel attribute), [1] base_transform (src.robots.ECM attribute) (src.robots.ecm.ECM attribute) base_vertices_by_key (src.utils.visualization.PlotterRobotMeshState attribute) (src.utils.visualization.viewers.PlotterRobotMeshState attribute) body_jacobian() (in module src.kinematics.jacobian) body_product_of_exponentials() (in module src.kinematics.poe) body_product_of_transforms() (in module src.kinematics.poe) build() (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.urdf_robot.UrdfRobot method) (src.robots.UrdfRobot method)

build_arg_parser() (in module src.utils.visualization) (in module src.utils.visualization.camera) build_dual_phantom_base_transforms() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) build_dual_psm_base_transforms() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) build_ecm_control_from_camera_pose() (in module src.utils.visualization) (in module src.utils.visualization.camera) build_kinematic_model() (in module src.kinematics.kinematic_model) (src.robots.Robot method) (src.robots.robot.Robot method) button (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1]

C

camera_pose_from_psm_tools() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) CameraPose (class in src.robots) (class in src.robots.ecm) check_singularity() (in module src.kinematics.jacobian) child (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] children_of_link (src.robots.Robot attribute) (src.robots.robot.Robot attribute) clamp_active() (src.kinematics.pinocchio_ik.PinocchioIK method) clamp_theta() (src.robots.Robot method) (src.robots.robot.Robot method) clutch_button (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1]

ClutchEvent (class in src.utils.visualization) (class in src.utils.visualization.teleop_common) compute_desired_pose_world() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) compute_desired_position_world() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) compute_home_ee_pose() (in module src.kinematics.kinematic_model) compute_joint_limit_arrays() (in module src.kinematics.kinematic_model) compute_screw_axes() (in module src.kinematics.kinematic_model) create_camera_plotter() (in module src.utils.visualization) (in module src.utils.visualization.camera) create_point_poly() (in module src.utils.visualization) (in module src.utils.visualization.robot_points)

D

damped_least_square_inverse() (in module src.kinematics.jacobian) demo_two_robots() (in module src.utils.visualization) (in module src.utils.visualization.viewers) DeviceState (class in src.utils.device_runtime) (class in src.utils.device_runtime.devices)

dof (src.robots.protocols.RobotTreeLike property) (src.robots.Robot property) (src.robots.robot.Robot property) (src.robots.RobotTreeLike property) DvrkRealtimeViz (class in src.utils.visualization) (class in src.utils.visualization.viewers)

E

ECM (class in src.robots) (class in src.robots.ecm) EcmControl (class in src.utils.visualization) (class in src.utils.visualization.camera) errorCode (src.pyOpenHaptics.hd_define.HDErrorInfo attribute)

exp_screw_axis() (in module src.kinematics.se3) exp_screw_hat() (in module src.kinematics.se3) expand_theta() (src.robots.protocols.RobotTreeLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.RobotTreeLike method)

F

finalize() (src.robots.Robot method) (src.robots.robot.Robot method) find_joint_indices() (in module src.utils.visualization) (in module src.utils.visualization.camera) finite_difference_grad() (in module src.kinematics.ik) focal_point (src.robots.CameraPose attribute) (src.robots.ecm.CameraPose attribute) force (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1]

forward_kinematics() (in module src.kinematics.fk) (src.robots.protocols.ToolKinematicsRobotLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.ToolKinematicsRobotLike method) forward_pose() (src.kinematics.pinocchio_ik.PinocchioIK method) from_camera_pose() (src.robots.ECM class method) (src.robots.ecm.ECM class method)

G

get_active_joints() (src.robots.Robot method) (src.robots.robot.Robot method) get_child_joints() (src.robots.protocols.RobotTreeLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.RobotTreeLike method) get_joint() (src.robots.protocols.RobotTreeLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.RobotTreeLike method) get_link_visuals() (src.robots.protocols.VisualRobotLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.VisualRobotLike method)

get_theta() (src.robots.protocols.RobotTreeLike method) (src.robots.Robot method) (src.robots.robot.Robot method) (src.robots.RobotTreeLike method) gimbals (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1] gripper_button (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1]

H

HDErrorInfo (class in src.pyOpenHaptics.hd_define) hduMatrix (in module src.pyOpenHaptics.hdu_matrix) hduQuaternion (in module src.pyOpenHaptics.hdu_matrix) hduVector3Dd (in module src.pyOpenHaptics.hdu_matrix)

hfov_to_vfov_deg() (in module src.utils.visualization) (in module src.utils.visualization.helpers) hHD (src.pyOpenHaptics.hd_define.HDErrorInfo attribute) hide_canvas_waypoint() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method)

I

ik_jacobian_transpose_position() (in module src.kinematics.ik) insertion_idx (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1] insertion_step_m (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1]

internalErrorCode (src.pyOpenHaptics.hd_define.HDErrorInfo attribute) inv_SE3() (in module src.kinematics.se3) inv_transform() (in module src.utils.transforms)

J

joint (src.kinematics.fk.JointFrame attribute) (src.robots.Mimic attribute), [1] (src.robots.robot.Mimic attribute), [1] joint_frames() (in module src.kinematics.fk) joint_limit_objective() (in module src.kinematics.ik) joint_limits() (src.robots.Robot method) (src.robots.robot.Robot method) joint_name (src.kinematics.fk.JointFrame attribute) joint_names (src.robots.Robot property) (src.robots.robot.Robot property) joint_transform() (in module src.kinematics.fk) joint_type (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1]

JointFrame (class in src.kinematics.fk) JointInfo (class in src.robots) (class in src.robots.robot) JointLimit (class in src.robots) (class in src.robots.robot) joints (src.robots.JointStateLike property) (src.robots.protocols.JointStateLike property) (src.robots.Robot attribute) (src.robots.robot.Robot attribute) (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1] JointStateLike (class in src.robots) (class in src.robots.protocols)

K

KinematicModel (class in src.kinematics.kinematic_model)

L

limit (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] link_name (src.kinematics.fk.VisualPose attribute) (src.robots.LinkVisual attribute), [1] (src.robots.robot.LinkVisual attribute), [1] link_names (src.robots.protocols.VisualRobotLike property) (src.robots.Robot property) (src.robots.robot.Robot property) (src.robots.VisualRobotLike property)

link_transforms() (in module src.kinematics.fk) (src.robots.Robot method) (src.robots.robot.Robot method) links (src.robots.Robot attribute) (src.robots.robot.Robot attribute) LinkVisual (class in src.robots) (class in src.robots.robot) log_screw_axis() (in module src.kinematics.se3) lower (src.robots.JointLimit attribute), [1] (src.robots.robot.JointLimit attribute), [1]

M

M_ee (src.kinematics.kinematic_model.KinematicModel attribute), [1] make_base_transform() (in module src.utils.transforms) make_line() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) make_state_callback() (in module src.utils.device_runtime) (in module src.utils.device_runtime.devices) make_transform() (in module src.utils.transforms) manipulability() (in module src.kinematics.jacobian) manipulability_ellipsoid() (in module src.kinematics.jacobian) manipulability_objective() (in module src.kinematics.ik) mesh_path (src.robots.LinkVisual attribute), [1] (src.robots.robot.LinkVisual attribute), [1] Mimic (class in src.robots) (class in src.robots.robot) mimic (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] module settings src src.kinematics src.kinematics.fk src.kinematics.ik src.kinematics.jacobian src.kinematics.kinematic_model src.kinematics.pinocchio_ik src.kinematics.poe src.kinematics.se3 src.kinematics.so3 src.pyOpenHaptics src.pyOpenHaptics.exceptions src.pyOpenHaptics.hd src.pyOpenHaptics.hd_callback src.pyOpenHaptics.hd_define src.pyOpenHaptics.hd_device src.pyOpenHaptics.hdu_matrix src.robots src.robots.ecm src.robots.mtm src.robots.phantom src.robots.protocols src.robots.psm src.robots.robot src.robots.urdf_robot src.utils src.utils.device_runtime src.utils.device_runtime.devices src.utils.device_runtime.runners src.utils.transforms src.utils.urdf_parser src.utils.visualization src.utils.visualization.camera src.utils.visualization.helpers src.utils.visualization.robot_points src.utils.visualization.teleop_common src.utils.visualization.viewers

MTM (class in src.robots) (class in src.robots.mtm) multiplier (src.robots.Mimic attribute), [1] (src.robots.robot.Mimic attribute), [1]

N

name (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] NONE (src.utils.visualization.ClutchEvent attribute), [1] (src.utils.visualization.teleop_common.ClutchEvent attribute), [1]

normalize_vector() (in module src.utils.transforms) numerical_inverse_kinematics_pose() (in module src.kinematics.ik) numerical_inverse_kinematics_position() (in module src.kinematics.ik)

O

offset (src.robots.Mimic attribute), [1] (src.robots.robot.Mimic attribute), [1] origin_rpy (src.robots.JointInfo attribute), [1] (src.robots.LinkVisual attribute), [1] (src.robots.robot.JointInfo attribute), [1] (src.robots.robot.LinkVisual attribute), [1]

origin_transform() (in module src.kinematics.se3) origin_xyz (src.robots.JointInfo attribute), [1] (src.robots.LinkVisual attribute), [1] (src.robots.robot.JointInfo attribute), [1] (src.robots.robot.LinkVisual attribute), [1]

P

parent (src.robots.JointInfo attribute), [1] (src.robots.robot.JointInfo attribute), [1] parse_urdf() (in module src.utils.urdf_parser) Phantom (class in src.robots) (class in src.robots.phantom) PinocchioIK (class in src.kinematics.pinocchio_ik) pitch_idx (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1] pitch_step_rad (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1] plotter (src.utils.visualization.DvrkRealtimeViz attribute) PlotterRobotMeshState (class in src.utils.visualization) (class in src.utils.visualization.viewers)

poly_by_key (src.utils.visualization.PlotterRobotMeshState attribute) (src.utils.visualization.viewers.PlotterRobotMeshState attribute) position (src.robots.CameraPose attribute) (src.robots.ecm.CameraPose attribute) (src.utils.device_runtime.devices.DeviceState attribute), [1] (src.utils.device_runtime.DeviceState attribute), [1] PRESSED (src.utils.visualization.ClutchEvent attribute), [1] (src.utils.visualization.teleop_common.ClutchEvent attribute), [1] project_to_canvas_point() (in module src.utils.transforms) pseudoinverse_jacobian() (in module src.kinematics.jacobian) PSM (class in src.robots) (class in src.robots.psm)

Q

q (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1]

q_max (src.kinematics.kinematic_model.KinematicModel attribute), [1] q_min (src.kinematics.kinematic_model.KinematicModel attribute), [1]

R

register_keys() (in module src.utils.visualization) (in module src.utils.visualization.camera) RELEASED (src.utils.visualization.ClutchEvent attribute), [1] (src.utils.visualization.teleop_common.ClutchEvent attribute), [1] reset_camera() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) reset_canvas_waypoints() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) resolve_mesh_path() (src.robots.Robot method) (src.robots.robot.Robot method) Robot (class in src.robots) (class in src.robots.robot)

robot (src.utils.visualization.PlotterRobotMeshState attribute) (src.utils.visualization.viewers.PlotterRobotMeshState attribute) RobotTreeLike (class in src.robots) (class in src.robots.protocols) rpy_to_R() (in module src.kinematics.so3) RToAxisAngle() (in module src.kinematics.so3) run_with_dual_devices() (in module src.utils.device_runtime) (in module src.utils.device_runtime.runners) run_with_single_device() (in module src.utils.device_runtime) (in module src.utils.device_runtime.runners) Rx() (in module src.kinematics.so3) Ry() (in module src.kinematics.so3) Rz() (in module src.kinematics.so3)

S

S_list (src.kinematics.kinematic_model.KinematicModel attribute), [1] scaled_relative_transform() (in module src.utils.transforms) scope_camera_pose() (src.robots.ECM method) (src.robots.ecm.ECM method) scope_stereo_camera_poses() (src.robots.ECM method) (src.robots.ecm.ECM method) screw_axis_from_w_q() (in module src.kinematics.se3) set_camera() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) set_camera_view() (in module src.utils.visualization) (in module src.utils.visualization.viewers) set_robot_mesh_color() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) set_theta() (src.robots.Robot method) (src.robots.robot.Robot method) settings module setup_device() (in module src.utils.device_runtime) (in module src.utils.device_runtime.devices) setup_devices() (in module src.utils.device_runtime) (in module src.utils.device_runtime.devices) show() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) skew() (in module src.kinematics.so3) solve_pose() (src.kinematics.pinocchio_ik.PinocchioIK method) solve_position() (src.kinematics.pinocchio_ik.PinocchioIK method) space_jacobian() (in module src.kinematics.jacobian) space_link_poses() (in module src.kinematics.poe) space_product_of_exponentials() (in module src.kinematics.poe) space_product_of_transforms() (in module src.kinematics.poe) src module src.kinematics module src.kinematics.fk module src.kinematics.ik module src.kinematics.jacobian module src.kinematics.kinematic_model module src.kinematics.pinocchio_ik module src.kinematics.poe module src.kinematics.se3 module src.kinematics.so3 module src.pyOpenHaptics module src.pyOpenHaptics.exceptions module

src.pyOpenHaptics.hd module src.pyOpenHaptics.hd_callback module src.pyOpenHaptics.hd_define module src.pyOpenHaptics.hd_device module src.pyOpenHaptics.hdu_matrix module src.robots module src.robots.ecm module src.robots.mtm module src.robots.phantom module src.robots.protocols module src.robots.psm module src.robots.robot module src.robots.urdf_robot module src.utils module src.utils.device_runtime module src.utils.device_runtime.devices module src.utils.device_runtime.runners module src.utils.transforms module src.utils.urdf_parser module src.utils.visualization module 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 state_to_q() (in module src.utils.device_runtime) (in module src.utils.device_runtime.devices) summary() (src.robots.Robot method) (src.robots.robot.Robot method)

T

T_world (src.kinematics.fk.JointFrame attribute) (src.kinematics.fk.VisualPose attribute) tool_link (src.robots.protocols.RobotTreeLike property) (src.robots.RobotTreeLike property) tool_position_world() (in module src.utils.visualization) (in module src.utils.visualization.robot_points)

tool_transform_world() (in module src.utils.transforms) (src.robots.ECM method) (src.robots.ecm.ECM method) ToolKinematicsRobotLike (class in src.robots) (class in src.robots.protocols)

U

unskew() (in module src.kinematics.so3) update_cameras() (in module src.utils.visualization) (in module src.utils.visualization.camera) update_clutch_state() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) update_jaw_command() (in module src.utils.visualization) (in module src.utils.visualization.teleop_common) update_point_poly() (in module src.utils.visualization) (in module src.utils.visualization.robot_points)

update_robot() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) update_robot_meshes_on_plotter() (in module src.utils.visualization) (in module src.utils.visualization.viewers) update_waypoint_highlight() (src.utils.visualization.DvrkRealtimeViz method) (src.utils.visualization.viewers.DvrkRealtimeViz method) upper (src.robots.JointLimit attribute), [1] (src.robots.robot.JointLimit attribute), [1] UrdfRobot (class in src.robots) (class in src.robots.urdf_robot)

V

validate_kinematic_model() (in module src.kinematics.kinematic_model) vec_to_se3() (in module src.kinematics.se3) viewup (src.robots.CameraPose attribute) (src.robots.ecm.CameraPose attribute) visual (src.kinematics.fk.VisualPose attribute) visual_transforms() (in module src.kinematics.fk) visualize() (in module src.utils.visualization) (in module src.utils.visualization.viewers) (src.robots.Robot method) (src.robots.robot.Robot method)

VisualPose (class in src.kinematics.fk) VisualRobotLike (class in src.robots) (class in src.robots.protocols) visuals (src.robots.Robot attribute) (src.robots.robot.Robot attribute)

W

world_link (src.robots.protocols.RobotTreeLike property) (src.robots.RobotTreeLike property)

Y

yaw_idx (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1]

yaw_step_rad (src.utils.visualization.camera.EcmControl attribute), [1] (src.utils.visualization.EcmControl attribute), [1]

Z

zero_theta() (src.robots.Robot method) (src.robots.robot.Robot method)