Index A | B | C | D | E | F | G | H | I | J | L | M | N | O | P | Q | R | S | T | U | V | W | Z A A (pinker.tasks.LinearHolonomicTask attribute) a_max (pinker.limits.AccelerationLimit attribute) AccelerationLimit (class in pinker.limits) act() (pinker.kinematics.se3.SE3 method) act_inv() (pinker.kinematics.se3.SE3 method) action (pinker.kinematics.se3.SE3 property) action_inverse (pinker.kinematics.se3.SE3 property) add_body_frame() (pinker.kinematics.model.Model method) add_frame() (pinker.kinematics.model.Model method) add_geometry_object() (pinker.kinematics.geometry.GeometryModel method) add_joint() (pinker.kinematics.model.Model method) add_joint_frame() (pinker.kinematics.model.Model method) angular (pinker.kinematics.se3.Motion property) append_body_to_joint() (pinker.kinematics.model.Model method) asarray() (pinker.kinematics.se3.Motion method) axis (pinker.kinematics.joints.JointModel attribute) B b (pinker.tasks.LinearHolonomicTask attribute) Barrier (class in pinker.barriers) BodySphericalBarrier (class in pinker.barriers) build_geom_from_urdf() (in module pinker.kinematics.urdf) build_ik() (in module pinker.solve_ik) build_model_from_urdf() (in module pinker.kinematics.urdf) build_model_from_xml() (in module pinker.kinematics.urdf) BuildFromURDF() (pinker.kinematics.robot_wrapper.RobotWrapper static method) C center_of_mass() (in module pinker.kinematics.algorithms) check_limits() (pinker.configuration.Configuration method) com (pinker.kinematics.model.Data attribute) compute_barrier() (pinker.barriers.Barrier method) (pinker.barriers.BodySphericalBarrier method) (pinker.barriers.PositionBarrier method) compute_error() (pinker.tasks.ComTask method) (pinker.tasks.DampingTask method) (pinker.tasks.FrameTask method) (pinker.tasks.JointVelocityTask method) (pinker.tasks.LinearHolonomicTask method) (pinker.tasks.LowAccelerationTask method) (pinker.tasks.ManipulabilityTask method) (pinker.tasks.OmniwheelTask method) (pinker.tasks.PostureTask method) (pinker.tasks.RelativeFrameTask method) (pinker.tasks.RollingTask method) (pinker.tasks.Task method) (pinker.tasks.task.Task method) compute_jacobian() (pinker.barriers.Barrier method) (pinker.barriers.BodySphericalBarrier method) (pinker.barriers.PositionBarrier method) (pinker.tasks.ComTask method) (pinker.tasks.FrameTask method) (pinker.tasks.JointVelocityTask method) (pinker.tasks.LinearHolonomicTask method) (pinker.tasks.ManipulabilityTask method) (pinker.tasks.OmniwheelTask method) (pinker.tasks.PostureTask method) (pinker.tasks.RelativeFrameTask method) (pinker.tasks.RollingTask method) (pinker.tasks.Task method) (pinker.tasks.task.Task method) compute_joint_jacobians() (in module pinker.kinematics.algorithms) compute_kinematic_hessian() (pinker.tasks.ManipulabilityTask method) compute_manipulability() (pinker.tasks.ManipulabilityTask method) compute_qp_inequalities() (pinker.barriers.Barrier method) (pinker.limits.AccelerationLimit method) (pinker.limits.ConfigurationLimit method) (pinker.limits.FloatingBaseVelocityLimit method) (pinker.limits.Limit method) (pinker.limits.VelocityLimit method) compute_qp_objective() (pinker.barriers.Barrier method) (pinker.tasks.Task method) (pinker.tasks.task.Task method) compute_safe_displacement() (pinker.barriers.Barrier method) ComTask (class in pinker.tasks) config_limit_gain (pinker.limits.ConfigurationLimit attribute) Configuration (class in pinker.configuration) ConfigurationLimit (class in pinker.limits) copy() (pinker.configuration.Configuration method) (pinker.kinematics.model.Data method) (pinker.kinematics.se3.SE3 method) cost (pinker.tasks.ManipulabilityTask attribute) (pinker.tasks.Task attribute) (pinker.tasks.task.Task attribute) create_data() (pinker.kinematics.model.Model method) custom_configuration() (in module pinker.kinematics.algorithms) D d_difference() (in module pinker.kinematics.algorithms) d_min (pinker.barriers.BodySphericalBarrier attribute) DampingTask (class in pinker.tasks) Data (class in pinker.kinematics.model) data (pinker.configuration.Configuration attribute) (pinker.kinematics.robot_wrapper.RobotWrapper attribute) (pinker.visualizer.ViserVisualizer attribute) default_limits (pinker.configuration.Configuration attribute) Delta_q_prev (pinker.limits.AccelerationLimit attribute) (pinker.tasks.LowAccelerationTask attribute) difference() (in module pinker.kinematics.algorithms) dim (pinker.barriers.Barrier attribute) displaced() (pinker.kinematics.se3.Inertia method) display() (pinker.visualizer.ViserVisualizer method) display_frames() (pinker.visualizer.ViserVisualizer method) display_visuals() (pinker.visualizer.ViserVisualizer method) E effort_limit (pinker.kinematics.model.Model attribute) exist_frame() (pinker.kinematics.model.Model method) exist_joint_name() (pinker.kinematics.model.Model method) exp3() (in module pinker.kinematics.algorithms) exp6() (in module pinker.kinematics.algorithms) eye (pinker.utils.VectorSpace property) F FloatingBaseVelocityLimit (class in pinker.limits) floor_frame (pinker.tasks.OmniwheelTask attribute) (pinker.tasks.RollingTask attribute) forward_kinematics() (in module pinker.kinematics.algorithms) Frame (class in pinker.kinematics.model) frame (pinker.barriers.PositionBarrier attribute) (pinker.tasks.FrameTask attribute) (pinker.tasks.ManipulabilityTask attribute) (pinker.tasks.RelativeFrameTask attribute) FrameNotFound frames (pinker.barriers.BodySphericalBarrier attribute) (pinker.kinematics.model.Model attribute) (pinker.visualizer.ViserVisualizer attribute) frames_forward_kinematics() (in module pinker.kinematics.algorithms) frames_root_frame (pinker.visualizer.ViserVisualizer attribute) frames_root_node_name (pinker.visualizer.ViserVisualizer attribute) FrameTask (class in pinker.tasks) FrameType (class in pinker.kinematics.model) FromBox() (pinker.kinematics.se3.Inertia class method) G gain (pinker.barriers.Barrier attribute) (pinker.tasks.Task attribute) (pinker.tasks.task.Task attribute) gain_function (pinker.barriers.Barrier attribute) GeometryModel (class in pinker.kinematics.geometry) GeometryObject (class in pinker.kinematics.geometry) get_frame_id() (pinker.kinematics.model.Model method) get_frame_jacobian() (in module pinker.kinematics.algorithms) (pinker.configuration.Configuration method) get_joint_id() (pinker.kinematics.model.Model method) get_joint_jacobian() (in module pinker.kinematics.algorithms) get_joint_tangent_id() (pinker.kinematics.model.Model method) get_root_joint_dim() (pinker.kinematics.model.Model method) get_transform() (pinker.configuration.Configuration method) get_transform_frame_to_world() (pinker.configuration.Configuration method) H has_configuration_limit (pinker.limits.AccelerationLimit attribute) has_configuration_limit() (pinker.kinematics.model.Model method) homogeneous (pinker.kinematics.se3.SE3 property) hub_frame (pinker.tasks.OmniwheelTask attribute) (pinker.tasks.RollingTask attribute) I id (pinker.kinematics.joints.JointModel attribute) Identity() (pinker.kinematics.se3.SE3 class method) idx_q (pinker.kinematics.joints.JointModel attribute) idx_v (pinker.kinematics.joints.JointModel attribute) indices (pinker.barriers.PositionBarrier attribute) (pinker.limits.AccelerationLimit attribute) (pinker.limits.VelocityLimit attribute) Inertia (class in pinker.kinematics.se3) inertias (pinker.kinematics.model.Model attribute) init_viewer() (pinker.visualizer.ViserVisualizer method) integrate() (in module pinker.kinematics.algorithms) (pinker.configuration.Configuration method) integrate_inplace() (pinker.configuration.Configuration method) Interpolate() (pinker.kinematics.se3.SE3 class method) InvalidCollisionPairs inverse() (pinker.kinematics.se3.SE3 method) is_approx() (pinker.kinematics.se3.SE3 method) J J (pinker.kinematics.model.Data attribute) jacobian_center_of_mass() (in module pinker.kinematics.algorithms) Jcom (pinker.kinematics.model.Data attribute) Jlog6() (in module pinker.kinematics.algorithms) joint (pinker.exceptions.NotWithinConfigurationLimits attribute) joint_has_configuration_limit() (in module pinker.kinematics.joints) joint_names (pinker.tasks.JointCouplingTask attribute) joint_neutral() (in module pinker.kinematics.joints) joint_placements (pinker.kinematics.model.Model attribute) JointCouplingTask (class in pinker.tasks) JointModel (class in pinker.kinematics.joints) JointModelFreeFlyer() (in module pinker.kinematics.joints) JointModelPlanar() (in module pinker.kinematics.joints) JointModelPrismaticUnaligned() (in module pinker.kinematics.joints) JointModelPX() (in module pinker.kinematics.joints) JointModelPY() (in module pinker.kinematics.joints) JointModelPZ() (in module pinker.kinematics.joints) JointModelRevoluteUnaligned() (in module pinker.kinematics.joints) JointModelRX() (in module pinker.kinematics.joints) JointModelRY() (in module pinker.kinematics.joints) JointModelRZ() (in module pinker.kinematics.joints) JointModelSpherical() (in module pinker.kinematics.joints) joints (pinker.kinematics.model.Model attribute) (pinker.limits.ConfigurationLimit attribute) (pinker.limits.VelocityLimit attribute) JointVelocityTask (class in pinker.tasks) jtype (pinker.kinematics.joints.JointModel attribute) L Limit (class in pinker.limits) linear (pinker.kinematics.se3.Motion property) LinearHolonomicTask (class in pinker.tasks) lm_damping (pinker.tasks.Task attribute) (pinker.tasks.task.Task attribute) load_robot_description() (in module pinker.loaders) load_robot_urdf() (in module pinker.loaders) load_viewer_model() (pinker.visualizer.ViserVisualizer method) log3() (in module pinker.kinematics.algorithms) log6() (in module pinker.kinematics.algorithms) LowAccelerationTask (class in pinker.tasks) lower (pinker.exceptions.NotWithinConfigurationLimits attribute) lower_position_limit (pinker.kinematics.model.Model attribute) M manipulability_rate (pinker.tasks.ManipulabilityTask attribute) ManipulabilityTask (class in pinker.tasks) mass (pinker.kinematics.model.Data attribute) mesh_color (pinker.kinematics.geometry.GeometryObject attribute) mesh_path (pinker.kinematics.geometry.GeometryObject attribute) mesh_scale (pinker.kinematics.geometry.GeometryObject attribute) Model (class in pinker.kinematics.model) model (pinker.configuration.Configuration attribute) (pinker.kinematics.robot_wrapper.RobotWrapper attribute) (pinker.limits.AccelerationLimit attribute) (pinker.limits.ConfigurationLimit attribute) (pinker.limits.VelocityLimit attribute) (pinker.visualizer.ViserVisualizer attribute) module pinker.barriers pinker.configuration pinker.exceptions pinker.kinematics pinker.kinematics.algorithms pinker.kinematics.geometry pinker.kinematics.joints pinker.kinematics.model pinker.kinematics.robot_wrapper pinker.kinematics.se3 pinker.kinematics.so3 pinker.kinematics.urdf pinker.limits pinker.loaders pinker.tasks pinker.tasks.task pinker.utils pinker.visualizer Motion (class in pinker.kinematics.se3) N name (pinker.kinematics.geometry.GeometryObject attribute) (pinker.kinematics.model.Frame attribute) (pinker.kinematics.model.Model attribute) names (pinker.kinematics.model.Model attribute) NegativeMinimumDistance neutral() (in module pinker.kinematics.algorithms) nframes (pinker.kinematics.model.Model property) ngeoms (pinker.kinematics.geometry.GeometryModel property) njoints (pinker.kinematics.model.Model property) NoPositionLimitProvided NoSolutionFound NotWithinConfigurationLimits nq (pinker.kinematics.joints.JointModel property) (pinker.kinematics.model.Model attribute) (pinker.kinematics.robot_wrapper.RobotWrapper property) nv (pinker.kinematics.joints.JointModel property) (pinker.kinematics.model.Model attribute) (pinker.kinematics.robot_wrapper.RobotWrapper property) O oMf (pinker.kinematics.model.Data property) oMi (pinker.kinematics.model.Data property) OmniwheelTask (class in pinker.tasks) ones (pinker.utils.VectorSpace property) orientation_cost (pinker.tasks.FrameTask property) P p_max (pinker.barriers.PositionBarrier attribute) p_min (pinker.barriers.PositionBarrier attribute) parent_frame (pinker.kinematics.model.Frame attribute) parent_joint (pinker.kinematics.geometry.GeometryObject attribute) (pinker.kinematics.model.Frame attribute) parents (pinker.kinematics.model.Model attribute) pinker.barriers module pinker.configuration module pinker.exceptions module pinker.kinematics module pinker.kinematics.algorithms module pinker.kinematics.geometry module pinker.kinematics.joints module pinker.kinematics.model module pinker.kinematics.robot_wrapper module pinker.kinematics.se3 module pinker.kinematics.so3 module pinker.kinematics.urdf module pinker.limits module pinker.loaders module pinker.tasks module pinker.tasks.task module pinker.utils module pinker.visualizer module PinkerError placement (pinker.kinematics.geometry.GeometryObject attribute) (pinker.kinematics.model.Frame attribute) position_cost (pinker.tasks.FrameTask property) PositionBarrier (class in pinker.barriers) PostureTask (class in pinker.tasks) projection_matrix (pinker.limits.AccelerationLimit attribute) (pinker.limits.ConfigurationLimit attribute) (pinker.limits.VelocityLimit attribute) Q q (pinker.configuration.Configuration attribute) q0 (pinker.kinematics.robot_wrapper.RobotWrapper attribute) q_0 (pinker.tasks.LinearHolonomicTask attribute) quaternion_to_matrix() (in module pinker.kinematics.so3) quaternion_wxyz() (in module pinker.kinematics.so3) R Random() (pinker.kinematics.se3.SE3 class method) ratios (pinker.tasks.JointCouplingTask attribute) reference_frame (pinker.tasks.ManipulabilityTask attribute) ReferenceFrame (class in pinker.kinematics.model) RelativeFrameTask (class in pinker.tasks) RobotWrapper (class in pinker.kinematics.robot_wrapper) RollingTask (class in pinker.tasks) root (pinker.tasks.RelativeFrameTask attribute) ROOT_JOINTS (in module pinker.loaders) rpy_to_matrix() (in module pinker.kinematics.so3) S safe_displacement (pinker.barriers.Barrier attribute) safe_displacement_gain (pinker.barriers.Barrier attribute) SE3 (class in pinker.kinematics.se3) set_cost() (pinker.tasks.ComTask method) set_last_integration() (pinker.limits.AccelerationLimit method) (pinker.tasks.LowAccelerationTask method) set_orientation_cost() (pinker.tasks.FrameTask method) (pinker.tasks.RelativeFrameTask method) set_position_cost() (pinker.tasks.FrameTask method) (pinker.tasks.RelativeFrameTask method) set_target() (pinker.tasks.ComTask method) (pinker.tasks.FrameTask method) (pinker.tasks.JointVelocityTask method) (pinker.tasks.PostureTask method) (pinker.tasks.RelativeFrameTask method) set_target_from_configuration() (pinker.tasks.ComTask method) (pinker.tasks.FrameTask method) (pinker.tasks.PostureTask method) (pinker.tasks.RelativeFrameTask method) shape (pinker.kinematics.geometry.GeometryObject attribute) shortname() (pinker.kinematics.joints.JointModel method) size (pinker.kinematics.geometry.GeometryObject attribute) skew() (in module pinker.kinematics.so3) solve_ik() (in module pinker.solve_ik) start_viser_visualizer() (in module pinker.visualizer) supports (pinker.kinematics.model.Model attribute) T tangent (pinker.configuration.Configuration attribute) target_com (pinker.tasks.ComTask attribute) target_q (pinker.tasks.PostureTask attribute) TargetNotSet Task (class in pinker.tasks) (class in pinker.tasks.task) TaskDefinitionError TaskJacobianNotSet toarray() (pinker.kinematics.se3.SE3 method) transform_target_to_root (pinker.tasks.RelativeFrameTask attribute) transform_target_to_world (pinker.tasks.FrameTask attribute) type (pinker.kinematics.model.Frame attribute) U update() (pinker.configuration.Configuration method) update_frame_placements() (in module pinker.kinematics.algorithms) update_frames() (pinker.visualizer.ViserVisualizer method) update_placements() (pinker.visualizer.ViserVisualizer method) upper (pinker.exceptions.NotWithinConfigurationLimits attribute) upper_position_limit (pinker.kinematics.model.Model attribute) V value (pinker.exceptions.NotWithinConfigurationLimits attribute) VectorSpace (class in pinker.utils) velocity_limit (pinker.kinematics.model.Model attribute) (pinker.limits.VelocityLimit attribute) VelocityLimit (class in pinker.limits) viewer (pinker.visualizer.ViserVisualizer attribute) viewer_root_node_name (pinker.visualizer.ViserVisualizer attribute) ViserVisualizer (class in pinker.visualizer) visual_model (pinker.kinematics.robot_wrapper.RobotWrapper attribute) (pinker.visualizer.ViserVisualizer attribute) visual_root_frame (pinker.visualizer.ViserVisualizer attribute) visual_root_node_name (pinker.visualizer.ViserVisualizer attribute) W wheel_radius (pinker.tasks.OmniwheelTask attribute) (pinker.tasks.RollingTask attribute) Z Zero() (pinker.kinematics.se3.Inertia class method) zeros (pinker.utils.VectorSpace property)