Index

_

_abc_impl (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) (gym_jiminy.common.compositions.generic.DriftTrackingQuantityTermination attribute) (gym_jiminy.common.compositions.generic.MechanicalPowerConsumptionTermination attribute) (gym_jiminy.common.compositions.generic.MechanicalSafetyTermination attribute) (gym_jiminy.common.compositions.generic.ShiftTrackingMotorPositionsTermination attribute) (gym_jiminy.common.compositions.generic.ShiftTrackingQuantityTermination attribute) (gym_jiminy.common.compositions.generic.SurviveReward attribute) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward attribute) (gym_jiminy.common.compositions.generic.TrackingQuantityReward attribute) (gym_jiminy.common.compositions.locomotion._MultiContactMinGroundDistance attribute) (gym_jiminy.common.compositions.locomotion.BaseRollPitchTermination attribute) (gym_jiminy.common.compositions.locomotion.DriftTrackingBaseOdometryOrientationTermination attribute) (gym_jiminy.common.compositions.locomotion.DriftTrackingBaseOdometryPositionTermination attribute) (gym_jiminy.common.compositions.locomotion.FallingTermination attribute) (gym_jiminy.common.compositions.locomotion.FlyingTermination attribute) (gym_jiminy.common.compositions.locomotion.FootCollisionTermination attribute) (gym_jiminy.common.compositions.locomotion.ImpactForceTermination attribute) (gym_jiminy.common.compositions.locomotion.MinimizeAngularMomentumReward attribute) (gym_jiminy.common.compositions.locomotion.MinimizeFrictionReward attribute) (gym_jiminy.common.compositions.locomotion.ShiftTrackingFootOdometryOrientationsTermination attribute) (gym_jiminy.common.compositions.locomotion.ShiftTrackingFootOdometryPositionsTermination attribute) (gym_jiminy.common.compositions.locomotion.TrackingBaseHeightReward attribute) (gym_jiminy.common.compositions.locomotion.TrackingBaseOdometryVelocityReward attribute) (gym_jiminy.common.compositions.locomotion.TrackingCapturePointReward attribute) (gym_jiminy.common.compositions.locomotion.TrackingFootForceDistributionReward attribute) (gym_jiminy.common.compositions.locomotion.TrackingFootOrientationsReward attribute) (gym_jiminy.common.compositions.locomotion.TrackingFootPositionsReward attribute) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv attribute) (gym_jiminy.common.quantities.locomotion.AverageBaseMomentum attribute) (gym_jiminy.common.quantities.locomotion.BaseOdometryAverageVelocity attribute) (gym_jiminy.common.quantities.locomotion.BaseOdometryPose attribute) (gym_jiminy.common.quantities.locomotion.BaseRelativeHeight attribute) (gym_jiminy.common.quantities.locomotion.BaseSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.locomotion.CapturePoint attribute) (gym_jiminy.common.quantities.locomotion.CenterOfMass attribute) (gym_jiminy.common.quantities.locomotion.MultiContactNormalizedSpatialForce attribute) (gym_jiminy.common.quantities.locomotion.MultiFootCollisionDetection attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanOdometryPose attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.MultiFootNormalizedForceVertical attribute) (gym_jiminy.common.quantities.locomotion.MultiFootRelativeXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.ZeroMomentPoint attribute)

_cache (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) _compute_drift_error() (gym_jiminy.common.compositions.generic.DriftTrackingQuantityTermination method) _compute_min_distance() (gym_jiminy.common.compositions.generic.ShiftTrackingMotorPositionsTermination method) (gym_jiminy.common.compositions.generic.ShiftTrackingQuantityTermination method) _controller_handle() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _force_external_profile() (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv method) _get_agent_state_space() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _get_measurements_space() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _get_time_space() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _initialize_action_space() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _initialize_buffers() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _initialize_observation_space() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _initialize_seed() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _is_initialized (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) _is_protocol (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) (gym_jiminy.common.compositions.generic.DriftTrackingQuantityTermination attribute) (gym_jiminy.common.compositions.generic.MechanicalPowerConsumptionTermination attribute) (gym_jiminy.common.compositions.generic.ShiftTrackingMotorPositionsTermination attribute) (gym_jiminy.common.compositions.generic.ShiftTrackingQuantityTermination attribute) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward attribute) (gym_jiminy.common.compositions.generic.TrackingQuantityReward attribute) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) _key_to_action() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _MultiActuatedJointBoundDistance (class in gym_jiminy.common.compositions.generic) _MultiContactMinGroundDistance (class in gym_jiminy.common.compositions.locomotion) _neutral() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _np_random (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) _observer_handle() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _refresh_buffers() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _sample_state() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) _setup() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv method)

A

a (jiminy_py.core.RobotState property) (jiminy_py.core.StepperState property) (jiminy_py.dynamics.State attribute) aba() (in module jiminy_py.core) AbstractConstraint (class in jiminy_py.core) AbstractController (class in jiminy_py.core) AbstractMotor (class in jiminy_py.core) AbstractQuantity (class in gym_jiminy.common.bases.quantities) AbstractReward (class in gym_jiminy.common.bases.compositions) AbstractSensor (class in jiminy_py.core) AbstractTerminationCondition (class in gym_jiminy.common.bases.compositions) action (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) action_space (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) add() (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity method) (gym_jiminy.common.bases.quantities.SharedCache method) (gym_jiminy.common.bases.quantities.WeakMutableCollection method) add_camera() (jiminy_py.viewer.Viewer static method) add_collision_bodies() (jiminy_py.core.Model method) add_constraint() (jiminy_py.core.Model method) add_contact_points() (jiminy_py.core.Model method) add_frame() (jiminy_py.core.Model method) add_marker() (jiminy_py.viewer.Viewer method) add_robot() (jiminy_py.core.Engine method) (jiminy_py.simulator.Simulator method) add_tab() (jiminy_py.plot.TabbedFigure method) adjust_layout() (jiminy_py.plot.TabbedFigure method) aggregate_frame_names() (in module gym_jiminy.common.quantities.generic) allow_update_graph (gym_jiminy.common.bases.quantities.InterfaceQuantity attribute) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch attribute) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption attribute) (gym_jiminy.common.quantities.generic.FrameOrientation attribute) (gym_jiminy.common.quantities.generic.FramePosition attribute) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.generic.FrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic attribute) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection attribute) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiFrameOrientation attribute) (gym_jiminy.common.quantities.generic.MultiFramePosition attribute) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat attribute)

ANGLE_AXIS (gym_jiminy.common.quantities.generic.OrientationType attribute) angle_axis_to_quat() (in module gym_jiminy.common.utils.math) apply_safety_limits() (in module gym_jiminy.common.blocks.motor_safety_limit) armature (jiminy_py.core.AbstractMotor property) array_copyto() (in module jiminy_py.core) as_integer_ratio() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) async_play_and_record_logs_files() (in module jiminy_py.viewer) attach_camera() (jiminy_py.viewer.Viewer method) attach_motor() (jiminy_py.core.Robot method) attach_sensor() (jiminy_py.core.Robot method) AverageBaseMomentum (class in gym_jiminy.common.quantities.locomotion) AverageFrameRollPitch (class in gym_jiminy.common.quantities.generic) AverageFrameXYZQuat (class in gym_jiminy.common.quantities.generic) AverageMechanicalPowerConsumption (class in gym_jiminy.common.quantities.generic) axes (jiminy_py.plot.TabData attribute) axis (jiminy_py.core.WheelConstraint property)

B

backend (jiminy_py.viewer.Viewer attribute) backlash (jiminy_py.core.AbstractMotor property) backlash_joint_indices (jiminy_py.core.Model property) backlash_joint_names (jiminy_py.core.Model property) BadControlFlow (class in jiminy_py.core) BaseConstraint (class in jiminy_py.core) BaseController (class in jiminy_py.core) BaseControllerBlock (class in gym_jiminy.common.bases.blocks) BaseJiminyEnv (class in gym_jiminy.common.envs.generic) BaseJiminyRobot (class in jiminy_py.robot) BaseObserverBlock (class in gym_jiminy.common.bases.blocks) BaseOdometryAverageVelocity (class in gym_jiminy.common.quantities.locomotion) BaseOdometryPose (class in gym_jiminy.common.quantities.locomotion) BasePipelineWrapper (class in gym_jiminy.common.bases.pipeline) BaseRelativeHeight (class in gym_jiminy.common.quantities.locomotion) BaseRollPitchTermination (class in gym_jiminy.common.compositions.locomotion) BaseSpatialAverageVelocity (class in gym_jiminy.common.quantities.locomotion) BaseTransformAction (class in gym_jiminy.common.bases.pipeline) BaseTransformObservation (class in gym_jiminy.common.bases.pipeline) baumgarte_freq (jiminy_py.core.AbstractConstraint property)

bit_count() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) bit_length() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) block (gym_jiminy.common.utils.pipeline.LayerConfig attribute) BlockConfig (class in gym_jiminy.common.utils.pipeline) build() (jiminy_py.simulator.Simulator class method) build_clip() (in module gym_jiminy.common.utils.spaces) build_contains() (in module gym_jiminy.common.utils.spaces) build_copyto() (in module gym_jiminy.common.utils.spaces) build_flatten() (in module gym_jiminy.common.utils.spaces) build_geom_from_urdf() (in module jiminy_py.core) build_map() (in module gym_jiminy.common.utils.spaces) build_models_from_urdf() (in module jiminy_py.core) build_normalize() (in module gym_jiminy.common.utils.spaces) build_pipeline() (in module gym_jiminy.common.utils.pipeline) build_reduce() (in module gym_jiminy.common.utils.spaces) build_robot_from_log() (in module jiminy_py.log) build_robots_from_log() (in module jiminy_py.log) button (jiminy_py.plot.TabData attribute) button_axcut (jiminy_py.plot.TabData attribute)

C

cache (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity property) (gym_jiminy.common.bases.quantities.InterfaceQuantity property) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance property) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch property) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat property) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption property) (gym_jiminy.common.quantities.generic.FrameOrientation property) (gym_jiminy.common.quantities.generic.FramePosition property) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity property) (gym_jiminy.common.quantities.generic.FrameXYZQuat property) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic property) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection property) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat property) (gym_jiminy.common.quantities.generic.MultiFrameOrientation property) (gym_jiminy.common.quantities.generic.MultiFramePosition property) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat property) capture_frame() (jiminy_py.viewer.Viewer static method) CapturePoint (class in gym_jiminy.common.quantities.locomotion) CenterOfMass (class in gym_jiminy.common.quantities.locomotion) CHARGE (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) clear() (jiminy_py.plot.TabbedFigure method) clip() (in module gym_jiminy.common.utils.spaces) close() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.plot.TabbedFigure method) (jiminy_py.simulator.Simulator method) (jiminy_py.viewer.Viewer method) cls (gym_jiminy.common.utils.pipeline.BlockConfig attribute) (gym_jiminy.common.utils.pipeline.CompositionConfig attribute) (gym_jiminy.common.utils.pipeline.EnvConfig attribute) (gym_jiminy.common.utils.pipeline.WrapperConfig attribute) collision_body_indices (jiminy_py.core.Model property) collision_body_names (jiminy_py.core.Model property) collision_data (jiminy_py.core.Model property) collision_model (jiminy_py.core.Model property) collision_model_th (jiminy_py.core.Model property) collision_pair_indices (jiminy_py.core.Model property) command (jiminy_py.core.RobotState property) (jiminy_py.dynamics.State attribute) components (gym_jiminy.common.bases.compositions.MixtureReward attribute) ComposedJiminyEnv (class in gym_jiminy.common.bases.pipeline) CompositionConfig (class in gym_jiminy.common.utils.pipeline) compute() (gym_jiminy.common.bases.compositions.AbstractReward method) (gym_jiminy.common.bases.compositions.AbstractTerminationCondition method) (gym_jiminy.common.bases.compositions.MixtureReward method) (gym_jiminy.common.bases.compositions.QuantityReward method) (gym_jiminy.common.bases.compositions.QuantityTermination method) (gym_jiminy.common.compositions.generic.DriftTrackingQuantityTermination method) (gym_jiminy.common.compositions.generic.MechanicalPowerConsumptionTermination method) (gym_jiminy.common.compositions.generic.MechanicalSafetyTermination method) (gym_jiminy.common.compositions.generic.ShiftTrackingMotorPositionsTermination method) (gym_jiminy.common.compositions.generic.ShiftTrackingQuantityTermination method) (gym_jiminy.common.compositions.generic.SurviveReward method) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward method) (gym_jiminy.common.compositions.generic.TrackingQuantityReward method)

compute_command() (gym_jiminy.common.bases.interfaces.InterfaceController method) (gym_jiminy.common.bases.pipeline.BaseTransformAction method) (gym_jiminy.common.bases.pipeline.BaseTransformObservation method) (gym_jiminy.common.bases.pipeline.ComposedJiminyEnv method) (gym_jiminy.common.bases.pipeline.ControlledJiminyEnv method) (gym_jiminy.common.bases.pipeline.ObservedJiminyEnv method) (gym_jiminy.common.blocks.motor_safety_limit.MotorSafetyLimit method) (gym_jiminy.common.blocks.proportional_derivative_controller.PDAdapter method) (gym_jiminy.common.blocks.proportional_derivative_controller.PDController method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.wrappers.observation_stack.StackObservation method) (jiminy_py.core.AbstractController method) (jiminy_py.core.BaseController method) compute_constraints() (jiminy_py.core.Model method) compute_efforts_from_fixed_body() (in module jiminy_py.dynamics) compute_forward_kinematics() (jiminy_py.core.Engine static method) compute_freeflyer_state_from_fixed_body() (in module jiminy_py.dynamics) compute_inverse_dynamics() (in module jiminy_py.dynamics) compute_jacobian_and_drift() (jiminy_py.core.AbstractConstraint method) (jiminy_py.core.BaseConstraint method) compute_reward() (gym_jiminy.common.bases.interfaces.InterfaceController method) (gym_jiminy.common.bases.pipeline.ComposedJiminyEnv method) (gym_jiminy.common.bases.pipeline.ControlledJiminyEnv method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv method) compute_robots_dynamics() (jiminy_py.core.Engine method) compute_sensor_measurements() (jiminy_py.core.Robot method) compute_tilt_from_quat() (in module gym_jiminy.common.utils.math) compute_transform_contact() (in module jiminy_py.dynamics) computeJMinvJt() (in module jiminy_py.core) computeKineticEnergy() (in module jiminy_py.core) conjugate() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) connect_backend() (jiminy_py.viewer.Viewer static method) CONSTANT (jiminy_py.core.HeightmapType attribute) constraints (jiminy_py.core.Model property) contact_forces (jiminy_py.core.Model property) contact_frame_indices (jiminy_py.core.Model property) contact_frame_names (jiminy_py.core.Model property) ContactSensor (class in jiminy_py.core) contains() (in module gym_jiminy.common.utils.spaces) CONTINUED (gym_jiminy.common.bases.compositions.EpisodeState attribute) control_dt (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) ControlledJiminyEnv (class in gym_jiminy.common.bases.pipeline) controller (jiminy_py.core.Robot property) copy() (in module gym_jiminy.common.utils.spaces) (jiminy_py.core.Model method) (jiminy_py.core.Robot method) copyto() (in module gym_jiminy.common.utils.spaces) coupling_forces (jiminy_py.core.Engine property) CouplingForce (class in jiminy_py.core) crba() (in module jiminy_py.core)

D

data (jiminy_py.core.AbstractSensor property) dataset (gym_jiminy.common.utils.pipeline.TrajectoryDatabaseConfig attribute) DatasetTrajectoryQuantity (class in gym_jiminy.common.bases.quantities) DeformationEstimator (class in gym_jiminy.common.blocks.deformation_estimator) denominator (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) (gym_jiminy.common.quantities.generic.OrientationType attribute) derived (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) detach_camera() (jiminy_py.viewer.Viewer static method) detach_motor() (jiminy_py.core.Robot method) detach_motors() (jiminy_py.core.Robot method) detach_sensor() (jiminy_py.core.Robot method) detach_sensors() (jiminy_py.core.Robot method) discard() (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity method) (gym_jiminy.common.bases.quantities.SharedCache method) (gym_jiminy.common.bases.quantities.WeakMutableCollection method) discretize_heightmap() (in module jiminy_py.core)

display() (jiminy_py.viewer.Viewer method) display_capture_point() (jiminy_py.viewer.Viewer method) display_center_of_mass() (jiminy_py.viewer.Viewer method) display_collisions() (jiminy_py.viewer.Viewer method) display_contact_forces() (jiminy_py.viewer.Viewer method) display_contact_frames() (jiminy_py.viewer.Viewer method) display_external_forces() (jiminy_py.viewer.Viewer method) display_visuals() (jiminy_py.viewer.Viewer method) DistanceConstraint (class in jiminy_py.core) dofs_fixed (jiminy_py.core.FrameConstraint property) drift (jiminy_py.core.AbstractConstraint property) DriftTrackingBaseOdometryOrientationTermination (class in gym_jiminy.common.compositions.locomotion) DriftTrackingBaseOdometryPositionTermination (class in gym_jiminy.common.compositions.locomotion) DriftTrackingQuantityTermination (class in gym_jiminy.common.compositions.generic) dt (jiminy_py.core.ImpulseForce property) (jiminy_py.core.StepperState property)

E

effort_limit (jiminy_py.core.AbstractMotor property) EffortSensor (class in jiminy_py.core) EncoderSensor (class in jiminy_py.core) EnergyGenerationMode (class in gym_jiminy.common.quantities.generic) Engine (class in jiminy_py.core) EngineObsType (class in gym_jiminy.common.bases.interfaces) env (gym_jiminy.common.bases.blocks.InterfaceBlock attribute) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper attribute) EnvConfig (class in gym_jiminy.common.utils.pipeline) EpisodeState (class in gym_jiminy.common.bases.compositions) EULER (gym_jiminy.common.quantities.generic.OrientationType attribute)

eval() (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv method) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) evaluate() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) exp3() (in module gym_jiminy.common.utils.math) exp6() (in module gym_jiminy.common.utils.math) export_options() (jiminy_py.simulator.Simulator method) extract_replay_data_from_log() (in module jiminy_py.viewer) extract_trajectories_from_log() (in module jiminy_py.log) extract_trajectory_from_log() (in module jiminy_py.log) extract_variables_from_log() (in module jiminy_py.log)

F

f_external (jiminy_py.core.RobotState property) (jiminy_py.dynamics.State attribute) FallingTermination (class in gym_jiminy.common.compositions.locomotion) fieldnames (gym_jiminy.common.bases.blocks.BaseControllerBlock property) (gym_jiminy.common.bases.blocks.BaseObserverBlock property) (gym_jiminy.common.bases.blocks.InterfaceBlock property) (gym_jiminy.common.blocks.deformation_estimator.DeformationEstimator property) (gym_jiminy.common.blocks.mahony_filter.MahonyFilter property) (gym_jiminy.common.blocks.motor_safety_limit.MotorSafetyLimit property) (gym_jiminy.common.blocks.proportional_derivative_controller.PDAdapter property) (gym_jiminy.common.blocks.proportional_derivative_controller.PDController property) (jiminy_py.core.AbstractSensor property) (jiminy_py.core.ContactSensor attribute) (jiminy_py.core.EffortSensor attribute) (jiminy_py.core.EncoderSensor attribute) (jiminy_py.core.ForceSensor attribute) (jiminy_py.core.ImuSensor attribute) fill() (in module gym_jiminy.common.utils.spaces) FilterObservation (class in gym_jiminy.common.wrappers.observation_filter) FlattenAction (class in gym_jiminy.common.wrappers.flatten) FlattenObservation (class in gym_jiminy.common.wrappers.flatten) flexibility_estimator() (in module gym_jiminy.common.blocks.deformation_estimator) flexibility_joint_indices (jiminy_py.core.Model property) flexibility_joint_names (jiminy_py.core.Model property) FlyingTermination (class in gym_jiminy.common.compositions.locomotion) FootCollisionTermination (class in gym_jiminy.common.compositions.locomotion) force (jiminy_py.core.ImpulseForce property) (jiminy_py.core.ProfileForce property) ForceSensor (class in jiminy_py.core) frame_index (jiminy_py.core.ContactSensor property) (jiminy_py.core.ForceSensor property) (jiminy_py.core.FrameConstraint property) (jiminy_py.core.ImpulseForce property) (jiminy_py.core.ImuSensor property) (jiminy_py.core.ProfileForce property) (jiminy_py.core.SphereConstraint property) (jiminy_py.core.WheelConstraint property) frame_indices (jiminy_py.core.DistanceConstraint property)

frame_name (gym_jiminy.common.quantities.generic.AverageFrameRollPitch attribute) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.FrameOrientation attribute) (gym_jiminy.common.quantities.generic.FramePosition attribute) (gym_jiminy.common.quantities.generic.FrameQuantity attribute) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.generic.FrameXYZQuat attribute) (jiminy_py.core.ContactSensor property) (jiminy_py.core.ForceSensor property) (jiminy_py.core.FrameConstraint property) (jiminy_py.core.ImpulseForce property) (jiminy_py.core.ImuSensor property) (jiminy_py.core.ProfileForce property) (jiminy_py.core.SphereConstraint property) (jiminy_py.core.WheelConstraint property) frame_names (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection attribute) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiFrameOrientation attribute) (gym_jiminy.common.quantities.generic.MultiFramePosition attribute) (gym_jiminy.common.quantities.generic.MultiFrameQuantity attribute) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.MultiFootCollisionDetection attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanOdometryPose attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.MultiFootNormalizedForceVertical attribute) (gym_jiminy.common.quantities.locomotion.MultiFootRelativeXYZQuat attribute) (jiminy_py.core.DistanceConstraint property) FrameConstraint (class in jiminy_py.core) FrameOrientation (class in gym_jiminy.common.quantities.generic) FramePosition (class in gym_jiminy.common.quantities.generic) FrameQuantity (class in gym_jiminy.common.quantities.generic) FrameSpatialAverageVelocity (class in gym_jiminy.common.quantities.generic) FrameXYZQuat (class in gym_jiminy.common.quantities.generic) FREE (jiminy_py.core.JointModelType attribute) from_bytes() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) func (jiminy_py.core.CouplingForce property) (jiminy_py.core.ProfileForce property) FunctionalController (class in jiminy_py.core)

G

generate_default_hardware_description_file() (in module jiminy_py.robot) generator_mode (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption attribute) GENERIC (jiminy_py.core.HeightmapType attribute) get() (gym_jiminy.common.bases.quantities.InterfaceQuantity method) (gym_jiminy.common.bases.quantities.SharedCache method) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance method) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch method) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat method) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption method) (gym_jiminy.common.quantities.generic.FrameOrientation method) (gym_jiminy.common.quantities.generic.FramePosition method) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity method) (gym_jiminy.common.quantities.generic.FrameXYZQuat method) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic method) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection method) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat method) (gym_jiminy.common.quantities.generic.MultiFrameOrientation method) (gym_jiminy.common.quantities.generic.MultiFramePosition method) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat method) (jiminy_py.dynamics.Trajectory method) get_body_world_acceleration() (in module jiminy_py.dynamics) get_body_world_transform() (in module jiminy_py.dynamics) get_body_world_velocity() (in module jiminy_py.dynamics) get_bounds() (in module gym_jiminy.common.utils.spaces) get_camera_transform() (jiminy_py.viewer.Viewer static method) get_constraints_jacobian_and_drift() (jiminy_py.core.Model method) get_default_backend() (in module jiminy_py.viewer) get_encoder_to_motor_map() (in module gym_jiminy.common.blocks.proportional_derivative_controller) get_extended_position_from_theoretical() (jiminy_py.core.Model method) get_extended_velocity_from_theoretical() (jiminy_py.core.Model method) get_fieldnames() (in module gym_jiminy.common.utils.misc) get_flexibility_imu_frame_chains() (in module gym_jiminy.common.blocks.deformation_estimator) get_frame_indices() (in module jiminy_py.core) get_joint_indices() (in module jiminy_py.core), [1] get_joint_position_first_index() (in module jiminy_py.core) get_joint_type() (in module jiminy_py.core) get_model_options() (jiminy_py.core.Robot method) get_motor() (jiminy_py.core.Robot method) get_options() (jiminy_py.core.AbstractController method) (jiminy_py.core.AbstractMotor method) (jiminy_py.core.AbstractSensor method) (jiminy_py.core.Engine method) (jiminy_py.core.Model method) (jiminy_py.core.Robot method) get_robot() (jiminy_py.core.Engine method) get_robot_index() (jiminy_py.core.Engine method) get_robot_state() (jiminy_py.core.Engine method) get_sensor() (jiminy_py.core.Robot method) get_simulation_options() (jiminy_py.core.Engine method) get_state() (gym_jiminy.common.bases.blocks.InterfaceBlock method) (gym_jiminy.common.blocks.mahony_filter.MahonyFilter method) (gym_jiminy.common.blocks.proportional_derivative_controller.PDController method)

get_theoretical_position_from_extended() (jiminy_py.core.Model method) get_theoretical_velocity_from_extended() (jiminy_py.core.Model method) gym_jiminy.common.bases.blocks module gym_jiminy.common.bases.compositions module gym_jiminy.common.bases.interfaces module gym_jiminy.common.bases.pipeline module gym_jiminy.common.bases.quantities module gym_jiminy.common.blocks.deformation_estimator module gym_jiminy.common.blocks.mahony_filter module gym_jiminy.common.blocks.motor_safety_limit module gym_jiminy.common.blocks.proportional_derivative_controller module gym_jiminy.common.compositions.generic module gym_jiminy.common.compositions.locomotion module gym_jiminy.common.envs.generic module gym_jiminy.common.envs.locomotion module gym_jiminy.common.quantities.generic module gym_jiminy.common.quantities.locomotion module gym_jiminy.common.utils.math module gym_jiminy.common.utils.misc module gym_jiminy.common.utils.pipeline module gym_jiminy.common.utils.spaces module gym_jiminy.common.wrappers.flatten module gym_jiminy.common.wrappers.normalize module gym_jiminy.common.wrappers.observation_filter module gym_jiminy.common.wrappers.observation_stack module

H

has_acceleration (jiminy_py.dynamics.Trajectory property) has_command (jiminy_py.dynamics.Trajectory property) has_constraints (jiminy_py.core.Model property) (jiminy_py.dynamics.Trajectory property) has_data (jiminy_py.dynamics.Trajectory property) has_effort (jiminy_py.dynamics.Trajectory property) has_external_forces (jiminy_py.dynamics.Trajectory property) has_freeflyer (jiminy_py.core.Model property)

has_gui() (jiminy_py.viewer.Viewer static method) has_terminated() (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv method) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.bases.pipeline.ComposedJiminyEnv method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv method) has_velocity (jiminy_py.dynamics.Trajectory property) HeightmapFunction (class in jiminy_py.core) HeightmapType (class in jiminy_py.core)

I

imag (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) (gym_jiminy.common.quantities.generic.OrientationType attribute) ImpactForceTermination (class in gym_jiminy.common.compositions.locomotion) import_options() (jiminy_py.simulator.Simulator method) impulse_forces (jiminy_py.core.Engine property) ImpulseForce (class in jiminy_py.core) ImuSensor (class in jiminy_py.core) index (jiminy_py.core.AbstractMotor property) (jiminy_py.core.AbstractSensor property) initialize() (gym_jiminy.common.bases.quantities.AbstractQuantity method) (gym_jiminy.common.bases.quantities.InterfaceQuantity method) (gym_jiminy.common.bases.quantities.StateQuantity method) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance method) (gym_jiminy.common.compositions.locomotion._MultiContactMinGroundDistance method) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch method) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat method) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption method) (gym_jiminy.common.quantities.generic.FrameOrientation method) (gym_jiminy.common.quantities.generic.FramePosition method) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity method) (gym_jiminy.common.quantities.generic.FrameXYZQuat method) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic method) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection method) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat method) (gym_jiminy.common.quantities.generic.MultiFrameOrientation method) (gym_jiminy.common.quantities.generic.MultiFramePosition method) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat method) (gym_jiminy.common.quantities.locomotion.AverageBaseMomentum method) (gym_jiminy.common.quantities.locomotion.BaseOdometryPose method) (gym_jiminy.common.quantities.locomotion.CapturePoint method) (gym_jiminy.common.quantities.locomotion.CenterOfMass method) (gym_jiminy.common.quantities.locomotion.MultiContactNormalizedSpatialForce method) (gym_jiminy.common.quantities.locomotion.MultiFootNormalizedForceVertical method) (gym_jiminy.common.quantities.locomotion.ZeroMomentPoint method) (jiminy_py.core.AbstractController method) (jiminy_py.core.ContactSensor method) (jiminy_py.core.EffortSensor method) (jiminy_py.core.EncoderSensor method) (jiminy_py.core.ForceSensor method) (jiminy_py.core.ImuSensor method) (jiminy_py.core.Model method) (jiminy_py.core.Robot method) (jiminy_py.core.SimpleMotor method) (jiminy_py.robot.BaseJiminyRobot method) integrate_zoh() (in module gym_jiminy.common.blocks.proportional_derivative_controller) interactive_mode() (in module jiminy_py.viewer) InterfaceBlock (class in gym_jiminy.common.bases.blocks) InterfaceController (class in gym_jiminy.common.bases.interfaces) InterfaceJiminyEnv (class in gym_jiminy.common.bases.interfaces) InterfaceObserver (class in gym_jiminy.common.bases.interfaces) InterfaceQuantity (class in gym_jiminy.common.bases.quantities) internal_dynamics() (jiminy_py.core.AbstractController method) (jiminy_py.core.BaseController method) interpolate_positions() (in module jiminy_py.core)

is_active() (gym_jiminy.common.bases.quantities.InterfaceQuantity method) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance method) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch method) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat method) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption method) (gym_jiminy.common.quantities.generic.FrameOrientation method) (gym_jiminy.common.quantities.generic.FramePosition method) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity method) (gym_jiminy.common.quantities.generic.FrameXYZQuat method) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic method) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection method) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat method) (gym_jiminy.common.quantities.generic.MultiFrameOrientation method) (gym_jiminy.common.quantities.generic.MultiFramePosition method) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat method) is_alive() (jiminy_py.viewer.Viewer static method) is_attached (jiminy_py.core.AbstractMotor property) (jiminy_py.core.AbstractSensor property) IS_CACHED (gym_jiminy.common.bases.quantities.QuantityStateMachine attribute) is_display_available() (in module jiminy_py.viewer) is_enabled (jiminy_py.core.AbstractConstraint property) is_flexibility_enabled (jiminy_py.core.Model property) IS_INITIALIZED (gym_jiminy.common.bases.quantities.QuantityStateMachine attribute) is_initialized (jiminy_py.core.AbstractController property) (jiminy_py.core.AbstractMotor property) (jiminy_py.core.AbstractSensor property) (jiminy_py.core.Model property) is_locked (jiminy_py.core.Robot property) is_motor_side (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic attribute) is_nan() (in module gym_jiminy.common.utils.misc) is_normalized (gym_jiminy.common.bases.compositions.AbstractReward property) (gym_jiminy.common.bases.compositions.MixtureReward property) (gym_jiminy.common.bases.compositions.QuantityReward property) (gym_jiminy.common.compositions.generic.SurviveReward property) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward property) (gym_jiminy.common.compositions.generic.TrackingQuantityReward property) is_open() (jiminy_py.viewer.Viewer method) is_position_valid() (in module jiminy_py.core) IS_RESET (gym_jiminy.common.bases.quantities.QuantityStateMachine attribute) is_simulation_running (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (jiminy_py.core.Engine property) is_terminal (gym_jiminy.common.bases.compositions.AbstractReward property) (gym_jiminy.common.bases.compositions.MixtureReward property) (gym_jiminy.common.bases.compositions.QuantityReward property) (gym_jiminy.common.compositions.generic.SurviveReward property) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward property) (gym_jiminy.common.compositions.generic.TrackingQuantityReward property) is_training (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv property) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv property) is_viewer_available (jiminy_py.simulator.Simulator property) items() (jiminy_py.core.SensorMeasurementTree method) iter (jiminy_py.core.StepperState property) iter_failed (jiminy_py.core.StepperState property)

J

jacobian (jiminy_py.core.AbstractConstraint property) jiminy::AbstractConstraintBase (C++ class) jiminy::AbstractConstraintBase::AbstractConstraintBase (C++ function) jiminy::AbstractConstraintBase::computeJacobianAndDrift (C++ function) jiminy::AbstractConstraintBase::disable (C++ function) jiminy::AbstractConstraintBase::enable (C++ function) jiminy::AbstractConstraintBase::getBaumgarteFreq (C++ function) jiminy::AbstractConstraintBase::getBaumgartePositionGain (C++ function) jiminy::AbstractConstraintBase::getBaumgarteVelocityGain (C++ function) jiminy::AbstractConstraintBase::getDrift (C++ function) jiminy::AbstractConstraintBase::getIsEnabled (C++ function) jiminy::AbstractConstraintBase::getJacobian (C++ function) jiminy::AbstractConstraintBase::getSize (C++ function) jiminy::AbstractConstraintBase::getType (C++ function) jiminy::AbstractConstraintBase::lambda_ (C++ member) jiminy::AbstractConstraintBase::reset (C++ function) jiminy::AbstractConstraintBase::setBaumgarteFreq (C++ function) jiminy::AbstractConstraintBase::setBaumgartePositionGain (C++ function) jiminy::AbstractConstraintBase::setBaumgarteVelocityGain (C++ function) jiminy::AbstractConstraintBase::~AbstractConstraintBase (C++ function) jiminy::AbstractController (C++ class) jiminy::AbstractController::AbstractController (C++ function) jiminy::AbstractController::baseControllerOptions_ (C++ member) jiminy::AbstractController::computeCommand (C++ function) jiminy::AbstractController::configureTelemetry (C++ function) jiminy::AbstractController::ControllerOptions (C++ struct) jiminy::AbstractController::ControllerOptions::ControllerOptions (C++ function) jiminy::AbstractController::ControllerOptions::telemetryEnable (C++ member) jiminy::AbstractController::getDefaultControllerOptions (C++ function) jiminy::AbstractController::getIsInitialized (C++ function) jiminy::AbstractController::getIsTelemetryConfigured (C++ function) jiminy::AbstractController::getOptions (C++ function) jiminy::AbstractController::initialize (C++ function) jiminy::AbstractController::internalDynamics (C++ function) jiminy::AbstractController::registerConstant (C++ function) jiminy::AbstractController::registerVariable (C++ function), [1], [2] jiminy::AbstractController::removeEntries (C++ function) jiminy::AbstractController::reset (C++ function) jiminy::AbstractController::robot_ (C++ member) jiminy::AbstractController::sensorMeasurements_ (C++ member) jiminy::AbstractController::setOptions (C++ function) jiminy::AbstractController::updateTelemetry (C++ function) jiminy::AbstractController::~AbstractController (C++ function) jiminy::AbstractMotorBase (C++ class) jiminy::AbstractMotorBase::AbstractMotorBase (C++ function) jiminy::AbstractMotorBase::AbstractMotorOptions (C++ struct) jiminy::AbstractMotorBase::AbstractMotorOptions::AbstractMotorOptions (C++ function) jiminy::AbstractMotorBase::AbstractMotorOptions::armature (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::backlash (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::effortLimit (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::effortLimitFromUrdf (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::enableArmature (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::enableBacklash (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::mechanicalReduction (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::velocityLimit (C++ member) jiminy::AbstractMotorBase::AbstractMotorOptions::velocityLimitFromUrdf (C++ member) jiminy::AbstractMotorBase::baseMotorOptions_ (C++ member) jiminy::AbstractMotorBase::computeEffort (C++ function) jiminy::AbstractMotorBase::computeEffortAll (C++ function) jiminy::AbstractMotorBase::get (C++ function) jiminy::AbstractMotorBase::getAll (C++ function) jiminy::AbstractMotorBase::getArmature (C++ function) jiminy::AbstractMotorBase::getBacklash (C++ function) jiminy::AbstractMotorBase::getDefaultMotorOptions (C++ function) jiminy::AbstractMotorBase::getEffortLimit (C++ function) jiminy::AbstractMotorBase::getIndex (C++ function) jiminy::AbstractMotorBase::getIsAttached (C++ function) jiminy::AbstractMotorBase::getIsInitialized (C++ function) jiminy::AbstractMotorBase::getJointIndex (C++ function) jiminy::AbstractMotorBase::getJointName (C++ function) jiminy::AbstractMotorBase::getName (C++ function) jiminy::AbstractMotorBase::getOptions (C++ function) jiminy::AbstractMotorBase::getPositionLimitLower (C++ function) jiminy::AbstractMotorBase::getPositionLimitUpper (C++ function) jiminy::AbstractMotorBase::getVelocityLimit (C++ function) jiminy::AbstractMotorBase::refreshProxies (C++ function) jiminy::AbstractMotorBase::resetAll (C++ function) jiminy::AbstractMotorBase::setOptions (C++ function) jiminy::AbstractMotorBase::setOptionsAll (C++ function) jiminy::AbstractMotorBase::~AbstractMotorBase (C++ function) jiminy::AbstractSensorBase (C++ class) jiminy::AbstractSensorBase::AbstractSensorBase (C++ function) jiminy::AbstractSensorBase::AbstractSensorOptions (C++ struct) jiminy::AbstractSensorBase::AbstractSensorOptions::AbstractSensorOptions (C++ function) jiminy::AbstractSensorBase::AbstractSensorOptions::bias (C++ member) jiminy::AbstractSensorBase::AbstractSensorOptions::delay (C++ member) jiminy::AbstractSensorBase::AbstractSensorOptions::delayInterpolationOrder (C++ member) jiminy::AbstractSensorBase::AbstractSensorOptions::jitter (C++ member) jiminy::AbstractSensorBase::AbstractSensorOptions::noiseStd (C++ member) jiminy::AbstractSensorBase::baseSensorOptions_ (C++ member) jiminy::AbstractSensorBase::configureTelemetry (C++ function) jiminy::AbstractSensorBase::get (C++ function) jiminy::AbstractSensorBase::getDefaultSensorOptions (C++ function) jiminy::AbstractSensorBase::getFieldnames (C++ function) jiminy::AbstractSensorBase::getIndex (C++ function) jiminy::AbstractSensorBase::getIsAttached (C++ function) jiminy::AbstractSensorBase::getIsInitialized (C++ function) jiminy::AbstractSensorBase::getIsTelemetryConfigured (C++ function) jiminy::AbstractSensorBase::getName (C++ function) jiminy::AbstractSensorBase::getOptions (C++ function) jiminy::AbstractSensorBase::getSize (C++ function) jiminy::AbstractSensorBase::getType (C++ function) jiminy::AbstractSensorBase::refreshProxies (C++ function) jiminy::AbstractSensorBase::resetAll (C++ function) jiminy::AbstractSensorBase::set (C++ function) jiminy::AbstractSensorBase::setOptions (C++ function) jiminy::AbstractSensorBase::setOptionsAll (C++ function) jiminy::AbstractSensorBase::updateTelemetry (C++ function) jiminy::AbstractSensorBase::updateTelemetryAll (C++ function) jiminy::AbstractSensorBase::~AbstractSensorBase (C++ function) jiminy::ConstraintSolverType (C++ enum) jiminy::ConstraintSolverType::PGS (C++ enumerator) jiminy::ConstraintSolverType::UNSUPPORTED (C++ enumerator) jiminy::ContactModelType (C++ enum) jiminy::ContactModelType::CONSTRAINT (C++ enumerator) jiminy::ContactModelType::SPRING_DAMPER (C++ enumerator) jiminy::ContactModelType::UNSUPPORTED (C++ enumerator) jiminy::ContactSensor (C++ class) jiminy::ContactSensor::getFrameIndex (C++ function) jiminy::ContactSensor::getFrameName (C++ function) jiminy::ContactSensor::initialize (C++ function) jiminy::ContactSensor::refreshProxies (C++ function) jiminy::ContactSensor::setOptions (C++ function) jiminy::convertForceGlobalFrameToJoint (C++ function) jiminy::CouplingForce (C++ struct) jiminy::CouplingForce::CouplingForce (C++ function), [1] jiminy::CouplingForce::frameIndex1 (C++ member) jiminy::CouplingForce::frameIndex2 (C++ member) jiminy::CouplingForce::frameName1 (C++ member) jiminy::CouplingForce::frameName2 (C++ member) jiminy::CouplingForce::func (C++ member) jiminy::CouplingForce::robotIndex1 (C++ member) jiminy::CouplingForce::robotIndex2 (C++ member) jiminy::CouplingForce::robotName1 (C++ member) jiminy::CouplingForce::robotName2 (C++ member) jiminy::DistanceConstraint (C++ class) jiminy::DistanceConstraint::computeJacobianAndDrift (C++ function) jiminy::DistanceConstraint::DistanceConstraint (C++ function) jiminy::DistanceConstraint::getFrameIndices (C++ function) jiminy::DistanceConstraint::getFrameNames (C++ function) jiminy::DistanceConstraint::getReferenceDistance (C++ function) jiminy::DistanceConstraint::reset (C++ function) jiminy::DistanceConstraint::setReferenceDistance (C++ function) jiminy::DistanceConstraint::~DistanceConstraint (C++ function) jiminy::EffortSensor (C++ class) jiminy::EffortSensor::getMotorIndex (C++ function) jiminy::EffortSensor::getMotorName (C++ function) jiminy::EffortSensor::initialize (C++ function) jiminy::EffortSensor::refreshProxies (C++ function) jiminy::EffortSensor::setOptions (C++ function) jiminy::EncoderSensor (C++ class) jiminy::EncoderSensor::getJointIndex (C++ function) jiminy::EncoderSensor::getJointName (C++ function) jiminy::EncoderSensor::getMotorIndex (C++ function) jiminy::EncoderSensor::getMotorName (C++ function) jiminy::EncoderSensor::initialize (C++ function) jiminy::EncoderSensor::refreshProxies (C++ function) jiminy::EncoderSensor::setOptions (C++ function) jiminy::ForceSensor (C++ class) jiminy::ForceSensor::getFrameIndex (C++ function) jiminy::ForceSensor::getFrameName (C++ function) jiminy::ForceSensor::getJointIndex (C++ function) jiminy::ForceSensor::initialize (C++ function) jiminy::ForceSensor::refreshProxies (C++ function) jiminy::ForceSensor::setOptions (C++ function) jiminy::FrameConstraint (C++ class) jiminy::FrameConstraint::computeJacobianAndDrift (C++ function) jiminy::FrameConstraint::FrameConstraint (C++ function) jiminy::FrameConstraint::getDofsFixed (C++ function) jiminy::FrameConstraint::getFrameIndex (C++ function) jiminy::FrameConstraint::getFrameName (C++ function) jiminy::FrameConstraint::getLocalFrame (C++ function) jiminy::FrameConstraint::getReferenceTransform (C++ function) jiminy::FrameConstraint::reset (C++ function) jiminy::FrameConstraint::setNormal (C++ function) jiminy::FrameConstraint::setReferenceTransform (C++ function) jiminy::FrameConstraint::~FrameConstraint (C++ function) jiminy::FunctionalController (C++ class) jiminy::FunctionalController::computeCommand (C++ function) jiminy::FunctionalController::FunctionalController (C++ function), [1] jiminy::FunctionalController::internalDynamics (C++ function) jiminy::FunctionalController::~FunctionalController (C++ function) jiminy::getJointTypePositionSuffixes (C++ function) jiminy::getJointTypeVelocitySuffixes (C++ function) jiminy::ImpulseForce (C++ struct) jiminy::ImpulseForce::dt (C++ member) jiminy::ImpulseForce::force (C++ member) jiminy::ImpulseForce::frameIndex (C++ member) jiminy::ImpulseForce::frameName (C++ member) jiminy::ImpulseForce::ImpulseForce (C++ function), [1] jiminy::ImpulseForce::t (C++ member) jiminy::ImuSensor (C++ class) jiminy::ImuSensor::getFrameIndex (C++ function) jiminy::ImuSensor::getFrameName (C++ function) jiminy::ImuSensor::initialize (C++ function) jiminy::ImuSensor::refreshProxies (C++ function) jiminy::ImuSensor::setOptions (C++ function) jiminy::JointConstraint (C++ class) jiminy::JointConstraint::computeJacobianAndDrift (C++ function) jiminy::JointConstraint::getJointIndex (C++ function) jiminy::JointConstraint::getJointName (C++ function) jiminy::JointConstraint::getReferenceConfiguration (C++ function) jiminy::JointConstraint::getRotationDir (C++ function) jiminy::JointConstraint::JointConstraint (C++ function) jiminy::JointConstraint::reset (C++ function) jiminy::JointConstraint::setReferenceConfiguration (C++ function) jiminy::JointConstraint::setRotationDir (C++ function) jiminy::JointConstraint::~JointConstraint (C++ function) jiminy::Model (C++ class) jiminy::Model::addCollisionBodies (C++ function) jiminy::Model::addConstraint (C++ function) jiminy::Model::addContactPoints (C++ function) jiminy::Model::addFrame (C++ function) jiminy::Model::collisionData_ (C++ member) jiminy::Model::collisionModel_ (C++ member) jiminy::Model::collisionModelTh_ (C++ member) jiminy::Model::CollisionOptions (C++ struct) jiminy::Model::CollisionOptions::CollisionOptions (C++ function) jiminy::Model::CollisionOptions::contactPointsPerBodyMax (C++ member) jiminy::Model::computeConstraints (C++ function)

jiminy::Model::contactForces_ (C++ member) jiminy::Model::DynamicsOptions (C++ struct) jiminy::Model::DynamicsOptions::centerOfMassPositionBodiesBiasStd (C++ member) jiminy::Model::DynamicsOptions::DynamicsOptions (C++ function) jiminy::Model::DynamicsOptions::enableFlexibility (C++ member) jiminy::Model::DynamicsOptions::flexibilityConfig (C++ member) jiminy::Model::DynamicsOptions::inertiaBodiesBiasStd (C++ member) jiminy::Model::DynamicsOptions::massBodiesBiasStd (C++ member) jiminy::Model::DynamicsOptions::relativePositionBodiesBiasStd (C++ member) jiminy::Model::getBacklashJointIndices (C++ function) jiminy::Model::getBacklashJointNames (C++ function) jiminy::Model::getCollisionBodyIndices (C++ function) jiminy::Model::getCollisionBodyNames (C++ function) jiminy::Model::getCollisionPairIndices (C++ function) jiminy::Model::getConstraints (C++ function) jiminy::Model::getContactFrameIndices (C++ function) jiminy::Model::getContactFrameNames (C++ function) jiminy::Model::getDefaultCollisionOptions (C++ function) jiminy::Model::getDefaultDynamicsOptions (C++ function) jiminy::Model::getDefaultJointOptions (C++ function) jiminy::Model::getDefaultModelOptions (C++ function) jiminy::Model::getExtendedPositionFromTheoretical (C++ function) jiminy::Model::getExtendedVelocityFromTheoretical (C++ function) jiminy::Model::getFlexibilityJointIndices (C++ function) jiminy::Model::getFlexibilityJointNames (C++ function) jiminy::Model::getHasFreeflyer (C++ function) jiminy::Model::getIsInitialized (C++ function) jiminy::Model::getIsLocked (C++ function) jiminy::Model::getLock (C++ function) jiminy::Model::getLogAccelerationFieldnames (C++ function) jiminy::Model::getLogConstraintFieldnames (C++ function) jiminy::Model::getLogEffortFieldnames (C++ function) jiminy::Model::getLogForceExternalFieldnames (C++ function) jiminy::Model::getLogPositionFieldnames (C++ function) jiminy::Model::getLogVelocityFieldnames (C++ function) jiminy::Model::getMechanicalJointIndices (C++ function) jiminy::Model::getMechanicalJointNames (C++ function) jiminy::Model::getMechanicalJointPositionIndices (C++ function) jiminy::Model::getMechanicalJointVelocityIndices (C++ function) jiminy::Model::getMeshPackageDirs (C++ function) jiminy::Model::getName (C++ function) jiminy::Model::getOptions (C++ function) jiminy::Model::getTheoreticalPositionFromExtended (C++ function) jiminy::Model::getTheoreticalVelocityFromExtended (C++ function) jiminy::Model::getUrdfAsString (C++ function) jiminy::Model::getUrdfPath (C++ function) jiminy::Model::hasConstraints (C++ function) jiminy::Model::initialize (C++ function), [1] jiminy::Model::JointOptions (C++ struct) jiminy::Model::JointOptions::JointOptions (C++ function) jiminy::Model::JointOptions::positionLimitFromUrdf (C++ member) jiminy::Model::JointOptions::positionLimitMax (C++ member) jiminy::Model::JointOptions::positionLimitMin (C++ member) jiminy::Model::Model (C++ function), [1] jiminy::Model::ModelOptions (C++ struct) jiminy::Model::ModelOptions::collisions (C++ member) jiminy::Model::ModelOptions::dynamics (C++ member) jiminy::Model::ModelOptions::joints (C++ member) jiminy::Model::ModelOptions::ModelOptions (C++ function) jiminy::Model::modelOptions_ (C++ member) jiminy::Model::nq (C++ function) jiminy::Model::nv (C++ function) jiminy::Model::nx (C++ function) jiminy::Model::operator= (C++ function), [1] jiminy::Model::pinocchioData_ (C++ member) jiminy::Model::pinocchioDataTh_ (C++ member) jiminy::Model::pinocchioModel_ (C++ member) jiminy::Model::pinocchioModelTh_ (C++ member) jiminy::Model::removeCollisionBodies (C++ function) jiminy::Model::removeConstraint (C++ function) jiminy::Model::removeContactPoints (C++ function) jiminy::Model::removeFrames (C++ function) jiminy::Model::reset (C++ function) jiminy::Model::resetConstraints (C++ function) jiminy::Model::setOptions (C++ function) jiminy::Model::visualData_ (C++ member) jiminy::Model::visualModel_ (C++ member) jiminy::Model::visualModelTh_ (C++ member) jiminy::Model::~Model (C++ function) jiminy::ProfileForce (C++ struct) jiminy::ProfileForce::force (C++ member) jiminy::ProfileForce::frameIndex (C++ member) jiminy::ProfileForce::frameName (C++ member) jiminy::ProfileForce::func (C++ member) jiminy::ProfileForce::ProfileForce (C++ function), [1] jiminy::ProfileForce::updatePeriod (C++ member) jiminy::Robot (C++ class) jiminy::Robot::attachMotor (C++ function) jiminy::Robot::attachSensor (C++ function) jiminy::Robot::computeMotorEfforts (C++ function) jiminy::Robot::computeSensorMeasurements (C++ function) jiminy::Robot::configureTelemetry (C++ function) jiminy::Robot::detachMotor (C++ function) jiminy::Robot::detachMotors (C++ function) jiminy::Robot::detachSensor (C++ function) jiminy::Robot::detachSensors (C++ function) jiminy::Robot::getController (C++ function), [1] jiminy::Robot::getDefaultRobotOptions (C++ function) jiminy::Robot::getIsTelemetryConfigured (C++ function) jiminy::Robot::getLock (C++ function) jiminy::Robot::getLogCommandFieldnames (C++ function) jiminy::Robot::getModelOptions (C++ function) jiminy::Robot::getMotor (C++ function), [1] jiminy::Robot::getMotorEffort (C++ function) jiminy::Robot::getMotorEfforts (C++ function) jiminy::Robot::getMotors (C++ function), [1] jiminy::Robot::getName (C++ function) jiminy::Robot::getOptions (C++ function) jiminy::Robot::getSensor (C++ function), [1] jiminy::Robot::getSensorMeasurement (C++ function) jiminy::Robot::getSensorMeasurements (C++ function) jiminy::Robot::getSensors (C++ function), [1] jiminy::Robot::initialize (C++ function), [1] jiminy::Robot::MotorVector (C++ type) jiminy::Robot::nmotors (C++ function) jiminy::Robot::operator= (C++ function), [1] jiminy::Robot::reset (C++ function) jiminy::Robot::Robot (C++ function), [1] jiminy::Robot::SensorTree (C++ type) jiminy::Robot::SensorVector (C++ type) jiminy::Robot::setController (C++ function) jiminy::Robot::setModelOptions (C++ function) jiminy::Robot::setOptions (C++ function) jiminy::Robot::shared_from_this (C++ function), [1] jiminy::Robot::updateTelemetry (C++ function) jiminy::Robot::WeakMotorVector (C++ type) jiminy::Robot::WeakSensorTree (C++ type) jiminy::Robot::WeakSensorVector (C++ type) jiminy::Robot::~Robot (C++ function) jiminy::RobotState (C++ struct) jiminy::RobotState::a (C++ member) jiminy::RobotState::clear (C++ function) jiminy::RobotState::command (C++ member) jiminy::RobotState::fExternal (C++ member) jiminy::RobotState::getIsInitialized (C++ function) jiminy::RobotState::initialize (C++ function) jiminy::RobotState::q (C++ member) jiminy::RobotState::u (C++ member) jiminy::RobotState::uCustom (C++ member) jiminy::RobotState::uInternal (C++ member) jiminy::RobotState::uMotor (C++ member) jiminy::RobotState::uTransmission (C++ member) jiminy::RobotState::v (C++ member) jiminy::SimpleMotor (C++ class) jiminy::SimpleMotor::getDefaultMotorOptions (C++ function) jiminy::SimpleMotor::initialize (C++ function) jiminy::SimpleMotor::setOptions (C++ function) jiminy::SimpleMotor::SimpleMotor (C++ function) jiminy::SimpleMotor::SimpleMotorOptions (C++ struct) jiminy::SimpleMotor::SimpleMotorOptions::enableEffortLimit (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::enableFriction (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::enableVelocityLimit (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::frictionDryNegative (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::frictionDryPositive (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::frictionDrySlope (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::frictionViscousNegative (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::frictionViscousPositive (C++ member) jiminy::SimpleMotor::SimpleMotorOptions::SimpleMotorOptions (C++ function) jiminy::SimpleMotor::SimpleMotorOptions::velocityEffortInvSlope (C++ member) jiminy::SimpleMotor::~SimpleMotor (C++ function) jiminy::SphereConstraint (C++ class) jiminy::SphereConstraint::computeJacobianAndDrift (C++ function) jiminy::SphereConstraint::getFrameIndex (C++ function) jiminy::SphereConstraint::getFrameName (C++ function) jiminy::SphereConstraint::getNormal (C++ function) jiminy::SphereConstraint::getRadius (C++ function) jiminy::SphereConstraint::getReferenceTransform (C++ function) jiminy::SphereConstraint::reset (C++ function) jiminy::SphereConstraint::setReferenceTransform (C++ function) jiminy::SphereConstraint::SphereConstraint (C++ function) jiminy::SphereConstraint::~SphereConstraint (C++ function) jiminy::StepperState (C++ struct) jiminy::StepperState::aSplit (C++ member) jiminy::StepperState::dt (C++ member) jiminy::StepperState::dtLargest (C++ member) jiminy::StepperState::dtLargestPrev (C++ member) jiminy::StepperState::iter (C++ member) jiminy::StepperState::iterFailed (C++ member) jiminy::StepperState::qSplit (C++ member) jiminy::StepperState::reset (C++ function) jiminy::StepperState::t (C++ member) jiminy::StepperState::tError (C++ member) jiminy::StepperState::tPrev (C++ member) jiminy::StepperState::vSplit (C++ member) jiminy::Timer (C++ class) jiminy::Timer::tic (C++ function) jiminy::Timer::Timer (C++ function) jiminy::Timer::toc (C++ function) jiminy::WheelConstraint (C++ class) jiminy::WheelConstraint::computeJacobianAndDrift (C++ function) jiminy::WheelConstraint::getFrameIndex (C++ function) jiminy::WheelConstraint::getFrameName (C++ function) jiminy::WheelConstraint::getNormal (C++ function) jiminy::WheelConstraint::getRadius (C++ function) jiminy::WheelConstraint::getReferenceTransform (C++ function) jiminy::WheelConstraint::getWheelAxis (C++ function) jiminy::WheelConstraint::reset (C++ function) jiminy::WheelConstraint::setReferenceTransform (C++ function) jiminy::WheelConstraint::WheelConstraint (C++ function) jiminy::WheelConstraint::~WheelConstraint (C++ function) jiminy_py.dynamics module jiminy_py.log module jiminy_py.plot module jiminy_py.robot module jiminy_py.simulator module jiminy_py.viewer module joint_index (jiminy_py.core.AbstractMotor property) (jiminy_py.core.EncoderSensor property) (jiminy_py.core.ForceSensor property) (jiminy_py.core.JointConstraint property) joint_name (jiminy_py.core.AbstractMotor property) (jiminy_py.core.EncoderSensor property) (jiminy_py.core.JointConstraint property) JointConstraint (class in jiminy_py.core) JointModelType (class in jiminy_py.core)

K

kd (jiminy_py.core.AbstractConstraint property) keys() (jiminy_py.core.SensorMeasurementTree method) kinematic_level (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic attribute) (gym_jiminy.common.quantities.locomotion.CenterOfMass attribute)

kp (jiminy_py.core.AbstractConstraint property) kwargs (gym_jiminy.common.utils.pipeline.BlockConfig attribute) (gym_jiminy.common.utils.pipeline.CompositionConfig attribute) (gym_jiminy.common.utils.pipeline.EnvConfig attribute) (gym_jiminy.common.utils.pipeline.WrapperConfig attribute)

L

lambda_c (jiminy_py.core.AbstractConstraint property) (jiminy_py.dynamics.State attribute) LayerConfig (class in gym_jiminy.common.utils.pipeline) legend_data (jiminy_py.plot.TabData attribute) LINEAR (jiminy_py.core.JointModelType attribute) load_hardware_description_file() (in module jiminy_py.robot) load_pipeline() (in module gym_jiminy.common.utils.pipeline) load_trajectory_from_hdf5() (in module gym_jiminy.common.utils.pipeline) local_rotation (jiminy_py.core.FrameConstraint property) log3() (in module gym_jiminy.common.utils.math) log6() (in module gym_jiminy.common.utils.math)

log_acceleration_fieldnames (jiminy_py.core.Model property) log_command_fieldnames (jiminy_py.core.Robot property) log_constraint_fieldnames (jiminy_py.core.Model property) log_data (jiminy_py.core.Engine property) log_effort_fieldnames (jiminy_py.core.Model property) log_f_external_fieldnames (jiminy_py.core.Model property) log_position_fieldnames (jiminy_py.core.Model property) log_velocity_fieldnames (jiminy_py.core.Model property) LogicError (class in jiminy_py.core) LookupError (class in jiminy_py.core) LOST_EACH (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) LOST_GLOBAL (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute)

M

mahony_filter() (in module gym_jiminy.common.blocks.mahony_filter) MahonyFilter (class in gym_jiminy.common.blocks.mahony_filter) matrices_to_quat() (in module gym_jiminy.common.utils.math) MATRIX (gym_jiminy.common.quantities.generic.OrientationType attribute) matrix_to_quat() (in module gym_jiminy.common.utils.math) matrix_to_rpy() (in module gym_jiminy.common.utils.math) matrix_to_yaw() (in module gym_jiminy.common.utils.math) max (jiminy_py.core.PCG32 attribute) max_stack (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption attribute) measurements (gym_jiminy.common.bases.interfaces.EngineObsType attribute) mechanical_joint_indices (jiminy_py.core.Model property) mechanical_joint_names (jiminy_py.core.Model property) mechanical_joint_position_indices (jiminy_py.core.Model property) mechanical_joint_velocity_indices (jiminy_py.core.Model property) MechanicalPowerConsumptionTermination (class in gym_jiminy.common.compositions.generic) MechanicalSafetyTermination (class in gym_jiminy.common.compositions.generic) merge_heightmaps() (in module jiminy_py.core) mesh_package_dirs (jiminy_py.core.Model property) metadata (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) min (jiminy_py.core.PCG32 attribute) MinimizeAngularMomentumReward (class in gym_jiminy.common.compositions.locomotion) MinimizeFrictionReward (class in gym_jiminy.common.compositions.locomotion) MixtureReward (class in gym_jiminy.common.bases.compositions) mode (gym_jiminy.common.bases.quantities.AbstractQuantity attribute) (gym_jiminy.common.bases.quantities.StateQuantity attribute) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch attribute) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption attribute) (gym_jiminy.common.quantities.generic.FrameOrientation attribute) (gym_jiminy.common.quantities.generic.FramePosition attribute) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.generic.FrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic attribute) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiFrameOrientation attribute) (gym_jiminy.common.quantities.generic.MultiFramePosition attribute) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.BaseOdometryAverageVelocity attribute) (gym_jiminy.common.quantities.locomotion.BaseRelativeHeight attribute) (gym_jiminy.common.quantities.locomotion.BaseSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanOdometryPose attribute) (gym_jiminy.common.quantities.locomotion.MultiFootMeanXYZQuat attribute) (gym_jiminy.common.quantities.locomotion.MultiFootRelativeXYZQuat attribute) (gym_jiminy.common.utils.pipeline.TrajectoryDatabaseConfig attribute) Model (class in jiminy_py.core) module gym_jiminy.common.bases.blocks gym_jiminy.common.bases.compositions gym_jiminy.common.bases.interfaces gym_jiminy.common.bases.pipeline gym_jiminy.common.bases.quantities gym_jiminy.common.blocks.deformation_estimator gym_jiminy.common.blocks.mahony_filter gym_jiminy.common.blocks.motor_safety_limit gym_jiminy.common.blocks.proportional_derivative_controller gym_jiminy.common.compositions.generic gym_jiminy.common.compositions.locomotion gym_jiminy.common.envs.generic gym_jiminy.common.envs.locomotion gym_jiminy.common.quantities.generic gym_jiminy.common.quantities.locomotion gym_jiminy.common.utils.math gym_jiminy.common.utils.misc gym_jiminy.common.utils.pipeline gym_jiminy.common.utils.spaces gym_jiminy.common.wrappers.flatten gym_jiminy.common.wrappers.normalize gym_jiminy.common.wrappers.observation_filter gym_jiminy.common.wrappers.observation_stack jiminy_py.dynamics jiminy_py.log jiminy_py.plot jiminy_py.robot jiminy_py.simulator jiminy_py.viewer

motor_index (jiminy_py.core.EffortSensor property) (jiminy_py.core.EncoderSensor property) motor_name (jiminy_py.core.EffortSensor property) (jiminy_py.core.EncoderSensor property) motors (jiminy_py.core.Robot property) MotorSafetyLimit (class in gym_jiminy.common.blocks.motor_safety_limit) MultiActuatedJointKinematic (class in gym_jiminy.common.quantities.generic) MultiContactNormalizedSpatialForce (class in gym_jiminy.common.quantities.locomotion) MultiFootCollisionDetection (class in gym_jiminy.common.quantities.locomotion) MultiFootMeanOdometryPose (class in gym_jiminy.common.quantities.locomotion) MultiFootMeanXYZQuat (class in gym_jiminy.common.quantities.locomotion) MultiFootNormalizedForceVertical (class in gym_jiminy.common.quantities.locomotion) MultiFootRelativeXYZQuat (class in gym_jiminy.common.quantities.locomotion) MultiFrameCollisionDetection (class in gym_jiminy.common.quantities.generic) MultiFrameMeanXYZQuat (class in gym_jiminy.common.quantities.generic) MultiFrameOrientation (class in gym_jiminy.common.quantities.generic) MultiFramePosition (class in gym_jiminy.common.quantities.generic) MultiFrameQuantity (class in gym_jiminy.common.quantities.generic) MultiFrameXYZQuat (class in gym_jiminy.common.quantities.generic)

N

name (gym_jiminy.common.bases.blocks.InterfaceBlock attribute) (gym_jiminy.common.bases.compositions.AbstractReward property) (gym_jiminy.common.bases.compositions.AbstractTerminationCondition property) (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity property) (gym_jiminy.common.compositions.generic.DriftTrackingQuantityTermination property) (gym_jiminy.common.compositions.generic.MechanicalPowerConsumptionTermination property) (gym_jiminy.common.compositions.generic.MechanicalSafetyTermination property) (gym_jiminy.common.compositions.generic.ShiftTrackingMotorPositionsTermination property) (gym_jiminy.common.compositions.generic.ShiftTrackingQuantityTermination property) (gym_jiminy.common.compositions.generic.SurviveReward property) (gym_jiminy.common.compositions.generic.TrackingActuatedJointPositionsReward property) (gym_jiminy.common.compositions.generic.TrackingQuantityReward property) (gym_jiminy.common.utils.pipeline.TrajectoryDatabaseConfig attribute) (jiminy_py.core.AbstractMotor property) (jiminy_py.core.AbstractSensor property) (jiminy_py.core.Robot property) names (jiminy_py.core.HeightmapType attribute) (jiminy_py.core.JointModelType attribute)

nav_pos (jiminy_py.plot.TabData attribute) nav_stack (jiminy_py.plot.TabData attribute) nmotors (jiminy_py.core.Robot property) NONE (jiminy_py.core.JointModelType attribute) normal (jiminy_py.core.SphereConstraint property) (jiminy_py.core.WheelConstraint property) normal() (in module jiminy_py.core) NormalizeAction (class in gym_jiminy.common.wrappers.normalize) NormalizeObservation (class in gym_jiminy.common.wrappers.normalize) NotImplementedError (class in jiminy_py.core) np_random (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv property) nq (jiminy_py.core.Model property) num_steps (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv attribute) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) numerator (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) (gym_jiminy.common.quantities.generic.OrientationType attribute) nv (jiminy_py.core.Model property) nx (jiminy_py.core.Model property)

O

observation (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) observation_space (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) observe_dt (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) ObservedJiminyEnv (class in gym_jiminy.common.bases.pipeline)

open_gui() (jiminy_py.viewer.Viewer static method) OrientationType (class in gym_jiminy.common.quantities.generic) OSError (class in jiminy_py.core) owners (gym_jiminy.common.bases.quantities.SharedCache attribute)

P

PCG32 (class in jiminy_py.core) pd_adapter() (in module gym_jiminy.common.blocks.proportional_derivative_controller) pd_controller() (in module gym_jiminy.common.blocks.proportional_derivative_controller) PDAdapter (class in gym_jiminy.common.blocks.proportional_derivative_controller) PDController (class in gym_jiminy.common.blocks.proportional_derivative_controller) PENALIZE (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) PeriodicFourierProcess (class in jiminy_py.core) PeriodicGaussianProcess (class in jiminy_py.core) pinocchio_data (jiminy_py.core.Model property) pinocchio_data_th (jiminy_py.core.Model property) pinocchio_model (jiminy_py.core.Model property) pinocchio_model_th (jiminy_py.core.Model property) PLANAR (jiminy_py.core.JointModelType attribute)

play_interactive() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) play_logs_data() (in module jiminy_py.viewer) play_logs_files() (in module jiminy_py.viewer) play_trajectories() (in module jiminy_py.viewer) plot() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.plot.TabbedFigure class method) (jiminy_py.simulator.Simulator method) plot_log() (in module jiminy_py.plot) position_limit_lower (jiminy_py.core.AbstractMotor property) position_limit_upper (jiminy_py.core.AbstractMotor property) profile_forces (jiminy_py.core.Engine property) ProfileForce (class in jiminy_py.core) py_function (jiminy_py.core.HeightmapFunction property)

Q

q (jiminy_py.core.RobotState property) (jiminy_py.core.StepperState property) (jiminy_py.dynamics.State attribute) quantities (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) QuantityEvalMode (class in gym_jiminy.common.bases.quantities) QuantityReward (class in gym_jiminy.common.bases.compositions) QuantityStateMachine (class in gym_jiminy.common.bases.quantities) QuantityTermination (class in gym_jiminy.common.bases.compositions) quat_apply() (in module gym_jiminy.common.utils.math)

quat_average() (in module gym_jiminy.common.utils.math) quat_difference() (in module gym_jiminy.common.utils.math) quat_interpolate_middle() (in module gym_jiminy.common.utils.math) quat_multiply() (in module gym_jiminy.common.utils.math) quat_to_angle_axis() (in module gym_jiminy.common.utils.math) quat_to_matrix() (in module gym_jiminy.common.utils.math) quat_to_rpy() (in module gym_jiminy.common.utils.math) quat_to_yaw() (in module gym_jiminy.common.utils.math) quat_to_yaw_cos_sin() (in module gym_jiminy.common.utils.math) QUATERNION (gym_jiminy.common.quantities.generic.OrientationType attribute)

R

radius (jiminy_py.core.SphereConstraint property) (jiminy_py.core.WheelConstraint property) random_tile_ground() (in module jiminy_py.core) RandomDistribution (class in gym_jiminy.common.utils.misc) read_log() (jiminy_py.core.Engine static method) real (gym_jiminy.common.quantities.generic.EnergyGenerationMode attribute) (gym_jiminy.common.quantities.generic.OrientationType attribute) REFERENCE (gym_jiminy.common.bases.quantities.QuantityEvalMode attribute) reference_configuration (jiminy_py.core.JointConstraint property) reference_distance (jiminy_py.core.DistanceConstraint property) reference_frame (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.locomotion.CapturePoint attribute) (gym_jiminy.common.quantities.locomotion.ZeroMomentPoint attribute) reference_transform (jiminy_py.core.FrameConstraint property) (jiminy_py.core.SphereConstraint property) (jiminy_py.core.WheelConstraint property) refresh() (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity method) (gym_jiminy.common.bases.quantities.InterfaceQuantity method) (gym_jiminy.common.bases.quantities.StateQuantity method) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance method) (gym_jiminy.common.compositions.locomotion._MultiContactMinGroundDistance method) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch method) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat method) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption method) (gym_jiminy.common.quantities.generic.FrameOrientation method) (gym_jiminy.common.quantities.generic.FramePosition method) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity method) (gym_jiminy.common.quantities.generic.FrameXYZQuat method) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic method) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection method) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat method) (gym_jiminy.common.quantities.generic.MultiFrameOrientation method) (gym_jiminy.common.quantities.generic.MultiFramePosition method) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat method) (gym_jiminy.common.quantities.locomotion.AverageBaseMomentum method) (gym_jiminy.common.quantities.locomotion.BaseOdometryAverageVelocity method) (gym_jiminy.common.quantities.locomotion.BaseOdometryPose method) (gym_jiminy.common.quantities.locomotion.BaseRelativeHeight method) (gym_jiminy.common.quantities.locomotion.BaseSpatialAverageVelocity method) (gym_jiminy.common.quantities.locomotion.CapturePoint method) (gym_jiminy.common.quantities.locomotion.CenterOfMass method) (gym_jiminy.common.quantities.locomotion.MultiContactNormalizedSpatialForce method) (gym_jiminy.common.quantities.locomotion.MultiFootCollisionDetection method) (gym_jiminy.common.quantities.locomotion.MultiFootMeanOdometryPose method) (gym_jiminy.common.quantities.locomotion.MultiFootMeanXYZQuat method) (gym_jiminy.common.quantities.locomotion.MultiFootNormalizedForceVertical method) (gym_jiminy.common.quantities.locomotion.MultiFootRelativeXYZQuat method) (gym_jiminy.common.quantities.locomotion.ZeroMomentPoint method) (jiminy_py.plot.TabbedFigure method) (jiminy_py.viewer.Viewer method) refresh_observation() (gym_jiminy.common.bases.interfaces.InterfaceObserver method) (gym_jiminy.common.bases.pipeline.BaseTransformAction method) (gym_jiminy.common.bases.pipeline.BaseTransformObservation method) (gym_jiminy.common.bases.pipeline.ComposedJiminyEnv method) (gym_jiminy.common.bases.pipeline.ControlledJiminyEnv method) (gym_jiminy.common.bases.pipeline.ObservedJiminyEnv method) (gym_jiminy.common.blocks.deformation_estimator.DeformationEstimator method) (gym_jiminy.common.blocks.mahony_filter.MahonyFilter method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.wrappers.observation_stack.StackObservation method) register_camera_motion() (jiminy_py.viewer.Viewer static method) register_constant() (jiminy_py.core.AbstractController method) register_coupling_force() (jiminy_py.core.Engine method) register_impulse_force() (jiminy_py.core.Engine method) (jiminy_py.simulator.Simulator method) register_profile_force() (jiminy_py.core.Engine method) (jiminy_py.simulator.Simulator method) register_variable() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.core.AbstractController method) register_variables() (in module gym_jiminy.common.utils.misc) (jiminy_py.core.AbstractController method) register_viscoelastic_coupling_force() (jiminy_py.core.Engine method) register_viscoelastic_directional_coupling_force() (jiminy_py.core.Engine method) remove_all_forces() (jiminy_py.core.Engine method) remove_camera_motion() (jiminy_py.viewer.Viewer static method) remove_collision_bodies() (jiminy_py.core.Model method) remove_constraint() (jiminy_py.core.Model method) remove_contact_points() (jiminy_py.core.Model method) remove_coupling_forces() (jiminy_py.core.Engine method) remove_entries() (jiminy_py.core.AbstractController method)

remove_frames() (jiminy_py.core.Model method) remove_impulse_forces() (jiminy_py.core.Engine method) remove_marker() (jiminy_py.viewer.Viewer method) remove_profile_forces() (jiminy_py.core.Engine method) remove_robot() (jiminy_py.core.Engine method) remove_tab() (jiminy_py.plot.TabbedFigure method) remove_twist_from_quat() (in module gym_jiminy.common.utils.math) remove_yaw_from_quat() (in module gym_jiminy.common.utils.math) render() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.simulator.Simulator method) render_mode (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) replay() (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.simulator.Simulator method) (jiminy_py.viewer.Viewer method) requirements (gym_jiminy.common.bases.quantities.InterfaceQuantity attribute) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance attribute) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch attribute) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption attribute) (gym_jiminy.common.quantities.generic.FrameOrientation attribute) (gym_jiminy.common.quantities.generic.FramePosition attribute) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity attribute) (gym_jiminy.common.quantities.generic.FrameXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic attribute) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection attribute) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat attribute) (gym_jiminy.common.quantities.generic.MultiFrameOrientation attribute) (gym_jiminy.common.quantities.generic.MultiFramePosition attribute) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat attribute) reset() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.bases.quantities.InterfaceQuantity method) (gym_jiminy.common.bases.quantities.SharedCache method) (gym_jiminy.common.compositions.generic._MultiActuatedJointBoundDistance method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (gym_jiminy.common.quantities.generic.AverageFrameRollPitch method) (gym_jiminy.common.quantities.generic.AverageFrameXYZQuat method) (gym_jiminy.common.quantities.generic.AverageMechanicalPowerConsumption method) (gym_jiminy.common.quantities.generic.FrameOrientation method) (gym_jiminy.common.quantities.generic.FramePosition method) (gym_jiminy.common.quantities.generic.FrameSpatialAverageVelocity method) (gym_jiminy.common.quantities.generic.FrameXYZQuat method) (gym_jiminy.common.quantities.generic.MultiActuatedJointKinematic method) (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection method) (gym_jiminy.common.quantities.generic.MultiFrameMeanXYZQuat method) (gym_jiminy.common.quantities.generic.MultiFrameOrientation method) (gym_jiminy.common.quantities.generic.MultiFramePosition method) (gym_jiminy.common.quantities.generic.MultiFrameXYZQuat method) (jiminy_py.core.AbstractConstraint method) (jiminy_py.core.AbstractController method) (jiminy_py.core.BaseConstraint method) (jiminy_py.core.BaseController method) (jiminy_py.core.Engine method) (jiminy_py.core.FunctionalController method) (jiminy_py.core.Model method) (jiminy_py.simulator.Simulator method) reward (gym_jiminy.common.utils.pipeline.EnvConfig attribute) reward_range (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (gym_jiminy.common.envs.locomotion.WalkerJiminyEnv attribute) rnea() (in module jiminy_py.core) Robot (class in jiminy_py.core) robot (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity property) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (jiminy_py.core.AbstractController property) (jiminy_py.dynamics.Trajectory attribute) (jiminy_py.simulator.Simulator property) robot_index_1 (jiminy_py.core.CouplingForce property) robot_index_2 (jiminy_py.core.CouplingForce property) robot_name_1 (jiminy_py.core.CouplingForce property) robot_name_2 (jiminy_py.core.CouplingForce property) robot_state (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (jiminy_py.simulator.Simulator property) robot_states (jiminy_py.core.Engine property) robots (jiminy_py.core.Engine property) RobotState (class in jiminy_py.core) ROTARY (jiminy_py.core.JointModelType attribute) ROTARY_UNBOUNDED (jiminy_py.core.JointModelType attribute) rotation_dir (jiminy_py.core.JointConstraint property) rpy_to_matrix() (in module gym_jiminy.common.utils.math) rpy_to_quat() (in module gym_jiminy.common.utils.math)

S

sample() (in module gym_jiminy.common.utils.misc) sanitize_foot_frame_names() (in module gym_jiminy.common.quantities.locomotion) save_all_tabs() (jiminy_py.plot.TabbedFigure method) save_frame() (jiminy_py.viewer.Viewer static method) save_tab() (jiminy_py.plot.TabbedFigure method) save_trajectory_to_hdf5() (in module gym_jiminy.common.utils.pipeline) SE3ToXYZRPY() (in module jiminy_py.dynamics) security_margin (gym_jiminy.common.quantities.generic.MultiFrameCollisionDetection attribute) seed() (jiminy_py.core.PCG32 method) (jiminy_py.simulator.Simulator method) select() (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity method) select_active_tab() (jiminy_py.plot.TabbedFigure method) sensor_measurements (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (jiminy_py.core.AbstractController property) (jiminy_py.core.Robot property) SensorMeasurementTree (class in jiminy_py.core) sensors (jiminy_py.core.Robot property) set_camera_lookat() (jiminy_py.viewer.Viewer method) set_camera_transform() (jiminy_py.viewer.Viewer method) set_clock() (jiminy_py.viewer.Viewer static method) set_color() (jiminy_py.viewer.Viewer method) set_legend() (jiminy_py.viewer.Viewer static method) set_model_options() (jiminy_py.core.Robot method) set_normal() (jiminy_py.core.FrameConstraint method) set_options() (jiminy_py.core.AbstractController method) (jiminy_py.core.AbstractMotor method) (jiminy_py.core.AbstractSensor method) (jiminy_py.core.Engine method) (jiminy_py.core.Model method) (jiminy_py.core.Robot method) set_simulation_options() (jiminy_py.core.Engine method) set_watermark() (jiminy_py.viewer.Viewer static method) SharedCache (class in gym_jiminy.common.bases.quantities) ShiftTrackingFootOdometryOrientationsTermination (class in gym_jiminy.common.compositions.locomotion) ShiftTrackingFootOdometryPositionsTermination (class in gym_jiminy.common.compositions.locomotion) ShiftTrackingMotorPositionsTermination (class in gym_jiminy.common.compositions.generic) ShiftTrackingQuantityTermination (class in gym_jiminy.common.compositions.generic)

SimpleMotor (class in jiminy_py.core) simulate() (jiminy_py.core.Engine method) (jiminy_py.simulator.Simulator method) simulation_duration_max (jiminy_py.core.Engine attribute) Simulator (class in jiminy_py.simulator) simulator (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) size (jiminy_py.core.AbstractConstraint property) sleep() (in module jiminy_py.viewer) solveJMinvJtv() (in module jiminy_py.core) spec (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) SphereConstraint (class in jiminy_py.core) SPHERICAL (jiminy_py.core.JointModelType attribute) StackObservation (class in gym_jiminy.common.wrappers.observation_stack) STAIRS (jiminy_py.core.HeightmapType attribute) start() (jiminy_py.core.Engine method) (jiminy_py.simulator.Simulator method) State (class in jiminy_py.dynamics) state_space (gym_jiminy.common.bases.blocks.InterfaceBlock attribute) StateQuantity (class in gym_jiminy.common.bases.quantities) states (gym_jiminy.common.bases.interfaces.EngineObsType attribute) (jiminy_py.dynamics.Trajectory attribute) step() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.core.Engine method) step_dt (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv property) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv property) stepper_state (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute) (jiminy_py.core.Engine property) StepperState (class in jiminy_py.core) stop() (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) (jiminy_py.core.Engine method) sum_heightmaps() (in module jiminy_py.core) SurviveReward (class in gym_jiminy.common.compositions.generic) swing_from_vector() (in module gym_jiminy.common.utils.math) sync() (in module gym_jiminy.common.bases.quantities)

T

t (gym_jiminy.common.bases.interfaces.EngineObsType attribute) (jiminy_py.core.ImpulseForce property) (jiminy_py.core.StepperState property) (jiminy_py.dynamics.State attribute) TabbedFigure (class in jiminy_py.plot) TabData (class in jiminy_py.plot) telemetry_time_unit (jiminy_py.core.Engine attribute) TERMINATED (gym_jiminy.common.bases.compositions.EpisodeState attribute) terminations (gym_jiminy.common.utils.pipeline.EnvConfig attribute) time_interval (jiminy_py.dynamics.Trajectory property) to_bytes() (gym_jiminy.common.quantities.generic.EnergyGenerationMode method) (gym_jiminy.common.quantities.generic.OrientationType method) TrackingActuatedJointPositionsReward (class in gym_jiminy.common.compositions.generic) TrackingBaseHeightReward (class in gym_jiminy.common.compositions.locomotion) TrackingBaseOdometryVelocityReward (class in gym_jiminy.common.compositions.locomotion) TrackingCapturePointReward (class in gym_jiminy.common.compositions.locomotion) TrackingFootForceDistributionReward (class in gym_jiminy.common.compositions.locomotion) TrackingFootOrientationsReward (class in gym_jiminy.common.compositions.locomotion) TrackingFootPositionsReward (class in gym_jiminy.common.compositions.locomotion) TrackingQuantityReward (class in gym_jiminy.common.compositions.generic) train() (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv method) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method) (gym_jiminy.common.envs.generic.BaseJiminyEnv method) trajectories (gym_jiminy.common.utils.pipeline.EnvConfig attribute) Trajectory (class in jiminy_py.dynamics) trajectory (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity property) TrajectoryDatabaseConfig (class in gym_jiminy.common.utils.pipeline)

transform_action() (gym_jiminy.common.bases.pipeline.BaseTransformAction method) (gym_jiminy.common.wrappers.flatten.FlattenAction method) (gym_jiminy.common.wrappers.normalize.NormalizeAction method) transform_observation() (gym_jiminy.common.bases.pipeline.BaseTransformObservation method) (gym_jiminy.common.wrappers.flatten.FlattenObservation method) (gym_jiminy.common.wrappers.normalize.NormalizeObservation method) (gym_jiminy.common.wrappers.observation_filter.FilterObservation method) transforms_to_xyzquat() (in module gym_jiminy.common.utils.math) translate_position_odom() (in module gym_jiminy.common.quantities.locomotion) TRUE (gym_jiminy.common.bases.quantities.QuantityEvalMode attribute) TRUNCATED (gym_jiminy.common.bases.compositions.EpisodeState attribute) type (gym_jiminy.common.bases.blocks.InterfaceBlock attribute) (gym_jiminy.common.quantities.generic.FrameOrientation attribute) (gym_jiminy.common.quantities.generic.MultiFrameOrientation attribute) (jiminy_py.core.AbstractConstraint property) (jiminy_py.core.AbstractSensor property) (jiminy_py.core.BaseConstraint attribute) (jiminy_py.core.ContactSensor attribute) (jiminy_py.core.DistanceConstraint attribute) (jiminy_py.core.EffortSensor attribute) (jiminy_py.core.EncoderSensor attribute) (jiminy_py.core.ForceSensor attribute) (jiminy_py.core.FrameConstraint attribute) (jiminy_py.core.ImuSensor attribute) (jiminy_py.core.JointConstraint attribute) (jiminy_py.core.SphereConstraint attribute) (jiminy_py.core.WheelConstraint attribute)

U

u (jiminy_py.core.RobotState property) (jiminy_py.dynamics.State attribute) u_custom (jiminy_py.core.RobotState property) u_internal (jiminy_py.core.RobotState property) u_motor (jiminy_py.core.RobotState property) u_transmission (jiminy_py.core.RobotState property) uniform() (in module jiminy_py.core) unwrapped (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv property) (gym_jiminy.common.bases.pipeline.BasePipelineWrapper property) (gym_jiminy.common.envs.generic.BaseJiminyEnv property)

update_floor() (jiminy_py.viewer.Viewer static method) update_period (jiminy_py.core.ProfileForce property) update_quantities() (in module jiminy_py.dynamics) update_ratio (gym_jiminy.common.bases.blocks.InterfaceBlock attribute) update_sensor_measurements_from_log() (in module jiminy_py.log) update_twist() (in module gym_jiminy.common.blocks.mahony_filter) urdf_path (jiminy_py.core.Model property) use_theoretical_model (gym_jiminy.common.bases.quantities.DatasetTrajectoryQuantity property) (jiminy_py.dynamics.Trajectory attribute)

V

v (jiminy_py.core.RobotState property) (jiminy_py.core.StepperState property) (jiminy_py.dynamics.State attribute) values (jiminy_py.core.HeightmapType attribute) (jiminy_py.core.JointModelType attribute) values() (jiminy_py.core.SensorMeasurementTree method) velocity_limit (jiminy_py.core.AbstractMotor property) velocityXYZQuatToXYZRPY() (in module jiminy_py.dynamics)

velocityXYZRPYToXYZQuat() (in module jiminy_py.dynamics) Viewer (class in jiminy_py.viewer) viewer (jiminy_py.simulator.Simulator property) ViewerClosedError viewers (jiminy_py.simulator.Simulator property) visual_data (jiminy_py.core.Model property) visual_model (jiminy_py.core.Model property) visual_model_th (jiminy_py.core.Model property)

W

wait() (jiminy_py.viewer.Viewer static method) WalkerJiminyEnv (class in gym_jiminy.common.envs.locomotion) WeakMutableCollection (class in gym_jiminy.common.bases.quantities) WheelConstraint (class in jiminy_py.core)

window_name (jiminy_py.viewer.Viewer attribute) wrapper (gym_jiminy.common.utils.pipeline.LayerConfig attribute) WrapperConfig (class in gym_jiminy.common.utils.pipeline) write_log() (jiminy_py.core.Engine method)

X

xyzquat_difference() (in module gym_jiminy.common.utils.math) XYZQuatToXYZRPY() (in module jiminy_py.dynamics)

XYZRPYToSE3() (in module jiminy_py.dynamics) XYZRPYToXYZQuat() (in module jiminy_py.dynamics)

Z

ZeroMomentPoint (class in gym_jiminy.common.quantities.locomotion)

zeros() (in module gym_jiminy.common.utils.spaces)