jiminy
1.8.4
README
Key features
Gym Jiminy
Demo
Getting started
INSTALLATION
Easy-install on Ubuntu 18+
Building from source
TUTORIALS
An introduction to Jiminy
API DOC
Jiminy C++ API
Jiminy Python API
Gym Jiminy API
Technical Specifications
HDF5 telemetry log format (TLMC)
Downloadable PDF
jiminy
Index
Index
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A
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B
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C
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D
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E
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F
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G
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H
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I
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J
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K
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L
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M
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N
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O
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P
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Q
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R
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S
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T
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U
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V
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W
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X
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Z
_
_abc_impl (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
(gym_jiminy.common.envs.locomotion.WalkerJiminyEnv attribute)
_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_protocol (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
_key_to_action() (gym_jiminy.common.envs.generic.BaseJiminyEnv method)
_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)
aba() (in module jiminy_py.core)
AbstractConstraint (class in jiminy_py.core)
AbstractController (class in jiminy_py.core)
AbstractMotor (class in jiminy_py.core)
AbstractSensor (class in jiminy_py.core)
action (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
action_space (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
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)
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)
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)
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)
BasePipelineWrapper (class in gym_jiminy.common.bases.pipeline)
BaseTransformAction (class in gym_jiminy.common.bases.pipeline)
BaseTransformObservation (class in gym_jiminy.common.bases.pipeline)
baumgarte_freq (jiminy_py.core.AbstractConstraint property)
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)
C
capture_frame() (jiminy_py.viewer.Viewer static method)
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.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)
command_limit (jiminy_py.core.AbstractMotor property)
(jiminy_py.core.Robot property)
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.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.StackedJiminyEnv method)
(jiminy_py.core.AbstractController method)
(jiminy_py.core.BaseController method)
compute_constraints() (jiminy_py.core.Model method)
compute_efforts() (in module jiminy_py.dynamics)
compute_efforts_from_fixed_body() (in module jiminy_py.dynamics)
compute_forward_kinematics() (jiminy_py.core.Engine static method)
compute_freeflyer() (in module jiminy_py.dynamics)
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.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)
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)
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)
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)
DeformationEstimator (class in gym_jiminy.common.blocks.deformation_estimator)
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)
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)
dt (jiminy_py.core.ImpulseForce property)
(jiminy_py.core.StepperState property)
E
EffortSensor (class in jiminy_py.core)
EncoderSensor (class in jiminy_py.core)
Engine (class in jiminy_py.core)
env (gym_jiminy.common.bases.blocks.InterfaceBlock attribute)
(gym_jiminy.common.bases.pipeline.BasePipelineWrapper attribute)
EnvConfig (class in gym_jiminy.common.utils.pipeline)
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)
exist_constraint() (jiminy_py.core.Model method)
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)
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)
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 (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)
FrameConstraint (class in jiminy_py.core)
frames_names (jiminy_py.core.DistanceConstraint property)
FREE (jiminy_py.core.JointModelType attribute)
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)
GENERIC (jiminy_py.core.HeightmapType attribute)
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_constraint() (jiminy_py.core.Model 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.interfaces
module
gym_jiminy.common.bases.pipeline
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.envs.generic
module
gym_jiminy.common.envs.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_constraints (jiminy_py.core.Model property)
has_freeflyer (jiminy_py.core.Model property)
has_gui() (jiminy_py.viewer.Viewer static method)
has_terminated() (gym_jiminy.common.envs.generic.BaseJiminyEnv method)
(gym_jiminy.common.envs.locomotion.WalkerJiminyEnv method)
HeightmapFunction (class in jiminy_py.core)
HeightmapType (class in jiminy_py.core)
I
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() (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)
internal_dynamics() (jiminy_py.core.AbstractController method)
(jiminy_py.core.BaseController method)
interpolate_positions() (in module jiminy_py.core)
is_alive() (jiminy_py.viewer.Viewer static method)
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 (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_nan() (in module gym_jiminy.common.utils.misc)
is_open() (jiminy_py.viewer.Viewer method)
is_position_valid() (in module jiminy_py.core)
is_simulation_running (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
(jiminy_py.core.Engine 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::getDim (C++ function)
jiminy::AbstractConstraintBase::getDrift (C++ function)
jiminy::AbstractConstraintBase::getIsEnabled (C++ function)
jiminy::AbstractConstraintBase::getJacobian (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::commandLimit (C++ member)
jiminy::AbstractMotorBase::AbstractMotorOptions::commandLimitFromUrdf (C++ member)
jiminy::AbstractMotorBase::AbstractMotorOptions::enableArmature (C++ member)
jiminy::AbstractMotorBase::AbstractMotorOptions::enableBacklash (C++ member)
jiminy::AbstractMotorBase::AbstractMotorOptions::enableCommandLimit (C++ member)
jiminy::AbstractMotorBase::AbstractMotorOptions::mechanicalReduction (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::getCommandLimit (C++ function)
jiminy::AbstractMotorBase::getDefaultMotorOptions (C++ function)
jiminy::AbstractMotorBase::getIndex (C++ function)
jiminy::AbstractMotorBase::getIsInitialized (C++ function)
jiminy::AbstractMotorBase::getJointIndex (C++ function)
jiminy::AbstractMotorBase::getJointName (C++ function)
jiminy::AbstractMotorBase::getJointPositionIndex (C++ function)
jiminy::AbstractMotorBase::getJointType (C++ function)
jiminy::AbstractMotorBase::getJointVelocityIndex (C++ function)
jiminy::AbstractMotorBase::getName (C++ function)
jiminy::AbstractMotorBase::getOptions (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::ContactSensor::shared_from_this (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::getFramesNames (C++ function)
jiminy::DistanceConstraint::getReferenceDistance (C++ function)
jiminy::DistanceConstraint::reset (C++ function)
jiminy::DistanceConstraint::setReferenceDistance (C++ function)
jiminy::DistanceConstraint::shared_from_this (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::EffortSensor::shared_from_this (C++ function)
jiminy::EncoderSensor (C++ class)
jiminy::EncoderSensor::getJointIndex (C++ function)
jiminy::EncoderSensor::getJointName (C++ function)
jiminy::EncoderSensor::getJointType (C++ function)
jiminy::EncoderSensor::initialize (C++ function)
jiminy::EncoderSensor::refreshProxies (C++ function)
jiminy::EncoderSensor::setOptions (C++ function)
jiminy::EncoderSensor::shared_from_this (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::ForceSensor::shared_from_this (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::shared_from_this (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::ImuSensor::shared_from_this (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::shared_from_this (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::existConstraint (C++ function)
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::getConstraint (C++ function)
,
[1]
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::getLogAccelerationFieldnames (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::getPositionLimitMax (C++ function)
jiminy::Model::getPositionLimitMin (C++ function)
jiminy::Model::getTheoreticalPositionFromExtended (C++ function)
jiminy::Model::getTheoreticalVelocityFromExtended (C++ function)
jiminy::Model::getUrdfAsString (C++ function)
jiminy::Model::getUrdfPath (C++ function)
jiminy::Model::getVelocityLimit (C++ function)
jiminy::Model::hasConstraints (C++ function)
jiminy::Model::initialize (C++ function)
,
[1]
jiminy::Model::JointOptions (C++ struct)
jiminy::Model::JointOptions::enableVelocityLimit (C++ member)
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::JointOptions::velocityLimit (C++ member)
jiminy::Model::JointOptions::velocityLimitFromUrdf (C++ member)
jiminy::Model::Model (C++ function)
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::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::getCommandLimit (C++ function)
jiminy::Robot::getController (C++ function)
,
[1]
jiminy::Robot::getDefaultRobotOptions (C++ function)
jiminy::Robot::getIsLocked (C++ function)
jiminy::Robot::getIsTelemetryConfigured (C++ function)
jiminy::Robot::getLock (C++ function)
jiminy::Robot::getLogCommandFieldnames (C++ function)
jiminy::Robot::getLogMotorEffortFieldnames (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::getMotorJointIndices (C++ function)
jiminy::Robot::getMotorNames (C++ function)
jiminy::Robot::getMotors (C++ function)
jiminy::Robot::getMotorsPositionIndices (C++ function)
jiminy::Robot::getMotorVelocityIndices (C++ function)
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::getSensorNames (C++ function)
,
[1]
jiminy::Robot::getSensors (C++ function)
jiminy::Robot::initialize (C++ function)
,
[1]
jiminy::Robot::MotorVector (C++ type)
jiminy::Robot::nmotors (C++ function)
jiminy::Robot::reset (C++ function)
jiminy::Robot::Robot (C++ function)
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::~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::v (C++ member)
jiminy::SimpleMotor (C++ class)
jiminy::SimpleMotor::getDefaultMotorOptions (C++ function)
jiminy::SimpleMotor::initialize (C++ function)
jiminy::SimpleMotor::setOptions (C++ function)
jiminy::SimpleMotor::shared_from_this (C++ function)
,
[1]
jiminy::SimpleMotor::SimpleMotor (C++ function)
jiminy::SimpleMotor::SimpleMotorOptions (C++ struct)
jiminy::SimpleMotor::SimpleMotorOptions::enableFriction (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::~SimpleMotor (C++ function)
jiminy::SphereConstraint (C++ class)
jiminy::SphereConstraint::computeJacobianAndDrift (C++ function)
jiminy::SphereConstraint::getFrameIndex (C++ function)
jiminy::SphereConstraint::getFrameName (C++ function)
jiminy::SphereConstraint::getReferenceTransform (C++ function)
jiminy::SphereConstraint::reset (C++ function)
jiminy::SphereConstraint::setReferenceTransform (C++ function)
jiminy::SphereConstraint::shared_from_this (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::getReferenceTransform (C++ function)
jiminy::WheelConstraint::reset (C++ function)
jiminy::WheelConstraint::setReferenceTransform (C++ function)
jiminy::WheelConstraint::shared_from_this (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)
joint_position_index (jiminy_py.core.AbstractMotor property)
joint_type (jiminy_py.core.AbstractMotor property)
(jiminy_py.core.EncoderSensor property)
joint_velocity_index (jiminy_py.core.AbstractMotor 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)
kp (jiminy_py.core.AbstractConstraint property)
L
lambda_c (jiminy_py.core.AbstractConstraint property)
LayerConfig (class in gym_jiminy.common.utils.pipeline)
LINEAR (jiminy_py.core.JointModelType attribute)
load_hardware_description_file() (in module jiminy_py.robot)
load_pipeline() (in module gym_jiminy.common.utils.pipeline)
local_rotation (jiminy_py.core.FrameConstraint property)
log_acceleration_fieldnames (jiminy_py.core.Model property)
log_command_fieldnames (jiminy_py.core.Robot property)
log_data (jiminy_py.core.Engine property)
log_f_external_fieldnames (jiminy_py.core.Model property)
log_motor_effort_fieldnames (jiminy_py.core.Robot 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)
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_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)
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)
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)
Model (class in jiminy_py.core)
module
gym_jiminy.common.bases.blocks
gym_jiminy.common.bases.interfaces
gym_jiminy.common.bases.pipeline
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.envs.generic
gym_jiminy.common.envs.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)
motor_name (jiminy_py.core.EffortSensor property)
motor_names (jiminy_py.core.Robot property)
motor_position_indices (jiminy_py.core.Robot property)
motor_velocity_indices (jiminy_py.core.Robot property)
MotorSafetyLimit (class in gym_jiminy.common.blocks.motor_safety_limit)
N
name (gym_jiminy.common.bases.blocks.InterfaceBlock 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)
nmotors (jiminy_py.core.Robot property)
NONE (jiminy_py.core.JointModelType attribute)
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)
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)
OSError (class in jiminy_py.core)
P
PartialObservationStack (class in gym_jiminy.common.wrappers.observation_stack)
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)
period (jiminy_py.core.PeriodicFourierProcess property)
(jiminy_py.core.PeriodicGaussianProcess property)
(jiminy_py.core.PeriodicPerlinProcess property)
PeriodicFourierProcess (class in jiminy_py.core)
PeriodicGaussianProcess (class in jiminy_py.core)
PeriodicPerlinProcess (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.Model property)
position_limit_upper (jiminy_py.core.Model 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)
quantities (gym_jiminy.common.envs.generic.BaseJiminyEnv attribute)
quat_average() (in module gym_jiminy.common.utils.math)
quat_multiply() (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)
R
random_tile_ground() (in module jiminy_py.core)
RandomDistribution (class in gym_jiminy.common.utils.misc)
RandomPerlinProcess (class in jiminy_py.core)
read_log() (jiminy_py.core.Engine static method)
reference_configuration (jiminy_py.core.JointConstraint property)
reference_distance (jiminy_py.core.DistanceConstraint property)
reference_transform (jiminy_py.core.FrameConstraint property)
(jiminy_py.core.SphereConstraint property)
(jiminy_py.core.WheelConstraint property)
refresh() (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.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.PartialObservationStack method)
(gym_jiminy.common.wrappers.observation_stack.StackedJiminyEnv 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)
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.envs.generic.BaseJiminyEnv attribute)
replay() (gym_jiminy.common.envs.generic.BaseJiminyEnv method)
(jiminy_py.simulator.Simulator method)
(jiminy_py.viewer.Viewer method)
reset() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method)
(gym_jiminy.common.envs.generic.BaseJiminyEnv method)
(gym_jiminy.common.wrappers.observation_stack.PartialObservationStack 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.core.PeriodicFourierProcess method)
(jiminy_py.core.PeriodicGaussianProcess method)
(jiminy_py.simulator.Simulator method)
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.envs.generic.BaseJiminyEnv attribute)
(jiminy_py.core.AbstractController property)
(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)
save_all_tabs() (jiminy_py.plot.TabbedFigure method)
save_frame() (jiminy_py.viewer.Viewer static method)
save_tab() (jiminy_py.plot.TabbedFigure method)
SE3ToXYZRPY() (in module jiminy_py.dynamics)
seed() (jiminy_py.core.PCG32 method)
(jiminy_py.simulator.Simulator 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)
sensor_names (jiminy_py.core.Robot property)
SensorMeasurementTree (class in jiminy_py.core)
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)
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)
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)
squared_norm_2() (in module gym_jiminy.common.utils.math)
StackedJiminyEnv (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)
step() (gym_jiminy.common.bases.pipeline.BasePipelineWrapper method)
(gym_jiminy.common.envs.generic.BaseJiminyEnv method)
(gym_jiminy.common.wrappers.observation_stack.PartialObservationStack 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() (jiminy_py.core.Engine method)
sum_heightmaps() (in module jiminy_py.core)
swing_from_vector() (in module gym_jiminy.common.utils.math)
T
t (jiminy_py.core.ImpulseForce property)
(jiminy_py.core.StepperState property)
TabbedFigure (class in jiminy_py.plot)
TabData (class in jiminy_py.plot)
telemetry_time_unit (jiminy_py.core.Engine attribute)
train() (gym_jiminy.common.bases.interfaces.InterfaceJiminyEnv method)
(gym_jiminy.common.bases.pipeline.BasePipelineWrapper method)
(gym_jiminy.common.envs.generic.BaseJiminyEnv method)
TrajectoryDataType (class in jiminy_py.dynamics)
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_vector() (in module gym_jiminy.common.utils.math)
type (gym_jiminy.common.bases.blocks.InterfaceBlock 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)
u_custom (jiminy_py.core.RobotState property)
u_internal (jiminy_py.core.RobotState property)
u_motor (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)
V
v (jiminy_py.core.RobotState property)
(jiminy_py.core.StepperState property)
values (jiminy_py.core.HeightmapType attribute)
(jiminy_py.core.JointModelType attribute)
values() (jiminy_py.core.SensorMeasurementTree method)
velocity_limit (jiminy_py.core.Model 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)
wavelength (jiminy_py.core.PeriodicFourierProcess property)
(jiminy_py.core.PeriodicGaussianProcess property)
WheelConstraint (class in jiminy_py.core)
window_name (jiminy_py.viewer.Viewer attribute)
WrapperConfig (class in gym_jiminy.common.utils.pipeline)
write_log() (jiminy_py.core.Engine method)
X
XYZQuatToXYZRPY() (in module jiminy_py.dynamics)
XYZRPYToSE3() (in module jiminy_py.dynamics)
XYZRPYToXYZQuat() (in module jiminy_py.dynamics)
Z
zeros() (in module gym_jiminy.common.utils.spaces)