perls2
Introduction
Introduction
Install
Quickstart
Franka Panda Setup
Modules
Environments
World
RobotInterfaces
Controllers
Examples
Simple Reach Example
Examples: Objects
Switching between Real and Sim Example
Project Template
API
Environment (Env)
World
Robot Interfaces
Controller
Object Interface
Camera Interface
Real Robot Control
Franka Panda Setup
Set up NUC (Control PC) for the Franka Panda
Set up workstation for Franka Panda
Using the Franka Panda
Rethink Sawyer Setup
Sawyer NUC Setup
Setup workstation for Rethink Sawyer
Using the Rethink Sawyer Arm
Redis Help
Controller Demos
Real Cameras
perls2 with Real Cameras
perls2
»
Index
Index
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
A
action_set (perls2.robots.robot_interface.RobotInterface attribute)
action_space (perls2.envs.env.Env attribute)
add_object() (perls2.worlds.bullet_world.BulletWorld method)
angular_jacobian() (perls2.robots.robot_interface.RobotInterface property)
angular_velocity (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
arena (perls2.envs.env.Env attribute)
(perls2.worlds.bullet_world.BulletWorld attribute)
(perls2.worlds.world.World attribute)
arm_id (perls2.robots.bullet_panda_interface.BulletPandaInterface attribute)
(perls2.robots.bullet_robot_interface.BulletRobotInterface attribute)
B
BulletPandaInterface (class in perls2.robots.bullet_panda_interface)
BulletRobotInterface (class in perls2.robots.bullet_robot_interface)
BulletSawyerInterface (class in perls2.robots.bullet_sawyer_interface)
BulletWorld (class in perls2.worlds.bullet_world)
C
camera_interface (perls2.worlds.bullet_world.BulletWorld attribute)
cameraEyePosition (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
CameraInterface (class in perls2.sensors.camera_interface)
cameraTargetPosition (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
cameraUpVectory (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
change_controller() (perls2.robots.robot_interface.RobotInterface method)
close_gripper() (perls2.robots.robot_interface.RobotInterface method)
config (perls2.envs.env.Env attribute)
(perls2.robots.bullet_panda_interface.BulletPandaInterface attribute)
(perls2.robots.bullet_robot_interface.BulletRobotInterface attribute)
(perls2.robots.robot_interface.RobotInterface attribute)
(perls2.worlds.world.World attribute)
control_freq (perls2.controllers.ee_posture.EEPostureController attribute)
control_ori (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
control_type (perls2.robots.robot_interface.RobotInterface attribute)
Controller (class in perls2.controllers.base_controller)
controller (perls2.robots.robot_interface.RobotInterface attribute)
controlType (perls2.robots.bullet_panda_interface.BulletPandaInterface attribute)
current_torque (perls2.controllers.joint_torque.JointTorqueController attribute)
D
damping (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
distance (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
distortion() (perls2.sensors.camera_interface.CameraInterface property)
dq() (perls2.robots.robot_interface.RobotInterface property)
E
ee_orientation() (perls2.robots.robot_interface.RobotInterface property)
ee_pose() (perls2.robots.robot_interface.RobotInterface property)
ee_position() (perls2.robots.robot_interface.RobotInterface property)
ee_twist() (perls2.robots.robot_interface.RobotInterface property)
ee_v() (perls2.robots.robot_interface.RobotInterface property)
ee_w() (perls2.robots.robot_interface.RobotInterface property)
EEImpController (class in perls2.controllers.ee_imp)
EEPostureController (class in perls2.controllers.ee_posture)
Env (class in perls2.envs.env)
F
far (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
G
get_observation() (perls2.envs.env.Env method)
goal_torque (perls2.controllers.joint_torque.JointTorqueController attribute)
H
handle_exception() (perls2.envs.env.Env method)
I
image_height (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
image_width (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
info() (perls2.envs.env.Env property)
initialize() (perls2.envs.env.Env method)
input_max (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.controllers.joint_torque.JointTorqueController attribute)
input_min (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.controllers.joint_torque.JointTorqueController attribute)
interpolator (perls2.controllers.joint_torque.JointTorqueController attribute)
interpolator_ori (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.robots.robot_interface.RobotInterface attribute)
interpolator_pos (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.robots.robot_interface.RobotInterface attribute)
intrinsics() (perls2.sensors.camera_interface.CameraInterface property)
is_done() (perls2.envs.env.Env method)
is_sim (perls2.worlds.world.World attribute)
is_success() (perls2.envs.env.Env method)
J
jacobian() (perls2.robots.robot_interface.RobotInterface property)
joint_dim (perls2.controllers.joint_torque.JointTorqueController attribute)
JointImpController (class in perls2.controllers.joint_imp)
JointTorqueController (class in perls2.controllers.joint_torque)
JointVelController (class in perls2.controllers.joint_vel)
K
kp (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
kv (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
L
limb_neutral_positiosn (perls2.robots.bullet_panda_interface.BulletPandaInterface attribute)
linear_jacobian() (perls2.robots.robot_interface.RobotInterface property)
linear_velocity (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
M
make_controller() (perls2.robots.robot_interface.RobotInterface method)
mass_matrix() (perls2.robots.robot_interface.RobotInterface property)
MAX_STEPS (perls2.worlds.bullet_world.BulletWorld attribute)
model (perls2.robots.robot_interface.RobotInterface attribute)
move_ee_delta() (perls2.robots.robot_interface.RobotInterface method)
N
name (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
(perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
(perls2.worlds.bullet_world.BulletWorld attribute)
name() (perls2.robots.robot_interface.RobotInterface property)
(perls2.sensors.camera_interface.CameraInterface property)
near (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
O
obj_id (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
object_interfaces (perls2.envs.env.Env attribute)
(perls2.worlds.bullet_world.BulletWorld attribute)
open_gripper() (perls2.robots.robot_interface.RobotInterface method)
orientation_limits (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
output_max (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.controllers.joint_torque.JointTorqueController attribute)
output_min (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
(perls2.controllers.joint_torque.JointTorqueController attribute)
P
perls2.envs.env (module)
physics_id (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
(perls2.robots.bullet_panda_interface.BulletPandaInterface attribute)
(perls2.robots.bullet_robot_interface.BulletRobotInterface attribute)
(perls2.worlds.bullet_world.BulletWorld attribute)
policy_freq (perls2.controllers.ee_imp.EEImpController attribute)
pose (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
position (perls2.objects.bullet_object_interface.BulletObjectInterface attribute)
position_limits (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
posture (perls2.controllers.ee_posture.EEPostureController attribute)
posture_gain (perls2.controllers.ee_posture.EEPostureController attribute)
projection_matrix (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
Q
q() (perls2.robots.robot_interface.RobotInterface property)
R
RealPandaInterface (class in perls2.robots.real_panda_interface)
RealSawyerInterface (class in perls2.robots.real_sawyer_interface)
RealWorld (class in perls2.worlds.real_world)
reboot() (perls2.worlds.bullet_world.BulletWorld method)
reconnect() (perls2.worlds.bullet_world.BulletWorld method)
remove_object() (perls2.worlds.bullet_world.BulletWorld method)
render() (perls2.envs.env.Env method)
reset() (perls2.envs.env.Env method)
(perls2.sensors.camera_interface.CameraInterface method)
(perls2.worlds.bullet_world.BulletWorld method)
(perls2.worlds.real_world.RealWorld method)
(perls2.worlds.world.World method)
rewardFunction() (perls2.envs.env.Env method)
robot_cfg (perls2.robots.bullet_robot_interface.BulletRobotInterface attribute)
robot_interface (perls2.envs.env.Env attribute)
(perls2.worlds.bullet_world.BulletWorld attribute)
(perls2.worlds.world.World attribute)
robot_model (perls2.controllers.joint_torque.JointTorqueController attribute)
RobotInterface (class in perls2.robots.robot_interface)
run_controller() (perls2.controllers.base_controller.Controller method)
(perls2.controllers.ee_imp.EEImpController method)
(perls2.controllers.ee_posture.EEPostureController method)
(perls2.controllers.joint_imp.JointImpController method)
(perls2.controllers.joint_torque.JointTorqueController method)
(perls2.controllers.joint_vel.JointVelController method)
S
scale_action() (perls2.controllers.base_controller.Controller method)
sensor_interface (perls2.envs.env.Env attribute)
(perls2.worlds.world.World attribute)
set_controller_goal() (perls2.robots.robot_interface.RobotInterface method)
set_ee_pose() (perls2.robots.robot_interface.RobotInterface method)
set_goal() (perls2.controllers.ee_imp.EEImpController method)
(perls2.controllers.ee_posture.EEPostureController method)
(perls2.controllers.joint_imp.JointImpController method)
(perls2.controllers.joint_torque.JointTorqueController method)
(perls2.controllers.joint_vel.JointVelController method)
set_gripper_to_value() (perls2.robots.robot_interface.RobotInterface method)
set_joint_delta() (perls2.robots.robot_interface.RobotInterface method)
set_joint_positions() (perls2.robots.robot_interface.RobotInterface method)
set_joint_torques() (perls2.robots.robot_interface.RobotInterface method)
set_joint_velocities() (perls2.robots.robot_interface.RobotInterface method)
set_pb_physics() (perls2.worlds.bullet_world.BulletWorld method)
set_state() (perls2.worlds.bullet_world.BulletWorld method)
start() (perls2.sensors.camera_interface.CameraInterface method)
step() (perls2.envs.env.Env method)
(perls2.robots.robot_interface.RobotInterface method)
(perls2.worlds.bullet_world.BulletWorld method)
(perls2.worlds.real_world.RealWorld method)
(perls2.worlds.world.World method)
stop() (perls2.sensors.camera_interface.CameraInterface method)
T
time_step (perls2.worlds.bullet_world.BulletWorld attribute)
torques (perls2.controllers.joint_torque.JointTorqueController attribute)
U
uncouple_pos_ori (perls2.controllers.ee_imp.EEImpController attribute)
(perls2.controllers.ee_posture.EEPostureController attribute)
update() (perls2.robots.robot_interface.RobotInterface method)
update_model() (perls2.robots.robot_interface.RobotInterface method)
V
view_matrix (perls2.sensors.bullet_camera_interface.BulletCameraInterface attribute)
visualize() (perls2.envs.env.Env method)
(perls2.worlds.bullet_world.BulletWorld method)
visualize_safenet_boundaries() (perls2.worlds.bullet_world.BulletWorld method)
W
wait_until_stable() (perls2.worlds.bullet_world.BulletWorld method)
World (class in perls2.worlds.world)