Index

A

active_joint_names (pykin.robots.bimanual.Bimanual property) (pykin.robots.robot.Robot property) (pykin.robots.single_arm.SingleArm property) add_edge() (pykin.planners.tree.Tree method)

add_object() (pykin.collision.collision_manager.CollisionManager method) add_obstacles() (pykin.utils.obstacle_utils.Obstacle method) add_vertex() (pykin.planners.tree.Tree method) add_visual_link() (pykin.utils.kin_utils.Baxter static method) arm_type (pykin.robots.bimanual.Bimanual property)

B

base_name (pykin.robots.bimanual.Bimanual property) (pykin.robots.robot.Robot property) (pykin.robots.single_arm.SingleArm property)

Baxter (class in pykin.utils.kin_utils) Bimanual (class in pykin.robots.bimanual) BOLD (pykin.utils.kin_utils.ShellColors attribute)

C

calc_jacobian() (in module pykin.kinematics.jacobian) calc_pose_error() (in module pykin.utils.kin_utils) Collision (class in pykin.geometry.geometry) in_collision_internal() (pykin.collision.collision_manager.CollisionManager method) collision_free() (pykin.planners.rrt_star_planner.RRTStarPlanner method) CollisionError compute_eef_pose() (pykin.robots.bimanual.Bimanual method) (pykin.robots.single_arm.SingleArm method)

<<<<<<< HEAD ContactData (class in pykin.collision.collision_manager) ======= compute_pose_error() (pykin.robots.robot.Robot method) ContactData (class in pykin.utils.fcl_utils) >>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14 convert_string_to_narray() (in module pykin.utils.kin_utils) convert_thetas_to_dict() (in module pykin.utils.kin_utils) convert_transform() (in module pykin.utils.kin_utils) convert_trimesh_scene() (in module pykin.utils.plot_utils)

D

depth (pykin.collision.collision_manager.ContactData property) distance() (pykin.planners.rrt_star_planner.RRTStarPlanner method)

dof (pykin.models.robot_model.RobotModel property) (pykin.models.urdf_model.URDFModel property) dtype (pykin.geometry.frame.Joint property)

E

eef_name (pykin.robots.bimanual.Bimanual property) (pykin.robots.robot.Robot property) (pykin.robots.single_arm.SingleArm property)

ENDC (pykin.utils.kin_utils.ShellColors attribute)

F

FAIL (pykin.utils.kin_utils.ShellColors attribute) CollisionManager (class in pykin.collision.collision_manager) find_frame() (pykin.models.robot_model.RobotModel method) (pykin.models.urdf_model.URDFModel method) find_joint() (pykin.models.robot_model.RobotModel method) (pykin.models.urdf_model.URDFModel method)

find_link() (pykin.models.robot_model.RobotModel method) (pykin.models.urdf_model.URDFModel method) find_path() (pykin.planners.rrt_star_planner.RRTStarPlanner method) forward_kin() (pykin.robots.robot.Robot method) forward_kinematics() (pykin.kinematics.kinematics.Kinematics method) Frame (class in pykin.geometry.frame) frame (pykin.robots.robot.Robot property)

G

generate_desired_frame_recursive() (pykin.models.urdf_model.URDFModel static method) generate_path() (pykin.planners.planner.Planner class method) (pykin.planners.rrt_star_planner.RRTStarPlanner method) get_actuated_joint_names() (pykin.models.urdf_model.URDFModel method) get_h_mat() (in module pykin.utils.transform_utils) get_h_mat_from_quaternion() (in module pykin.utils.transform_utils) get_identity_h_mat() (in module pykin.utils.transform_utils) get_inverse_homogeneous() (in module pykin.utils.transform_utils) get_matrix_from_axis_angle() (in module pykin.utils.transform_utils) get_matrix_from_quaternion() (in module pykin.utils.transform_utils) get_matrix_from_rpy() (in module pykin.utils.transform_utils) get_minimum_cost_and_index() (pykin.planners.rrt_star_planner.RRTStarPlanner method) get_near_neighbor_indices() (pykin.planners.rrt_star_planner.RRTStarPlanner method) get_new_cost() (pykin.planners.rrt_star_planner.RRTStarPlanner method) get_pos_mat_from_homogeneous() (in module pykin.utils.transform_utils)

get_pose_from_homogeneous() (in module pykin.utils.transform_utils) get_quaternion() (in module pykin.utils.transform_utils) get_quaternion_about_axis() (in module pykin.utils.transform_utils) get_quaternion_from_axis_angle() (in module pykin.utils.transform_utils) get_quaternion_from_matrix() (in module pykin.utils.transform_utils) get_quaternion_from_rpy() (in module pykin.utils.transform_utils) get_quaternion_inverse() (in module pykin.utils.transform_utils) <<<<<<< HEAD get_robot_collision_geom() (in module pykin.utils.kin_utils) ======= get_revolute_joint_names() (pykin.models.urdf_model.URDFModel method) get_robot_geom() (in module pykin.utils.kin_utils) >>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14 get_rot_mat_from_homogeneous() (in module pykin.utils.transform_utils) get_rotation_matrix() (in module pykin.utils.transform_utils) get_rpy_from_matrix() (in module pykin.utils.transform_utils) get_rpy_from_quaternion() (in module pykin.utils.transform_utils) get_rrt_tree() (pykin.planners.rrt_star_planner.RRTStarPlanner method) get_transform() (pykin.geometry.frame.Frame method) get_urdf() (pykin.models.urdf_model.URDFModel method)

H

HEADER (pykin.utils.kin_utils.ShellColors attribute)

h_mat (pykin.kinematics.transform.Transform property) homogeneous_to_pose() (in module pykin.utils.transform_utils)

I

index() (pykin.collision.collision_manager.ContactData method) init_3d_figure() (in module pykin.utils.plot_utils) inverse() (pykin.kinematics.transform.Transform method)

inverse_kin() (pykin.robots.bimanual.Bimanual method) (pykin.robots.robot.Robot method) (pykin.robots.single_arm.SingleArm method) inverse_kinematics() (pykin.kinematics.kinematics.Kinematics method)

J

Joint (class in pykin.geometry.frame)

joints (pykin.models.robot_model.RobotModel property)

K

Kinematics (class in pykin.kinematics.kinematics)

L

left_e0_fixed_offset (pykin.utils.kin_utils.Baxter attribute) left_w0_fixed_offset (pykin.utils.kin_utils.Baxter attribute) limit_joints() (in module pykin.utils.kin_utils)

Link (class in pykin.geometry.frame) links (pykin.models.robot_model.RobotModel property) logging_time() (in module pykin.utils.kin_utils)

M

module pykin pykin.geometry pykin.geometry.frame pykin.geometry.geometry pykin.kinematics pykin.kinematics.jacobian pykin.kinematics.kinematics pykin.kinematics.transform pykin.models pykin.models.robot_model pykin.models.urdf_model pykin.planners pykin.planners.planner pykin.planners.rrt_star_planner pykin.planners.tree pykin.robots pykin.robots.bimanual pykin.robots.robot pykin.robots.single_arm pykin.utils pykin.utils.error_utils pykin.collision.collision_manager pykin.utils.kin_utils pykin.utils.obstacle_utils pykin.utils.plot_utils pykin.utils.transform_utils pykin.utils.urdf_utils

N

nearest_neighbor() (pykin.planners.rrt_star_planner.RRTStarPlanner method) new_state() (pykin.planners.rrt_star_planner.RRTStarPlanner method) NotFoundError num_actuated_joints (pykin.models.robot_model.RobotModel property) (pykin.models.urdf_model.URDFModel property) num_dof (pykin.geometry.frame.Joint property)

num_fixed_joints (pykin.models.robot_model.RobotModel property) (pykin.models.urdf_model.URDFModel property) num_joints (pykin.models.robot_model.RobotModel property) (pykin.models.urdf_model.URDFModel property) num_links (pykin.models.robot_model.RobotModel property) (pykin.models.urdf_model.URDFModel property)

O

Obstacle (class in pykin.utils.obstacle_utils) obstacle_types (pykin.utils.obstacle_utils.Obstacle attribute) obstacles (pykin.utils.obstacle_utils.Obstacle property) offset (pykin.geometry.geometry.Collision property) (pykin.geometry.geometry.Visual property) (pykin.robots.robot.Robot property)

OKBLUE (pykin.utils.kin_utils.ShellColors attribute) OKCYAN (pykin.utils.kin_utils.ShellColors attribute) OKGREEN (pykin.utils.kin_utils.ShellColors attribute)

P

Planner (class in pykin.planners.planner) plot_animation() (in module pykin.utils.plot_utils) plot_basis() (in module pykin.utils.plot_utils) plot_baxter() (in module pykin.utils.plot_utils) plot_box() (in module pykin.utils.plot_utils) plot_collision() (in module pykin.utils.plot_utils) plot_cylinder() (in module pykin.utils.plot_utils) plot_mesh() (in module pykin.utils.plot_utils) plot_obstacles() (in module pykin.utils.plot_utils) plot_path_planner() (in module pykin.utils.plot_utils) plot_robot() (in module pykin.utils.plot_utils) plot_rrt_vertices() (in module pykin.utils.plot_utils) plot_sphere() (in module pykin.utils.plot_utils) <<<<<<< HEAD point (pykin.collision.collision_manager.ContactData property) ======= plot_trajectories() (in module pykin.utils.plot_utils) point (pykin.utils.fcl_utils.ContactData property) >>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14 pos (pykin.kinematics.transform.Transform property) pose (pykin.kinematics.transform.Transform property) pose_to_homogeneous() (in module pykin.utils.transform_utils) pykin module pykin.geometry module pykin.geometry.frame module pykin.geometry.geometry module pykin.kinematics module pykin.kinematics.jacobian module pykin.kinematics.kinematics module pykin.kinematics.transform module pykin.models module

pykin.models.robot_model module pykin.models.urdf_model module pykin.planners module pykin.planners.planner module pykin.planners.rrt_star_planner module pykin.planners.tree module pykin.robots module pykin.robots.bimanual module pykin.robots.robot module pykin.robots.single_arm module pykin.utils module pykin.utils.error_utils module pykin.collision.collision_manager module pykin.utils.kin_utils module pykin.utils.obstacle_utils module pykin.utils.plot_utils module pykin.utils.transform_utils module pykin.utils.urdf_utils module

Q

quaternion_multiply() (in module pykin.utils.transform_utils)

R

<<<<<<< HEAD remove_object() (pykin.collision.collision_manager.CollisionManager method) ======= random_state() (pykin.planners.rrt_star_planner.RRTStarPlanner method) reach_to_goal() (pykin.planners.rrt_star_planner.RRTStarPlanner method) remove_object() (pykin.utils.fcl_utils.FclManager method) >>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14 reset_all_object() (pykin.collision.collision_manager.CollisionManager method) rewire() (pykin.planners.rrt_star_planner.RRTStarPlanner method) right_e0_fixed_offset (pykin.utils.kin_utils.Baxter attribute)

right_w0_fixed_offset (pykin.utils.kin_utils.Baxter attribute) Robot (class in pykin.robots.robot) RobotModel (class in pykin.models.robot_model) rot (pykin.kinematics.transform.Transform property) rotation_matrix (pykin.kinematics.transform.Transform property) RRTStarPlanner (class in pykin.planners.rrt_star_planner)

S

set_axis() (pykin.utils.urdf_utils.URDF_Joint static method) set_collision() (pykin.utils.urdf_utils.URDF_Link static method) set_collision_geometry() (pykin.utils.urdf_utils.URDF_Link static method) set_collision_origin() (pykin.utils.urdf_utils.URDF_Link static method) set_limit() (pykin.utils.urdf_utils.URDF_Joint static method) set_origin() (pykin.utils.urdf_utils.URDF_Joint static method) <<<<<<< HEAD

set_transform() (pykin.collision.collision_manager.CollisionManager method) ======= set_transform() (pykin.utils.fcl_utils.FclManager method) >>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14 set_visual() (pykin.utils.urdf_utils.URDF_Link static method) set_visual_color() (pykin.utils.urdf_utils.URDF_Link static method) set_visual_geometry() (pykin.utils.urdf_utils.URDF_Link static method)

set_visual_origin() (pykin.utils.urdf_utils.URDF_Link static method) setup_link_name() (pykin.robots.bimanual.Bimanual method) (pykin.robots.robot.Robot method) (pykin.robots.single_arm.SingleArm method) setup_start_goal_joint() (pykin.planners.planner.Planner class method) (pykin.planners.rrt_star_planner.RRTStarPlanner method) ShellColors (class in pykin.utils.kin_utils) show_figure() (in module pykin.utils.plot_utils) show_robot_info() (pykin.robots.robot.Robot method) SingleArm (class in pykin.robots.single_arm)

T

Transform (class in pykin.kinematics.transform) Tree (class in pykin.planners.tree)

TYPES (pykin.geometry.frame.Joint attribute) (pykin.geometry.geometry.Collision attribute) (pykin.geometry.geometry.Visual attribute)

U

UNDERLINE (pykin.utils.kin_utils.ShellColors attribute) URDF_Joint (class in pykin.utils.urdf_utils)

URDF_Link (class in pykin.utils.urdf_utils) URDFModel (class in pykin.models.urdf_model)

V

vector_norm() (in module pykin.utils.transform_utils)

Visual (class in pykin.geometry.geometry)

W

WARNING (pykin.utils.kin_utils.ShellColors attribute)