.rst .pdf

Contents

Autogenerated docs

Python

• polymetis package
  • Subpackages
    • polymetis.robot_client package
      • Submodules
      • polymetis.robot_client.abstract_robot_client module
      • polymetis.robot_client.executable_robot_client module
      • polymetis.robot_client.metadata module
      • Module contents
    • polymetis.utils package
      • Submodules
      • polymetis.utils.data_dir module
      • Module contents
  • Submodules
  • polymetis.robot_interface module
    • BaseRobotInterface
      • BaseRobotInterface.clean_mirror_after_forward()
      • BaseRobotInterface.get_previous_interval()
      • BaseRobotInterface.get_previous_log()
      • BaseRobotInterface.get_robot_state()
      • BaseRobotInterface.is_running_policy()
      • BaseRobotInterface.send_torch_policy()
      • BaseRobotInterface.setup_mirror_for_forward()
      • BaseRobotInterface.sync_with_mirror()
      • BaseRobotInterface.terminate_current_policy()
      • BaseRobotInterface.unsync_with_mirror()
      • BaseRobotInterface.update_current_policy()
    • ParamDictContainer
      • ParamDictContainer.forward()
      • ParamDictContainer.param_dict
    • RobotInterface
      • RobotInterface.get_ee_pose()
      • RobotInterface.get_jacobian()
      • RobotInterface.get_joint_angles()
      • RobotInterface.get_joint_positions()
      • RobotInterface.get_joint_velocities()
      • RobotInterface.go_home()
      • RobotInterface.move_ee_xyz()
      • RobotInterface.move_joint_positions()
      • RobotInterface.move_to_ee_pose()
      • RobotInterface.move_to_joint_positions()
      • RobotInterface.pose_ee()
      • RobotInterface.set_ee_pose()
      • RobotInterface.set_home_pose()
      • RobotInterface.set_joint_positions()
      • RobotInterface.set_robot_model()
      • RobotInterface.solve_inverse_kinematics()
      • RobotInterface.start_cartesian_impedance()
      • RobotInterface.start_joint_impedance()
      • RobotInterface.start_joint_velocity_control()
      • RobotInterface.update_desired_ee_pose()
      • RobotInterface.update_desired_joint_positions()
      • RobotInterface.update_desired_joint_velocities()
  • Module contents
• polysim package
  • Subpackages
    • polysim.envs package
      • Subpackages
      • Submodules
      • polysim.envs.abstract_env module
      • polysim.envs.bullet_manipulator module
      • Module contents
  • Submodules
  • polysim.grpc_sim_client module
    • GrpcSimulationClient
      • GrpcSimulationClient.execute_rpc_call()
      • GrpcSimulationClient.init_robot_client()
      • GrpcSimulationClient.kill_run()
      • GrpcSimulationClient.run()
      • GrpcSimulationClient.run_no_wait()
      • GrpcSimulationClient.set_robot_state()
      • GrpcSimulationClient.sync()
      • GrpcSimulationClient.unsync()
  • polysim.test_utils module
    • FakeConnection
      • FakeConnection.ControlUpdate()
      • FakeConnection.InitRobotClient()
    • FakeEnv
      • FakeEnv.apply_joint_torques()
      • FakeEnv.get_current_joint_pos_vel()
      • FakeEnv.get_current_joint_torques()
      • FakeEnv.get_num_dofs()
      • FakeEnv.reset()
      • FakeEnv.set_robot_state()
    • FakeMetadata
      • FakeMetadata.get_proto()
    • fake_metadata_cfg
  • Module contents
• torchcontrol package
  • Subpackages
    • torchcontrol.models package
      • Submodules
      • torchcontrol.models.torchscript_pinocchio module
      • Module contents
    • torchcontrol.modules package
      • Module contents
      • Submodules
      • torchcontrol.modules.feedback module
      • torchcontrol.modules.feedforward module
      • torchcontrol.modules.planning module
    • torchcontrol.policies package
      • Submodules
      • torchcontrol.policies.ee_pd module
      • torchcontrol.policies.ilqr module
      • torchcontrol.policies.joint_pd module
      • Module contents
    • torchcontrol.transform package
      • Submodules
      • torchcontrol.transform.rotation module
      • torchcontrol.transform.rotation_conversions module
      • torchcontrol.transform.transformation module
      • Module contents
    • torchcontrol.utils package
      • Submodules
      • torchcontrol.utils.tensor_utils module
      • Module contents
  • Module contents

TorchControl polymetis package