Index A | B | C | D | E | F | G | H | I | J | L | M | N | O | P | Q | R | S | T | U | V | W | X | Y A ALL_UNREACHABLE (TyGrit.types.failures.GraspFailure attribute) angle_wrap() (in module TyGrit.utils.math) ARM (TyGrit.types.planning.PlanningMode attribute) arm_joints (TyGrit.types.planning.Subgoal attribute) (TyGrit.types.robot.WholeBodyConfig attribute) arm_path (TyGrit.types.planning.Trajectory attribute) B base_configs (TyGrit.types.planning.Trajectory attribute) base_pose (TyGrit.types.planning.Subgoal attribute) (TyGrit.types.robot.RobotState attribute) (TyGrit.types.robot.WholeBodyConfig attribute) C camera_ids (TyGrit.envs.base.RobotBase property) close() (TyGrit.envs.base.RobotBase method) COLLISION_AT_GOAL (TyGrit.types.failures.PlannerFailure attribute) COLLISION_AT_START (TyGrit.types.failures.PlannerFailure attribute) COLLISION_DETECTED (TyGrit.types.failures.ExecutionFailure attribute) control_gripper() (TyGrit.envs.base.RobotBase method) create_pose_matrix() (in module TyGrit.utils.transforms) create_transform_matrix() (in module TyGrit.utils.transforms) crop_sphere() (in module TyGrit.utils.pointcloud) D depth (TyGrit.types.sensor.SensorSnapshot attribute) DEPTH_INVALID (TyGrit.types.failures.PerceptionFailure attribute) depth_to_pointcloud() (in module TyGrit.utils.depth) depth_to_world_pointcloud() (in module TyGrit.utils.depth) E execute_trajectory() (TyGrit.envs.base.RobotBase method) ExecutionFailure (class in TyGrit.types.failures) F failure (TyGrit.types.results.PlanResult attribute) (TyGrit.types.results.StageResult attribute) filter_ground() (in module TyGrit.utils.pointcloud) G get_observation() (TyGrit.envs.base.RobotBase method) get_robot_state() (TyGrit.envs.base.RobotBase method) get_sensor_snapshot() (TyGrit.envs.base.RobotBase method) GraspFailure (class in TyGrit.types.failures) GraspPose (class in TyGrit.types.grasp) H head_joints (TyGrit.types.robot.RobotState attribute) I IKFailure (class in TyGrit.types.failures) IKSolution (class in TyGrit.types.robot) INTERPOLATION (TyGrit.types.planning.PlanningMode attribute) intrinsics (TyGrit.types.sensor.SensorSnapshot attribute) is_goal_valid (TyGrit.types.planning.SchedulerFeedback attribute) is_motion_done() (TyGrit.envs.base.RobotBase method) is_path_valid (TyGrit.types.planning.SchedulerFeedback attribute) iterations (TyGrit.types.results.SchedulerResult attribute) J JOINT_ERROR (TyGrit.types.failures.ExecutionFailure attribute) JOINT_LIMITS (TyGrit.types.failures.IKFailure attribute) joint_names (TyGrit.types.robot.IKSolution attribute) JointState (class in TyGrit.types.robot) L look_at() (TyGrit.envs.base.RobotBase method) M matrix_to_quaternion() (in module TyGrit.utils.math) MAX_ITERATIONS (TyGrit.types.results.SchedulerOutcome attribute) merge_dedup() (in module TyGrit.utils.pointcloud) message (TyGrit.types.results.StageResult attribute) mode (TyGrit.types.planning.Subgoal attribute) module TyGrit.envs.base TyGrit.planning.motion_planner TyGrit.types.failures TyGrit.types.geometry TyGrit.types.grasp TyGrit.types.planning TyGrit.types.results TyGrit.types.robot TyGrit.types.sensor TyGrit.utils.depth TyGrit.utils.math TyGrit.utils.pointcloud TyGrit.utils.transforms MotionPlanner (class in TyGrit.planning.motion_planner) N names (TyGrit.types.robot.JointState attribute) NO_GRASPS_DETECTED (TyGrit.types.failures.GraspFailure attribute) NO_PATH_FOUND (TyGrit.types.failures.PlannerFailure attribute) NO_SOLUTION (TyGrit.types.failures.IKFailure attribute) O outcome (TyGrit.types.results.SchedulerResult attribute) P PerceptionFailure (class in TyGrit.types.failures) plan_arm() (TyGrit.planning.motion_planner.MotionPlanner method) PLAN_FAILURE (TyGrit.types.results.SchedulerOutcome attribute) plan_interpolation() (TyGrit.planning.motion_planner.MotionPlanner method) plan_whole_body() (TyGrit.planning.motion_planner.MotionPlanner method) PlannerFailure (class in TyGrit.types.failures) planning_joints (TyGrit.types.robot.RobotState attribute) PlanningMode (class in TyGrit.types.planning) PlanResult (class in TyGrit.types.results) pointcloud_from_mask() (in module TyGrit.utils.depth) points_in_frustum_mask() (in module TyGrit.utils.pointcloud) pose_to_base() (in module TyGrit.utils.transforms) pose_to_world() (in module TyGrit.utils.transforms) positions (TyGrit.types.robot.IKSolution attribute) (TyGrit.types.robot.JointState attribute) project_points_to_image() (in module TyGrit.utils.depth) Q quaternion_to_matrix() (in module TyGrit.utils.math) R reset() (TyGrit.envs.base.RobotBase method) rgb (TyGrit.types.sensor.SensorSnapshot attribute) robot_state (TyGrit.types.sensor.SensorSnapshot attribute) RobotBase (class in TyGrit.envs.base) RobotState (class in TyGrit.types.robot) S SchedulerFeedback (class in TyGrit.types.planning) SchedulerOutcome (class in TyGrit.types.results) SchedulerResult (class in TyGrit.types.results) score (TyGrit.types.grasp.GraspPose attribute) se2_to_matrix() (in module TyGrit.utils.transforms) SE2Pose (class in TyGrit.types.geometry) segmentation (TyGrit.types.sensor.SensorSnapshot attribute) SEGMENTATION_FAILED (TyGrit.types.failures.PerceptionFailure attribute) SensorSnapshot (class in TyGrit.types.sensor) StageResult (class in TyGrit.types.results) start_trajectory() (TyGrit.envs.base.RobotBase method) stats (TyGrit.types.results.PlanResult attribute) (TyGrit.types.results.SchedulerResult attribute) step() (TyGrit.envs.base.RobotBase method) stop_motion() (TyGrit.envs.base.RobotBase method) Subgoal (class in TyGrit.types.planning) success (TyGrit.types.results.PlanResult attribute) SUCCESS (TyGrit.types.results.SchedulerOutcome attribute) success (TyGrit.types.results.StageResult attribute) T theta (TyGrit.types.geometry.SE2Pose attribute) TIMEOUT (TyGrit.types.failures.ExecutionFailure attribute) (TyGrit.types.failures.PlannerFailure attribute) total_steps (TyGrit.types.results.SchedulerResult attribute) Trajectory (class in TyGrit.types.planning) trajectory (TyGrit.types.results.PlanResult attribute) trajectory_exhausted (TyGrit.types.planning.SchedulerFeedback attribute) transform (TyGrit.types.grasp.GraspPose attribute) translation_from_matrix() (in module TyGrit.utils.math) TyGrit.envs.base module TyGrit.planning.motion_planner module TyGrit.types.failures module TyGrit.types.geometry module TyGrit.types.grasp module TyGrit.types.planning module TyGrit.types.results module TyGrit.types.robot module TyGrit.types.sensor module TyGrit.utils.depth module TyGrit.utils.math module TyGrit.utils.pointcloud module TyGrit.utils.transforms module U update_environment() (TyGrit.planning.motion_planner.MotionPlanner method) V validate_config() (TyGrit.planning.motion_planner.MotionPlanner method) voxel_downsample() (in module TyGrit.utils.pointcloud) W WHOLE_BODY (TyGrit.types.planning.PlanningMode attribute) WholeBodyConfig (class in TyGrit.types.robot) X x (TyGrit.types.geometry.SE2Pose attribute) Y y (TyGrit.types.geometry.SE2Pose attribute)