Index

A

AccelConeDrawer (class in com_accel_cone) add() (pymanoid.ik.IKSolver method) add_com_height_constraint() (pymanoid.centroidal.COMStepTransit method) add_constraint() (pymanoid.nlp.NonlinearProgram method) add_equality_constraint() (pymanoid.nlp.NonlinearProgram method)

add_friction_constraint() (pymanoid.centroidal.COMStepTransit method) add_linear_cop_constraints() (pymanoid.centroidal.COMStepTransit method) adjoint_matrix() (pymanoid.body.Body property) apply_transform() (in module pymanoid.transformations) apply_twist() (pymanoid.body.Body method) AxisAngleContactTask (class in pymanoid.tasks)

B

b() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) bind() (pymanoid.stance.Stance method) bodies() (pymanoid.stance.Stance property) Body (class in pymanoid.body)

BonusPolePlacementStabilizer (class in vhip_stabilization) Box (class in pymanoid.body) build() (pymanoid.centroidal.COMStepTransit method) (pymanoid.mpc.LinearPredictiveControl method) build_qp_matrices() (pymanoid.ik.IKSolver method)

C

cam() (pymanoid.robot.Humanoid property) camera_transform() (pymanoid.sim.Simulation property) CameraRecorder (class in pymanoid.proc) casadi_expand (pymanoid.nlp.NonlinearProgram attribute) clear() (pymanoid.ik.IKSolver method) com() (pymanoid.robot.Humanoid property) com_accel_cone module com_robust_static_polytope module com_static_polygon module COMAccelTask (class in pymanoid.tasks) comd() (pymanoid.robot.Humanoid property) compute_angular_momentum() (pymanoid.robot.Humanoid method) compute_angular_momentum_hessian() (pymanoid.robot.Humanoid method) compute_angular_momentum_jacobian() (pymanoid.robot.Humanoid method) compute_cam() (pymanoid.robot.Humanoid method) compute_cam_hessian() (pymanoid.robot.Humanoid method) compute_cam_jacobian() (pymanoid.robot.Humanoid method) compute_cam_rate() (pymanoid.robot.Humanoid method) compute_com_acceleration() (pymanoid.robot.Humanoid method) compute_com_hessian() (pymanoid.robot.Humanoid method) compute_com_jacobian() (pymanoid.robot.Humanoid method) compute_compensation() (vhip_stabilization.BonusPolePlacementStabilizer method) (vhip_stabilization.VHIPQPStabilizer method) (vhip_stabilization.VHIPStabilizer method) (vhip_stabilization.VRPStabilizer method) compute_contact_hessian() (pymanoid.robot.Robot method) compute_contact_jacobian() (pymanoid.robot.Robot method) compute_cost() (pymanoid.ik.IKSolver method) compute_dual_hrep() (multi_contact_walking.COMTube method) compute_dual_vrep() (multi_contact_walking.COMTube method) compute_grasp_matrix() (pymanoid.contact.Contact method) (pymanoid.contact.ContactSet method) compute_gravito_inertial_wrench() (pymanoid.robot.Humanoid method) compute_inertia_matrix() (pymanoid.robot.Robot method) compute_inverse_dynamics() (pymanoid.robot.Robot method) compute_link_hessian() (pymanoid.robot.Robot method)

compute_link_jacobian() (pymanoid.robot.Robot method) compute_link_pos_hessian() (pymanoid.robot.Robot method) compute_link_pos_jacobian() (pymanoid.robot.Robot method) compute_link_pose_jacobian() (pymanoid.robot.Robot method) compute_net_contact_wrench() (pymanoid.robot.Humanoid method) compute_pendular_accel_cone() (pymanoid.stance.Stance method) compute_preview_control() (multi_contact_walking.COMTubePredictiveControl method) compute_preview_tube() (multi_contact_walking.COMTubePredictiveControl method) compute_primal_hrep() (multi_contact_walking.COMTube method) compute_primal_vrep() (multi_contact_walking.COMTube method) compute_static_equilibrium_polygon() (pymanoid.contact.ContactSet method) (pymanoid.stance.Stance method) compute_static_gravity_torques() (pymanoid.robot.Robot method) compute_velocity() (pymanoid.ik.IKSolver method) compute_velocity_with_slack() (pymanoid.ik.IKSolver method) compute_wrench_inequalities() (pymanoid.contact.ContactSet method) compute_wrench_span() (pymanoid.contact.ContactSet method) compute_zmp() (pymanoid.robot.Humanoid method) compute_zmp_support_area() (pymanoid.stance.Stance method) COMStepTransit (class in pymanoid.centroidal) COMSync (class in com_accel_cone) (class in com_static_polygon) (class in zmp_support_area) COMTask (class in pymanoid.tasks) COMTube (class in multi_contact_walking) COMTubePredictiveControl (class in multi_contact_walking) Contact (class in pymanoid.contact) contact (vhip_stabilization.Stabilizer attribute) contacts() (pymanoid.stance.Stance property) ContactSet (class in pymanoid.contact) ContactTask (class in pymanoid.tasks) copy() (pymanoid.body.Point method) (pymanoid.body.PointMass method) (pymanoid.contact.Contact method) cost() (pymanoid.tasks.Task method) create_solver() (pymanoid.nlp.NonlinearProgram method) crossmat() (in module pymanoid.transformations) Cube (class in pymanoid.body) CubicPoseInterpolator (class in pymanoid.interp) CubicPosInterpolator (class in pymanoid.interp)

D

dcm (vhip_stabilization.Stabilizer attribute) DCMPlotter (class in vhip_stabilization) dist() (pymanoid.body.Body method) dist_to_sep_edge() (pymanoid.stance.Stance method) doc_mask (pymanoid.tasks.AxisAngleContactTask attribute) doflim_gain (pymanoid.ik.IKSolver attribute) DOFTask (class in pymanoid.tasks) draw() (lip_stabilization.Stabilizer method) (pymanoid.centroidal.COMStepTransit method) (pymanoid.interp.PoseInterpolator method) (pymanoid.swing_foot.SwingFoot method) draw_2d_cone() (in module pymanoid.gui)

draw_arrow() (in module pymanoid.gui) draw_cone() (in module pymanoid.gui) draw_force() (in module pymanoid.gui) draw_horizontal_polygon() (in module pymanoid.gui) draw_line() (in module pymanoid.gui) draw_point() (in module pymanoid.gui) draw_points() (in module pymanoid.gui) draw_polygon() (in module pymanoid.gui) draw_polytope() (in module pymanoid.gui) draw_trajectory() (in module pymanoid.gui) draw_wrench() (in module pymanoid.gui) dt (pymanoid.sim.Simulation attribute)

E

eval_pos() (pymanoid.interp.CubicPoseInterpolator method) (pymanoid.interp.LinearPoseInterpolator method) (pymanoid.interp.PoseInterpolator method) (pymanoid.interp.QuinticPoseInterpolator method)

exclude_dofs() (pymanoid.tasks.Task method) extend_cost() (pymanoid.nlp.NonlinearProgram method)

F

find_static_supporting_wrenches() (pymanoid.stance.Stance method) find_supporting_wrenches() (pymanoid.contact.ContactSet method) force() (pymanoid.body.Manipulator property) (pymanoid.contact.Contact property)

force_inequalities() (pymanoid.contact.Contact property) force_rays() (pymanoid.contact.Contact property) force_span() (pymanoid.contact.Contact property) free_contact() (pymanoid.stance.Stance method) from_json() (pymanoid.stance.Stance static method)

G

generate_footsteps() (in module horizontal_walking) generate_staircase() (in module multi_contact_walking) get_com_point_mass() (pymanoid.robot.Humanoid method) get_contact() (pymanoid.body.Manipulator method) get_dof_limits() (pymanoid.robot.Robot method)

get_dof_name_from_index() (pymanoid.robot.Humanoid method) get_dof_values() (pymanoid.robot.Robot method) get_dof_velocities() (pymanoid.robot.Robot method) get_link() (pymanoid.robot.Robot method) get_next_control() (multi_contact_walking.PreviewBuffer method) get_scaled_contact_area() (pymanoid.contact.Contact method)

H

has_constraint() (pymanoid.nlp.NonlinearProgram method) hide() (pymanoid.body.Body method) (pymanoid.robot.Robot method) (pymanoid.stance.Stance method)

hide_com() (pymanoid.robot.Humanoid method) horizontal_walking module HorizontalWalkingFSM (class in horizontal_walking) Humanoid (class in pymanoid.robot)

I

IKSolver (class in pymanoid.ik) index() (pymanoid.body.Body property) (pymanoid.body.Manipulator property) integrate() (pymanoid.swing_foot.SwingFoot method) integrate_angular_acceleration() (in module pymanoid.transformations) integrate_body_acceleration() (in module pymanoid.transformations) integrate_constant_accel() (pymanoid.body.Point method) integrate_constant_jerk() (pymanoid.body.Point method) interpolate() (pymanoid.swing_foot.SwingFoot method) interpolate_cubic_bezier() (in module pymanoid.interp) interpolate_cubic_hermite() (in module pymanoid.interp) interpolate_pose_linear() (in module pymanoid.interp) interpolate_pose_quadratic() (in module pymanoid.interp)

inverse_kinematics module ipopt_fast_step_computation (pymanoid.nlp.NonlinearProgram attribute) ipopt_fixed_variable_treatment (pymanoid.nlp.NonlinearProgram attribute) ipopt_linear_solver (pymanoid.nlp.NonlinearProgram attribute) ipopt_max_cpu_time (pymanoid.nlp.NonlinearProgram attribute) ipopt_max_iter (pymanoid.nlp.NonlinearProgram attribute) ipopt_mu_strategy (pymanoid.nlp.NonlinearProgram attribute) ipopt_nlp_lower_bound_inf (pymanoid.nlp.NonlinearProgram attribute) ipopt_nlp_upper_bound_inf (pymanoid.nlp.NonlinearProgram attribute) ipopt_print_level (pymanoid.nlp.NonlinearProgram attribute) ipopt_print_time (pymanoid.nlp.NonlinearProgram attribute) ipopt_warm_start_init_point (pymanoid.nlp.NonlinearProgram attribute) iter_count() (pymanoid.nlp.NonlinearProgram property)

J

jacobian() (pymanoid.tasks.Task method)

L

LinearPoseInterpolator (class in pymanoid.interp) LinearPosInterpolator (class in pymanoid.interp) LinearPredictiveControl (class in pymanoid.mpc) lip_stabilization module

lm_damping (pymanoid.ik.IKSolver attribute) load() (pymanoid.stance.Stance method) load_mesh() (pymanoid.sim.Simulation method) log_comp_time() (pymanoid.sim.Simulation method)

M

magnus_expansion() (in module pymanoid.transformations) Manipulator (class in pymanoid.body) MinAccelTask (class in pymanoid.tasks) MinCAMTask (class in pymanoid.tasks) MinVelTask (class in pymanoid.tasks) module com_accel_cone com_robust_static_polytope com_static_polygon horizontal_walking inverse_kinematics lip_stabilization multi_contact_walking pymanoid.body pymanoid.robot pymanoid.tasks pymanoid.transformations vhip_stabilization wrench_friction_cone zmp_support_area

moment() (pymanoid.body.Manipulator property) (pymanoid.contact.Contact property) momentum() (pymanoid.body.PointMass property) move_camera_to() (pymanoid.sim.Simulation method) multi_contact_walking module MultiContactWalkingFSM (class in multi_contact_walking)

N

n() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) name() (pymanoid.body.Body property) nb_contacts() (pymanoid.stance.Stance property)

new_constant() (pymanoid.nlp.NonlinearProgram method) new_variable() (pymanoid.nlp.NonlinearProgram method) NonlinearProgram (class in pymanoid.nlp) normal() (pymanoid.body.Body property)

O

omega (vhip_stabilization.Stabilizer attribute) on_tick() (com_accel_cone.AccelConeDrawer method) (com_accel_cone.COMSync method) (com_robust_static_polytope.SupportPolyhedronDrawer method) (com_static_polygon.COMSync method) (com_static_polygon.SupportPolygonDrawer method) (horizontal_walking.HorizontalWalkingFSM method) (lip_stabilization.Pusher method) (lip_stabilization.Stabilizer method) (multi_contact_walking.COMTubePredictiveControl method) (multi_contact_walking.MultiContactWalkingFSM method) (multi_contact_walking.PointMassWrenchDrawer method) (multi_contact_walking.PreviewBuffer method) (multi_contact_walking.PreviewDrawer method) (multi_contact_walking.TubeDrawer method) (multi_contact_walking.UpdateCOMTargetAccel method) (pymanoid.gui.PointMassWrenchDrawer method) (pymanoid.gui.RobotWrenchDrawer method) (pymanoid.gui.TrajectoryDrawer method) (pymanoid.gui.WrenchDrawer method) (pymanoid.ik.IKSolver method) (pymanoid.proc.CameraRecorder method) (pymanoid.proc.Process method) (pymanoid.stance.StanceWrenchDistributor method) (vhip_stabilization.DCMPlotter method) (vhip_stabilization.Plotter method) (vhip_stabilization.Pusher method) (vhip_stabilization.Stabilizer method) (zmp_support_area.COMSync method) (zmp_support_area.SupportAreaDrawer method)

optimal_found() (pymanoid.nlp.NonlinearProgram property)

P

p() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) pause() (pymanoid.proc.Process method) pd() (pymanoid.body.Point property) pdd() (pymanoid.body.Point property) pendulum (vhip_stabilization.Stabilizer attribute) PendulumModeTask (class in pymanoid.tasks) pitch() (pymanoid.body.Body property) Plotter (class in vhip_stabilization) Point (class in pymanoid.body) PointMass (class in pymanoid.body) PointMassWrenchDrawer (class in multi_contact_walking) (class in pymanoid.gui) pos() (pymanoid.body.Body property) pose() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) pose_from_transform() (in module pymanoid.transformations) PoseInterpolator (class in pymanoid.interp)

PoseTask (class in pymanoid.tasks) PosTask (class in pymanoid.tasks) PostureTask (class in pymanoid.tasks) PreviewBuffer (class in multi_contact_walking) PreviewDrawer (class in multi_contact_walking) print_costs() (pymanoid.ik.IKSolver method) print_results() (pymanoid.centroidal.COMStepTransit method) Process (class in pymanoid.proc) push_three_times() (in module vhip_stabilization) Pusher (class in lip_stabilization) (class in vhip_stabilization) pymanoid.body module pymanoid.robot module pymanoid.tasks module pymanoid.transformations module

Q

q() (pymanoid.robot.Robot property) qd (pymanoid.ik.IKSolver attribute) qd() (pymanoid.robot.Robot property) quat() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property)

quat_from_rotation_matrix() (in module pymanoid.transformations) quat_from_rpy() (in module pymanoid.transformations) QuinticPoseInterpolator (class in pymanoid.interp) QuinticPosInterpolator (class in pymanoid.interp)

R

R() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) random() (in module multi_contact_walking) record() (pymanoid.sim.Simulation method) record_video() (in module vhip_stabilization) ref_com (vhip_stabilization.Stabilizer attribute) ref_comd (vhip_stabilization.Stabilizer attribute) ref_cop (vhip_stabilization.Stabilizer attribute) ref_dcm (vhip_stabilization.VRPStabilizer attribute) ref_lambda (vhip_stabilization.Stabilizer attribute) ref_omega (vhip_stabilization.Stabilizer attribute) ref_vrp (vhip_stabilization.VRPStabilizer attribute) remove() (pymanoid.body.Body method) (pymanoid.ik.IKSolver method) reset() (multi_contact_walking.PreviewBuffer method) (multi_contact_walking.SwingFoot method) reset_pendulum() (vhip_stabilization.Stabilizer method) residual() (pymanoid.tasks.Task method)

resume() (pymanoid.proc.Process method) return_status() (pymanoid.nlp.NonlinearProgram property) Robot (class in pymanoid.robot) robot (pymanoid.ik.IKSolver attribute) RobotWrenchDrawer (class in pymanoid.gui) roll() (pymanoid.body.Body property) rotation_matrix() (pymanoid.body.Body property) rotation_matrix_from_quat() (in module pymanoid.transformations) rotation_matrix_from_rpy() (in module pymanoid.transformations) rpy() (pymanoid.body.Body property) (pymanoid.robot.Humanoid property) rpy_from_quat() (in module pymanoid.transformations) rpy_from_rotation_matrix() (in module pymanoid.transformations) run_com_mpc() (horizontal_walking.HorizontalWalkingFSM method) run_double_support() (horizontal_walking.HorizontalWalkingFSM method) run_single_support() (horizontal_walking.HorizontalWalkingFSM method) run_standing() (horizontal_walking.HorizontalWalkingFSM method) run_swing_foot() (horizontal_walking.HorizontalWalkingFSM method) run_thread() (pymanoid.sim.Simulation method)

S

save() (pymanoid.stance.Stance method) schedule() (pymanoid.sim.Simulation method) schedule_extra() (pymanoid.sim.Simulation method) seed() (in module multi_contact_walking) set_accel() (pymanoid.body.Point method) set_active_dofs() (pymanoid.ik.IKSolver method) set_background() (pymanoid.sim.Simulation method) set_camera_back() (pymanoid.sim.Simulation method) set_camera_bottom() (pymanoid.sim.Simulation method) set_camera_front() (pymanoid.sim.Simulation method) set_camera_left() (pymanoid.sim.Simulation method) set_camera_right() (pymanoid.sim.Simulation method) set_camera_top() (pymanoid.sim.Simulation method) set_camera_transform() (pymanoid.sim.Simulation method) set_color() (pymanoid.body.Body method) (pymanoid.robot.Robot method) set_contact() (pymanoid.stance.Stance method) set_critical_gains() (vhip_stabilization.BonusPolePlacementStabilizer method) set_dof_limits() (pymanoid.robot.Robot method) set_dof_values() (pymanoid.robot.Humanoid method) (pymanoid.robot.Robot method) set_dof_velocities() (pymanoid.robot.Humanoid method) (pymanoid.robot.Robot method) set_gains() (pymanoid.ik.IKSolver method) (vhip_stabilization.BonusPolePlacementStabilizer method) set_name() (pymanoid.body.Body method) set_pitch() (pymanoid.body.Body method) set_poles() (vhip_stabilization.BonusPolePlacementStabilizer method) set_pos() (pymanoid.body.Body method) (pymanoid.robot.Humanoid method) set_pose() (pymanoid.body.Body method) (pymanoid.robot.Humanoid method) set_quat() (pymanoid.body.Body method) (pymanoid.robot.Humanoid method) set_roll() (pymanoid.body.Body method) set_rotation_matrix() (pymanoid.body.Body method) set_rpy() (pymanoid.body.Body method) (pymanoid.robot.Humanoid method) set_transform() (pymanoid.body.Body method) set_transparency() (pymanoid.body.Body method) (pymanoid.robot.Robot method) set_vel() (pymanoid.body.Point method) set_viewer() (pymanoid.sim.Simulation method)

set_weights() (pymanoid.ik.IKSolver method) set_wrench() (pymanoid.contact.Contact method) set_x() (pymanoid.body.Body method) set_y() (pymanoid.body.Body method) set_yaw() (pymanoid.body.Body method) set_z() (pymanoid.body.Body method) setup_ik_from_stance() (in module inverse_kinematics) setup_ik_from_tasks() (in module inverse_kinematics) show() (pymanoid.body.Body method) (pymanoid.robot.Robot method) (pymanoid.stance.Stance method) show_com() (pymanoid.robot.Humanoid method) Simulation (class in pymanoid.sim) slack_dof_limits (pymanoid.ik.IKSolver attribute) slack_maximize (pymanoid.ik.IKSolver attribute) slack_regularize (pymanoid.ik.IKSolver attribute) solve() (pymanoid.centroidal.COMStepTransit method) (pymanoid.ik.IKSolver method) (pymanoid.mpc.LinearPredictiveControl method) (pymanoid.nlp.NonlinearProgram method) solve_and_build_time() (pymanoid.mpc.LinearPredictiveControl property) solve_qp() (in module pymanoid.qpsolvers) solve_time() (pymanoid.nlp.NonlinearProgram property) Stabilizer (class in lip_stabilization) (class in vhip_stabilization) Stance (class in pymanoid.stance) StanceWrenchDistributor (class in pymanoid.stance) start() (pymanoid.sim.Simulation method) start_double_support() (horizontal_walking.HorizontalWalkingFSM method) start_single_support() (horizontal_walking.HorizontalWalkingFSM method) start_standing() (horizontal_walking.HorizontalWalkingFSM method) start_swing_foot() (horizontal_walking.HorizontalWalkingFSM method) StaticEquilibriumWrenchDrawer (class in pymanoid.gui) StaticWrenchDrawer (class in com_accel_cone) (class in com_robust_static_polytope) (class in zmp_support_area) step() (pymanoid.ik.IKSolver method) (pymanoid.sim.Simulation method) SupportAreaDrawer (class in zmp_support_area) supporting_contacts() (pymanoid.contact.ContactSet property) SupportPolygonDrawer (class in com_static_polygon) SupportPolyhedronDrawer (class in com_robust_static_polytope) SwingFoot (class in multi_contact_walking) (class in pymanoid.swing_foot)

T

T() (pymanoid.body.Body property) t() (pymanoid.body.Body property) T() (pymanoid.robot.Humanoid property) t() (pymanoid.robot.Humanoid property) Task (class in pymanoid.tasks) tasks (pymanoid.ik.IKSolver attribute)

TrajectoryDrawer (class in pymanoid.gui) transform() (pymanoid.body.Body property) transform_from_pose() (in module pymanoid.transformations) transform_inverse() (in module pymanoid.transformations) translate() (pymanoid.body.Body method) TubeDrawer (class in multi_contact_walking)

U

unschedule() (pymanoid.sim.Simulation method) unset_wrench() (pymanoid.contact.Contact method) update_constant() (pymanoid.nlp.NonlinearProgram method) update_constraint_bounds() (pymanoid.nlp.NonlinearProgram method) update_pose() (multi_contact_walking.SwingFoot method) update_preview() (multi_contact_walking.PreviewBuffer method)

update_target() (pymanoid.tasks.AxisAngleContactTask method) (pymanoid.tasks.COMTask method) (pymanoid.tasks.PoseTask method) (pymanoid.tasks.PosTask method) update_variable_bounds() (pymanoid.nlp.NonlinearProgram method) UpdateCOMTargetAccel (class in multi_contact_walking)

V

vertices() (pymanoid.contact.Contact property) vhip_stabilization module

VHIPQPStabilizer (class in vhip_stabilization) VHIPStabilizer (class in vhip_stabilization) VRPStabilizer (class in vhip_stabilization)

W

wait_for() (pymanoid.proc.CameraRecorder method) warm_start() (pymanoid.nlp.NonlinearProgram method) wrench (pymanoid.contact.Contact attribute) wrench_at() (pymanoid.contact.Contact method) wrench_friction_cone module

wrench_hrep() (pymanoid.contact.Contact property) wrench_inequalities() (pymanoid.contact.Contact property) wrench_rays() (pymanoid.contact.Contact property) wrench_span() (pymanoid.contact.Contact property) WrenchDrawer (class in pymanoid.gui)

X

x() (pymanoid.body.Body property) X() (pymanoid.mpc.LinearPredictiveControl property)

xd() (pymanoid.body.Point property) xdd() (pymanoid.body.Point property)

Y

y() (pymanoid.body.Body property) yaw() (pymanoid.body.Body property)

yd() (pymanoid.body.Point property) ydd() (pymanoid.body.Point property)

Z

z() (pymanoid.body.Body property) zd() (pymanoid.body.Point property)

zdd() (pymanoid.body.Point property) zmp_support_area module