Index

A

action_indices (gym_agx.rl.end_effector.EndEffector attribute) add_constraint() (gym_agx.rl.end_effector.EndEffector method) add_goal_assembly_from_file() (in module gym_agx.utils.agx_utils) add_rendering() (in module gym_agx.sims.bend_wire) (in module gym_agx.sims.bend_wire_obstacle) (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.push_rope) (in module gym_agx.sims.rubber_band)

AgxEnv (class in gym_agx.envs.agx_env) AgxGoalEnv (class in gym_agx.envs.agx_goal_env) all_points_below_z() (in module gym_agx.utils.utils) apply_control() (gym_agx.rl.end_effector.EndEffector method)

B

BendWireEnv (class in gym_agx.envs.explicit.bend_wire_env) BendWireObstacleEnv (class in gym_agx.envs.explicit.bend_wire_obstacle_env) build_simulation() (in module gym_agx.sims.bend_wire) (in module gym_agx.sims.bend_wire_obstacle) (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.push_rope) (in module gym_agx.sims.rubber_band)

C

CableClosingEnv (class in gym_agx.envs.implicit.cable_closing_env) close() (gym_agx.envs.agx_env.AgxEnv method) (gym_agx.envs.agx_goal_env.AgxGoalEnv method) compute_angle() (in module gym_agx.utils.utils) compute_curvature() (in module gym_agx.utils.utils) compute_dense_reward_and_check_goal() (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.rubber_band) compute_linear_distance() (in module gym_agx.utils.utils) compute_reward() (gym_agx.envs.agx_goal_env.AgxGoalEnv method) (gym_agx.envs.dlo_env.DloEnv method) (gym_agx.rl.reward.RewardConfig method) compute_segments_pos() (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.rubber_band)

compute_torsion() (in module gym_agx.utils.utils) construct_space() (in module gym_agx.utils.utils) create_body() (in module gym_agx.utils.agx_utils) create_gripper_peg_in_hole() (in module gym_agx.sims.peg_in_hole) create_hinge_prismatic_base() (in module gym_agx.utils.agx_utils) create_locked_prismatic_base() (in module gym_agx.utils.agx_utils) create_pole() (in module gym_agx.sims.rubber_band) create_prismatic_base() (in module gym_agx.utils.agx_utils) create_ring() (in module gym_agx.utils.agx_utils) create_ring_element() (in module gym_agx.utils.agx_utils) create_universal_prismatic_base() (in module gym_agx.utils.agx_utils)

D

DENSE (gym_agx.rl.reward.RewardType attribute) determine_n_segments_inserted() (in module gym_agx.sims.peg_in_hole) DLO_ANGLES (gym_agx.rl.observation.ObservationType attribute) DLO_CURVATURE (gym_agx.rl.observation.ObservationType attribute) DLO_POSITIONS (gym_agx.rl.observation.ObservationType attribute)

DLO_ROTATIONS (gym_agx.rl.observation.ObservationType attribute) DLO_TORSION (gym_agx.rl.observation.ObservationType attribute) DloEnv (class in gym_agx.envs.dlo_env) dt (gym_agx.envs.agx_env.AgxEnv property) (gym_agx.envs.agx_goal_env.AgxGoalEnv property)

E

EE_ANGULAR_VELOCITY (gym_agx.rl.observation.ObservationType attribute) EE_FORCE_TORQUE (gym_agx.rl.observation.ObservationType attribute) EE_POSITION (gym_agx.rl.observation.ObservationType attribute) EE_ROTATION (gym_agx.rl.observation.ObservationType attribute)

EE_VELOCITY (gym_agx.rl.observation.ObservationType attribute) EndEffector (class in gym_agx.rl.end_effector) EndEffectorConstraint (class in gym_agx.rl.end_effector) EndEffectorConstraint.Dof (class in gym_agx.rl.end_effector)

F

find_reference_angle() (in module gym_agx.utils.utils)

G

get_cable_angles() (in module gym_agx.utils.utils) get_cable_curvature() (in module gym_agx.utils.utils) get_cable_segment_edges() (in module gym_agx.utils.agx_utils) get_cable_segment_positions() (in module gym_agx.rl.observation) get_cable_segment_positions_and_velocities() (in module gym_agx.rl.observation) get_cable_segment_rotations() (in module gym_agx.rl.observation) get_cable_torsion() (in module gym_agx.utils.utils) get_constraint_force_torque() (in module gym_agx.rl.observation) get_observations() (gym_agx.rl.observation.ObservationConfig method) get_poles_enclosed() (in module gym_agx.sims.rubber_band) get_rigid_body_angular_velocity() (in module gym_agx.rl.observation) get_rigid_body_position() (in module gym_agx.rl.observation) get_rigid_body_rotation() (in module gym_agx.rl.observation) get_rigid_body_velocity() (in module gym_agx.rl.observation) get_ring_segment_positions() (in module gym_agx.rl.observation) get_velocity() (gym_agx.rl.end_effector.EndEffector method) goal_area() (in module gym_agx.utils.utils) gym_agx.rl.end_effector module

gym_agx.rl.observation module gym_agx.rl.reward module gym_agx.sims.bend_wire module gym_agx.sims.bend_wire_obstacle module gym_agx.sims.cable_closing module gym_agx.sims.peg_in_hole module gym_agx.sims.push_rope module gym_agx.sims.rubber_band module gym_agx.utils.agx_utils module gym_agx.utils.utils module

I

IMG_DEPTH (gym_agx.rl.observation.ObservationType attribute) IMG_RGB (gym_agx.rl.observation.ObservationType attribute) is_active (gym_agx.rl.end_effector.EndEffectorConstraint property)

is_goal_reached() (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.rubber_band) is_success() (gym_agx.rl.reward.RewardConfig method)

L

LOCK (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

M

main() (in module gym_agx.sims.bend_wire) (in module gym_agx.sims.bend_wire_obstacle) (in module gym_agx.sims.cable_closing) (in module gym_agx.sims.peg_in_hole) (in module gym_agx.sims.push_rope) (in module gym_agx.sims.rubber_band) make_goal_simulation() (in module gym_agx.utils.agx_utils) metadata (gym_agx.envs.agx_env.AgxEnv attribute) (gym_agx.envs.agx_goal_env.AgxGoalEnv attribute) module gym_agx.rl.end_effector gym_agx.rl.observation gym_agx.rl.reward gym_agx.sims.bend_wire gym_agx.sims.bend_wire_obstacle gym_agx.sims.cable_closing gym_agx.sims.peg_in_hole gym_agx.sims.push_rope gym_agx.sims.rubber_band gym_agx.utils.agx_utils gym_agx.utils.utils

O

ObservationConfig (class in gym_agx.rl.observation)

ObservationType (class in gym_agx.rl.observation)

P

PegInHoleEnv (class in gym_agx.envs.implicit.peg_in_hole_env) point_inside_polygon() (in module gym_agx.utils.utils)

point_to_point_trajectory() (in module gym_agx.utils.utils) polynomial_trajectory() (in module gym_agx.utils.utils) PushRopeEnv (class in gym_agx.envs.explicit.push_rope_env)

R

render() (gym_agx.envs.agx_env.AgxEnv method) (gym_agx.envs.agx_goal_env.AgxGoalEnv method) (gym_agx.envs.dlo_env.DloEnv method) (gym_agx.envs.implicit.cable_closing_env.CableClosingEnv method) (gym_agx.envs.implicit.peg_in_hole_env.PegInHoleEnv method) (gym_agx.envs.implicit.rubber_band_env.RubberBandEnv method) rescale_compliance() (gym_agx.rl.end_effector.EndEffector method) rescale_velocity() (gym_agx.rl.end_effector.EndEffector method) reset() (gym_agx.envs.agx_env.AgxEnv method) (gym_agx.envs.agx_goal_env.AgxGoalEnv method) (gym_agx.envs.implicit.cable_closing_env.CableClosingEnv method) (gym_agx.envs.implicit.peg_in_hole_env.PegInHoleEnv method) (gym_agx.envs.implicit.rubber_band_env.RubberBandEnv method)

reward_function() (gym_agx.rl.reward.RewardConfig method) RewardConfig (class in gym_agx.rl.reward) RewardType (class in gym_agx.rl.reward) rotate_rpy() (in module gym_agx.utils.utils) RubberBandEnv (class in gym_agx.envs.implicit.rubber_band_env)

S

sample_fixed_goal() (in module gym_agx.sims.bend_wire) (in module gym_agx.sims.bend_wire_obstacle) (in module gym_agx.sims.push_rope) sample_random_goal() (in module gym_agx.sims.bend_wire) (in module gym_agx.sims.bend_wire_obstacle) (in module gym_agx.sims.push_rope) sample_sphere() (in module gym_agx.utils.utils) save_simulation() (in module gym_agx.utils.agx_utils) scale_reward() (gym_agx.rl.reward.RewardConfig method) seed() (gym_agx.envs.agx_env.AgxEnv method) set_all_ee() (gym_agx.rl.observation.ObservationConfig method) set_center_obstacle() (in module gym_agx.sims.rubber_band) set_dlo_angles() (gym_agx.rl.observation.ObservationConfig method) set_dlo_frenet_curvature() (gym_agx.rl.observation.ObservationConfig method) set_dlo_frenet_torsion() (gym_agx.rl.observation.ObservationConfig method) set_dlo_frenet_values() (gym_agx.rl.observation.ObservationConfig method) set_dlo_poses() (gym_agx.rl.observation.ObservationConfig method)

set_dlo_positions() (gym_agx.rl.observation.ObservationConfig method) set_dlo_rotations() (gym_agx.rl.observation.ObservationConfig method) set_ee_angular_velocity() (gym_agx.rl.observation.ObservationConfig method) set_ee_force_torque() (gym_agx.rl.observation.ObservationConfig method) set_ee_pose() (gym_agx.rl.observation.ObservationConfig method) set_ee_position() (gym_agx.rl.observation.ObservationConfig method) set_ee_rotation() (gym_agx.rl.observation.ObservationConfig method) set_ee_velocity() (gym_agx.rl.observation.ObservationConfig method) set_img_depth() (gym_agx.rl.observation.ObservationConfig method) set_img_rgb() (gym_agx.rl.observation.ObservationConfig method) SPARSE (gym_agx.rl.reward.RewardType attribute) step() (gym_agx.envs.agx_env.AgxEnv method) (gym_agx.envs.agx_goal_env.AgxGoalEnv method) (gym_agx.envs.implicit.cable_closing_env.CableClosingEnv method) (gym_agx.envs.implicit.peg_in_hole_env.PegInHoleEnv method) (gym_agx.envs.implicit.rubber_band_env.RubberBandEnv method) success_condition() (gym_agx.rl.reward.RewardConfig method)

T

timestamp (gym_agx.envs.agx_goal_env.AgxGoalEnv property)

to_agx_list() (in module gym_agx.utils.agx_utils) to_numpy_array() (in module gym_agx.utils.agx_utils)

X

X_COMPLIANCE (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

X_ROTATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute) X_TRANSLATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

Y

Y_COMPLIANCE (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

Y_ROTATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute) Y_TRANSLATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

Z

Z_COMPLIANCE (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)

Z_ROTATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute) Z_TRANSLATION (gym_agx.rl.end_effector.EndEffectorConstraint.Dof attribute)