Index

_

_active_subvertices (mimoTouch.touch.TrimeshTouch attribute) _currently_in_contact() (mimoEnv.envs.catch.MIMoCatchEnv method) _env_setup() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _get_actuators() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _get_facial_expressions() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _get_joints() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _get_obs() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _in_contact() (mimoEnv.envs.catch.MIMoCatchEnv method) _initialize_simulation() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _is_done() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _neighbour_cache (mimoTouch.touch.TrimeshTouch attribute) _np_random (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) _obs_callback() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method)

_reset_simulation() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _set_action() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _set_action_space() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _set_initial_position() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _set_observation_space() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _single_mujoco_step() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _step_callback() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) _step_mujoco_simulation() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) _submeshes (mimoTouch.touch.TrimeshTouch attribute) _substep_callback() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) _vertex_to_sensor_idx (mimoTouch.touch.TrimeshTouch attribute)

A

action() (mimoActuation.actuation.ActuationModel method) (mimoActuation.actuation.PositionalModel method) (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) action_penalty (mimoEnv.envs.catch.MIMoCatchEnv attribute) action_space (mimoActuation.actuation.ActuationModel attribute) (mimoEnv.envs.catch.MIMoCatchEnv attribute) (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) (mimoEnv.envs.mimo_env.MIMoEnv attribute), [1] (mimoEnv.envs.reach.MIMoReachEnv attribute) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv attribute) (mimoEnv.envs.standup.MIMoStandupEnv attribute)

activity (mimoActuation.muscle.MuscleModel attribute) actuated_joints (mimoActuation.actuation.PositionalModel attribute) actuation_model (mimoEnv.envs.mimo_env.MIMoEnv attribute) ActuationModel (class in mimoActuation.actuation) actuators (mimoActuation.actuation.ActuationModel attribute) add_body() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) add_geom() (mimoTouch.touch.DiscreteTouch method) average_left_right() (in module mimoActuation.muscle_testing)

B

ball_mass (mimoEnv.envs.catch.MIMoCatchEnv attribute) ball_size (mimoEnv.envs.catch.MIMoCatchEnv attribute) benchmark() (in module mimoEnv.benchmark) BENCHMARK_XML (in module mimoEnv.envs.dummy) BENCHMARK_XML_V2 (in module mimoEnv.envs.dummy) body_contact_reward() (mimoEnv.envs.catch.MIMoCatchEnv method) body_pos_to_body() (in module mimoEnv.utils)

body_pos_to_geom() (in module mimoEnv.utils) body_pos_to_world() (in module mimoEnv.utils) body_rot_to_body() (in module mimoEnv.utils) body_rot_to_geom() (in module mimoEnv.utils) body_rot_to_world() (in module mimoEnv.utils) bump() (in module mimoActuation.muscle) (in module mimoActuation.muscle_testing)

C

calibrate_full() (in module mimoActuation.muscle_testing) camera_id (mimoEnv.envs.mimo_env.MIMoEnv attribute) camera_name (mimoEnv.envs.mimo_env.MIMoEnv attribute) camera_parameters (mimoVision.vision.SimpleVision attribute) (mimoVision.vision.Vision attribute) CATCH_CAMERA_CONFIG (in module mimoEnv.envs.catch) CATCH_XML (in module mimoEnv.envs.catch) close() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) collect_data_for_actuators() (mimoActuation.muscle.MuscleModel method) compliance_test() (in module mimoActuation.muscle_testing) compute_reward() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method)

constraints (mimoActuation.actuation.PositionalModel attribute) contact_tuples (mimoTouch.touch.TrimeshTouch attribute) control_input (mimoActuation.actuation.PositionalModel attribute) (mimoActuation.actuation.SpringDamperModel attribute) cost() (mimoActuation.actuation.ActuationModel method) (mimoActuation.actuation.PositionalModel method) (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) create_joint_plots() (in module mimoActuation.muscle_testing)

D

data (mimoEnv.envs.mimo_env.MIMoEnv attribute) DEFAULT_PROPRIOCEPTION_PARAMS (in module mimoEnv.envs.mimo_env) DEFAULT_TOUCH_PARAMS (in module mimoEnv.envs.mimo_env) DEFAULT_TOUCH_PARAMS_V2 (in module mimoEnv.envs.mimo_env) DEFAULT_VESTIBULAR_PARAMS (in module mimoEnv.envs.mimo_env) DEFAULT_VISION_PARAMS (in module mimoEnv.envs.mimo_env) DEMO_XML (in module mimoEnv.envs.dummy) determine_geom_masses() (in module mimoEnv.utils) DiscreteTouch (class in mimoTouch.touch)

do_simulation() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) done_active (mimoEnv.envs.mimo_env.MIMoEnv attribute) dt (mimoEnv.envs.dummy.MIMoDummyEnv property) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv property) (mimoEnv.envs.dummy.MIMoV2DummyEnv property)

E

EMOTES (in module mimoEnv.envs.mimo_env) env (mimoActuation.actuation.ActuationModel attribute) (mimoProprioception.proprio.Proprioception attribute) (mimoTouch.touch.Touch attribute) (mimoVestibular.vestibular.SimpleVestibular attribute) (mimoVestibular.vestibular.Vestibular attribute) (mimoVision.vision.SimpleVision attribute) (mimoVision.vision.Vision attribute)

F

facial_expressions (mimoEnv.envs.mimo_env.MIMoEnv attribute) fl() (in module mimoActuation.muscle_testing) (mimoActuation.muscle.MuscleModel method) flatten_sensor_dict() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) fmax (mimoActuation.muscle.MuscleModel attribute) fmax_calibration() (in module mimoActuation.muscle_testing) force_vector() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method)

force_vector_global() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) force_vel_v_vec() (in module mimoActuation.muscle_testing) fp() (in module mimoActuation.muscle_testing) (mimoActuation.muscle.MuscleModel method) fpmax (mimoActuation.muscle.MuscleModel attribute) frame_skip (mimoEnv.envs.mimo_env.MIMoEnv attribute) fv() (mimoActuation.muscle.MuscleModel method) fv_vec() (in module mimoActuation.muscle_testing) fvmax (mimoActuation.muscle.MuscleModel attribute)

G

geom_pos_to_body() (in module mimoEnv.utils) geom_pos_to_geom() (in module mimoEnv.utils) geom_pos_to_world() (in module mimoEnv.utils) geom_rot_to_body() (in module mimoEnv.utils) geom_rot_to_geom() (in module mimoEnv.utils) geom_rot_to_world() (in module mimoEnv.utils) get_achieved_goal() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method) get_action_space() (mimoActuation.actuation.ActuationModel method) (mimoActuation.actuation.PositionalModel method) (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) get_body_com() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) get_body_id() (in module mimoEnv.utils) get_body_position() (in module mimoEnv.utils) get_body_rotation() (in module mimoEnv.utils) get_child_bodies() (in module mimoEnv.utils) get_constraints() (mimoActuation.actuation.PositionalModel method) get_contact_normal() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_contact_position_relative() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_contact_position_world() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_contacts() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_data_for_sensor() (in module mimoEnv.utils) get_empty_sensor_dict() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_geom_id() (in module mimoEnv.utils) get_geom_position() (in module mimoEnv.utils) get_geom_rotation() (in module mimoEnv.utils) get_geoms_for_body() (in module mimoEnv.utils)

get_joint_qpos_addr() (in module mimoEnv.utils) get_joint_qvel_addr() (in module mimoEnv.utils) get_k_nearest_sensors() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_nearest_sensor() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_proprio_obs() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) get_proprioception_obs() (mimoProprioception.proprio.Proprioception method) (mimoProprioception.proprio.SimpleProprioception method) get_raw_force() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_sensor_addr() (in module mimoEnv.utils) get_sensor_count() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_sensors_within_distance() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) get_total_sensor_count() (mimoTouch.touch.DiscreteTouch method) get_touch_obs() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.Touch method) (mimoTouch.touch.TrimeshTouch method) get_vestibular_obs() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoVestibular.vestibular.SimpleVestibular method) (mimoVestibular.vestibular.Vestibular method) get_vision_obs() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoVision.vision.SimpleVision method) (mimoVision.vision.Vision method) goal (mimoEnv.envs.mimo_env.MIMoEnv attribute) goals_in_observation (mimoEnv.envs.mimo_env.MIMoEnv attribute)

H

has_sensors() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method)

I

in_contact_past (mimoEnv.envs.catch.MIMoCatchEnv attribute) init_crouch_position (mimoEnv.envs.standup.MIMoStandupEnv attribute) init_qpos (mimoEnv.envs.mimo_env.MIMoEnv attribute) init_qvel (mimoEnv.envs.mimo_env.MIMoEnv attribute) init_sitting_qpos (mimoEnv.envs.selfbody.MIMoSelfBodyEnv attribute) is_failure() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method) is_success() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method)

is_truncated() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method)

J

jitter (mimoEnv.envs.catch.MIMoCatchEnv attribute)

jitter_array (mimoEnv.envs.catch.MIMoCatchEnv attribute) jitter_period (mimoEnv.envs.catch.MIMoCatchEnv attribute)

L

lce_max (mimoActuation.muscle.MuscleModel attribute) lce_min (mimoActuation.muscle.MuscleModel attribute) limit_thresh (mimoProprioception.proprio.SimpleProprioception attribute)

lmax (mimoActuation.muscle.MuscleModel attribute) lmin (mimoActuation.muscle.MuscleModel attribute) load_benchmark_file() (in module mimoEnv.benchmark) lock_joint() (in module mimoEnv.utils)

M

m_data (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.TrimeshTouch attribute) m_model (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.TrimeshTouch attribute) main() (in module mimoEnv.illustrations) (in module mimoEnv.showroom) make_flfvfp_plots() (in module mimoActuation.muscle_testing) make_paper_plot() (in module mimoEnv.benchmark) make_stacked_bar_chart() (in module mimoEnv.benchmark) mass_limits (mimoEnv.envs.catch.MIMoCatchEnv attribute) max_torque (mimoActuation.actuation.SpringDamperModel attribute) mesh_box() (in module mimoTouch.sensormeshes) mesh_capsule() (in module mimoTouch.sensormeshes) mesh_cylinder() (in module mimoTouch.sensormeshes) mesh_ellipsoid() (in module mimoTouch.sensormeshes) mesh_pipe() (in module mimoTouch.sensormeshes) mesh_sphere() (in module mimoTouch.sensormeshes) meshes (mimoTouch.touch.TrimeshTouch attribute) metadata (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) mimoActuation.actuation module mimoActuation.muscle module mimoActuation.muscle_testing module MIMoCatchEnv (class in mimoEnv.envs.catch) MIMoDummyEnv (class in mimoEnv.envs.dummy) MIMoEnv (class in mimoEnv.envs.mimo_env) mimoEnv.benchmark module mimoEnv.envs.catch module mimoEnv.envs.dummy module mimoEnv.envs.reach module mimoEnv.envs.selfbody module mimoEnv.envs.standup module mimoEnv.illustrations module mimoEnv.showroom module

mimoEnv.utils module MIMoMuscleDummyEnv (class in mimoEnv.envs.dummy) mimoProprioception.proprio module MIMoReachEnv (class in mimoEnv.envs.reach) MIMoSelfBodyEnv (class in mimoEnv.envs.selfbody) MIMoStandupEnv (class in mimoEnv.envs.standup) mimoTouch.sensormeshes module mimoTouch.sensorpoints module mimoTouch.touch module MIMoV2DummyEnv (class in mimoEnv.envs.dummy) mimoVestibular.vestibular module mimoVision.vision module model (mimoEnv.envs.mimo_env.MIMoEnv attribute) module mimoActuation.actuation mimoActuation.muscle mimoActuation.muscle_testing mimoEnv.benchmark mimoEnv.envs.catch mimoEnv.envs.dummy mimoEnv.envs.reach mimoEnv.envs.selfbody mimoEnv.envs.standup mimoEnv.illustrations mimoEnv.showroom mimoEnv.utils mimoProprioception.proprio mimoTouch.sensormeshes mimoTouch.sensorpoints mimoTouch.touch mimoVestibular.vestibular mimoVision.vision MUJOCO_DOF_SIZES (in module mimoEnv.utils), [1] MUJOCO_JOINT_SIZES (in module mimoEnv.utils), [1] muscle_activations (mimoActuation.muscle.MuscleModel property) muscle_forces (mimoActuation.muscle.MuscleModel property) muscle_lengths (mimoActuation.muscle.MuscleModel property) muscle_velocities (mimoActuation.muscle.MuscleModel property) MuscleModel (class in mimoActuation.muscle)

N

n_actuators (mimoActuation.actuation.ActuationModel attribute) (mimoEnv.envs.dummy.MIMoDummyEnv property) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv property) (mimoEnv.envs.dummy.MIMoV2DummyEnv property) (mimoEnv.envs.mimo_env.MIMoEnv property) nearest() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method)

normal() (mimoTouch.touch.DiscreteTouch method) normal_force() (mimoTouch.touch.TrimeshTouch method) normalize_vectors() (in module mimoEnv.utils) np_random (mimoEnv.envs.dummy.MIMoDummyEnv property) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv property) (mimoEnv.envs.dummy.MIMoV2DummyEnv property)

O

observation_space (mimoEnv.envs.catch.MIMoCatchEnv attribute) (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) (mimoEnv.envs.mimo_env.MIMoEnv attribute), [1] (mimoEnv.envs.reach.MIMoReachEnv attribute) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv attribute) (mimoEnv.envs.standup.MIMoStandupEnv attribute)

observations() (mimoActuation.actuation.ActuationModel method) (mimoActuation.actuation.PositionalModel method) (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) output_components (mimoProprioception.proprio.Proprioception attribute)

P

plot_benchmarks() (in module mimoEnv.benchmark) plot_force_bodies() (mimoTouch.touch.TrimeshTouch method) plot_force_body() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) plot_force_body_subtree() (mimoTouch.touch.TrimeshTouch method) plot_force_geom() (mimoTouch.touch.DiscreteTouch method) plot_forces() (in module mimoEnv.utils) plot_points() (in module mimoEnv.utils) plot_sensors_body() (mimoTouch.touch.TrimeshTouch method) plot_sensors_geom() (mimoTouch.touch.DiscreteTouch method) plotting_episode() (in module mimoActuation.muscle_testing) plotting_limits (mimoTouch.touch.DiscreteTouch attribute)

position_inaccuracy_limits (mimoEnv.envs.catch.MIMoCatchEnv attribute) position_limits (mimoEnv.envs.catch.MIMoCatchEnv attribute) position_offset (mimoEnv.envs.catch.MIMoCatchEnv attribute) PositionalModel (class in mimoActuation.actuation) proprio_parameters (mimoProprioception.proprio.Proprioception attribute) proprio_params (mimoEnv.envs.mimo_env.MIMoEnv attribute) proprio_setup() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) Proprioception (class in mimoProprioception.proprio) proprioception (mimoEnv.envs.mimo_env.MIMoEnv attribute)

R

REACH_XML (in module mimoEnv.envs.reach) recording_episode() (in module mimoActuation.muscle_testing) render() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) render_mode (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) (mimoEnv.envs.mimo_env.MIMoEnv attribute) repeatability_test() (in module mimoActuation.muscle_testing) reset() (mimoActuation.actuation.ActuationModel method) (mimoActuation.actuation.PositionalModel method) (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) reset_model() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method)

response_function (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.Touch attribute) (mimoTouch.touch.TrimeshTouch attribute) response_type (mimoTouch.touch.Touch attribute) reward_range (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) rotate_vector() (in module mimoEnv.utils) rotate_vector_transpose() (in module mimoEnv.utils) run() (in module mimoEnv.benchmark) run_paper_benchmarks() (in module mimoEnv.benchmark)

S

sample_goal() (mimoEnv.envs.catch.MIMoCatchEnv method) (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) (mimoEnv.envs.reach.MIMoReachEnv method) (mimoEnv.envs.selfbody.MIMoSelfBodyEnv method) (mimoEnv.envs.standup.MIMoStandupEnv method) save_obs_to_file() (mimoVision.vision.SimpleVision method) scale_linear() (in module mimoTouch.touch) SCENE_DIRECTORY (in module mimoEnv.envs.mimo_env) SELFBODY_XML (in module mimoEnv.envs.selfbody) sensing_bodies() (mimoTouch.touch.TrimeshTouch method) sensing_geoms (mimoTouch.touch.DiscreteTouch property) sensor_names (mimoProprioception.proprio.SimpleProprioception attribute) sensor_outputs (mimoProprioception.proprio.Proprioception attribute) (mimoTouch.touch.Touch attribute) (mimoVestibular.vestibular.SimpleVestibular attribute) (mimoVestibular.vestibular.Vestibular attribute) (mimoVision.vision.SimpleVision attribute) (mimoVision.vision.Vision attribute) sensor_positions (mimoTouch.touch.Touch attribute) sensor_scales (mimoTouch.touch.Touch attribute) sensors (mimoProprioception.proprio.SimpleProprioception attribute) set_fmax() (mimoActuation.muscle.MuscleModel method) set_joint_locking_angle() (in module mimoEnv.utils) set_joint_qpos() (in module mimoEnv.utils) set_state() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) set_vmax() (mimoActuation.muscle.MuscleModel method) show_sensors (mimoEnv.envs.dummy.MIMoDummyEnv attribute) SimpleProprioception (class in mimoProprioception.proprio) SimpleVestibular (class in mimoVestibular.vestibular)

SimpleVision (class in mimoVision.vision) simulation_torque() (mimoActuation.actuation.SpringDamperModel method) (mimoActuation.muscle.MuscleModel method) SITTING_POSITION (in module mimoEnv.envs.selfbody) (in module mimoEnv.envs.standup) size_limits (mimoEnv.envs.catch.MIMoCatchEnv attribute) spec (mimoEnv.envs.dummy.MIMoDummyEnv attribute) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv attribute) (mimoEnv.envs.dummy.MIMoV2DummyEnv attribute) spread_linear() (mimoTouch.touch.DiscreteTouch method) (mimoTouch.touch.TrimeshTouch method) spread_points_box() (in module mimoTouch.sensorpoints) spread_points_capsule() (in module mimoTouch.sensorpoints) spread_points_cylinder() (in module mimoTouch.sensorpoints) spread_points_ellipsoid() (in module mimoTouch.sensorpoints) spread_points_pipe() (in module mimoTouch.sensorpoints) spread_points_sphere() (in module mimoTouch.sensorpoints) SpringDamperModel (class in mimoActuation.actuation) STANDUP_XML (in module mimoEnv.envs.standup) state_vector() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) step() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) steps (mimoEnv.envs.dummy.MIMoDummyEnv attribute) steps_in_contact_for_success (mimoEnv.envs.catch.MIMoCatchEnv attribute) substep_update() (mimoActuation.actuation.ActuationModel method) (mimoActuation.muscle.MuscleModel method) swap_facial_expression() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method)

T

target_activity (mimoActuation.muscle.MuscleModel attribute) target_body (mimoEnv.envs.selfbody.MIMoSelfBodyEnv attribute) target_geom (mimoEnv.envs.selfbody.MIMoSelfBodyEnv attribute) tau (mimoActuation.muscle.MuscleModel attribute) test() (in module mimoEnv.illustrations) TEST_XML (in module mimoEnv.envs.dummy) Touch (class in mimoTouch.touch) touch (mimoEnv.envs.mimo_env.MIMoEnv attribute) touch_function (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.Touch attribute) (mimoTouch.touch.TrimeshTouch attribute)

TOUCH_PARAMS (in module mimoEnv.envs.catch) (in module mimoEnv.envs.selfbody) touch_params (mimoEnv.envs.mimo_env.MIMoEnv attribute) touch_setup() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) touch_size (mimoTouch.touch.Touch attribute) touch_type (mimoTouch.touch.Touch attribute) TrimeshTouch (class in mimoTouch.touch)

U

unlock_joint() (in module mimoEnv.utils) unwrapped (mimoEnv.envs.dummy.MIMoDummyEnv property) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv property) (mimoEnv.envs.dummy.MIMoV2DummyEnv property)

use_position_inaccuracy (mimoEnv.envs.catch.MIMoCatchEnv attribute)

V

VALID_COMPONENTS (mimoProprioception.proprio.Proprioception attribute) (mimoProprioception.proprio.SimpleProprioception attribute) VALID_RESPONSE_FUNCTIONS (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.Touch attribute) (mimoTouch.touch.TrimeshTouch attribute) VALID_TOUCH_TYPES (mimoTouch.touch.DiscreteTouch attribute) (mimoTouch.touch.Touch attribute) (mimoTouch.touch.TrimeshTouch attribute) vectorized() (in module mimoActuation.muscle_testing) Vestibular (class in mimoVestibular.vestibular) vestibular (mimoEnv.envs.mimo_env.MIMoEnv attribute) vestibular_parameters (mimoVestibular.vestibular.SimpleVestibular attribute) (mimoVestibular.vestibular.Vestibular attribute) vestibular_params (mimoEnv.envs.mimo_env.MIMoEnv attribute)

vestibular_setup() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) Vision (class in mimoVision.vision) vision (mimoEnv.envs.mimo_env.MIMoEnv attribute) vision_params (mimoEnv.envs.mimo_env.MIMoEnv attribute) vision_setup() (mimoEnv.envs.dummy.MIMoDummyEnv method) (mimoEnv.envs.dummy.MIMoMuscleDummyEnv method) (mimoEnv.envs.dummy.MIMoV2DummyEnv method) (mimoEnv.envs.mimo_env.MIMoEnv method) visualize_contacts_subtree() (mimoTouch.touch.TrimeshTouch method) vmax (mimoActuation.muscle.MuscleModel attribute) vmax_calibration() (in module mimoActuation.muscle_testing)

W

weighted_sum_vectors() (in module mimoEnv.utils) world_pos_to_body() (in module mimoEnv.utils)

world_pos_to_geom() (in module mimoEnv.utils) world_rot_to_body() (in module mimoEnv.utils) world_rot_to_geom() (in module mimoEnv.utils)