Index

_

__init__() (pyrobosim.core.dynamics.RobotDynamics2D method) (pyrobosim.core.gazebo.WorldGazeboExporter method) (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.locations.Location method) (pyrobosim.core.locations.ObjectSpawn method) (pyrobosim.core.objects.Object method) (pyrobosim.core.robot.Robot method) (pyrobosim.core.room.Room method) (pyrobosim.core.types.Entity method) (pyrobosim.core.types.EntityMetadata method) (pyrobosim.core.world.World method) (pyrobosim.manipulation.grasping.Grasp method) (pyrobosim.manipulation.grasping.GraspGenerator method) (pyrobosim.manipulation.grasping.ParallelGraspProperties method) (pyrobosim.navigation.a_star.AStarAction method) (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.execution.ConstantVelocityExecutor method) (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathExecutor method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method) (pyrobosim.planning.actions.ExecutionOptions method) (pyrobosim.planning.actions.ExecutionResult method) (pyrobosim.planning.actions.TaskAction method) (pyrobosim.planning.actions.TaskPlan method) (pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner method) (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) (pyrobosim.utils.graph_types.Edge method) (pyrobosim.utils.graph_types.Node method) (pyrobosim.utils.path.Path method) (pyrobosim.utils.pose.Pose method) (pyrobosim.utils.search_graph.SearchGraph method) (pyrobosim.utils.search_graph.SearchGraphPlanner method) (pyrobosim.utils.trajectory.Trajectory method) (pyrobosim_ros.ros_interface.WorldROSWrapper method)

A

action (pyrobosim.navigation.a_star.AStarAction attribute) action_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) action_cancel_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) add() (pyrobosim.core.types.EntityMetadata method) add_coords() (in module pyrobosim.utils.polygon) add_edge() (pyrobosim.utils.search_graph.SearchGraph method) add_graph_nodes() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.locations.Location method) (pyrobosim.core.locations.ObjectSpawn method) (pyrobosim.core.room.Room method) (pyrobosim.core.types.Entity method) add_hallway() (pyrobosim.core.world.World method) add_hallways() (pyrobosim.core.yaml_utils.WorldYamlLoader method) add_location() (pyrobosim.core.world.World method) add_locations() (pyrobosim.core.yaml_utils.WorldYamlLoader method)

add_metadata() (pyrobosim.core.locations.Location class method) (pyrobosim.core.objects.Object class method) (pyrobosim.core.world.World method) add_node() (pyrobosim.utils.search_graph.SearchGraph method) add_object() (pyrobosim.core.world.World method) add_objects() (pyrobosim.core.yaml_utils.WorldYamlLoader method) add_robot() (pyrobosim.core.world.World method) add_robot_ros_interfaces() (pyrobosim_ros.ros_interface.WorldROSWrapper method) add_robots() (pyrobosim.core.yaml_utils.WorldYamlLoader method) add_room() (pyrobosim.core.world.World method) add_rooms() (pyrobosim.core.yaml_utils.WorldYamlLoader method) apply_resolution_strategy() (in module pyrobosim.utils.knowledge) AStarAction (class in pyrobosim.navigation.a_star) AStarPlanner (class in pyrobosim.navigation.a_star) at_object_spawn() (pyrobosim.core.robot.Robot method) at_openable_location() (pyrobosim.core.robot.Robot method)

B

BACK (pyrobosim.manipulation.grasping.GraspFace attribute) body (pyrobosim.web.figure.RobotTraceData attribute)

BOTTOM (pyrobosim.manipulation.grasping.GraspFace attribute) box_to_coords() (in module pyrobosim.utils.polygon)

C

cancel_action() (in module pyrobosim.web.commands) cancel_actions() (pyrobosim.core.robot.Robot method) cancel_execution (pyrobosim.navigation.types.PathExecutor attribute) CANCELED (pyrobosim.planning.actions.ExecutionStatus attribute) category (pyrobosim.core.types.Entity attribute) check_occupancy() (in module pyrobosim.utils.world_collision) clear_metadata() (pyrobosim.core.locations.Location class method) (pyrobosim.core.objects.Object class method) close_location() (in module pyrobosim.web.commands) (pyrobosim.core.robot.Robot method) (pyrobosim.core.world.World method) collides_with_robots() (pyrobosim.core.world.World method) collision_polygon (pyrobosim.core.types.Entity attribute) color_to_css() (in module pyrobosim.web.figure) compute_robot_facing_rot() (pyrobosim.manipulation.grasping.GraspGenerator method) connect_neighbors() (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method)

ConstantVelocityExecutor (class in pyrobosim.navigation.execution) construct() (pyrobosim.utils.pose.Pose class method) construct_pose_from_args() (in module pyrobosim.core.yaml_utils) convhull_to_rectangle() (in module pyrobosim.utils.polygon) cost (pyrobosim.navigation.a_star.AStarAction attribute) create_app() (in module pyrobosim.web.app) create_grasp_cuboid() (pyrobosim.core.objects.Object method) create_locations_and_objects_for_export() (pyrobosim.core.gazebo.WorldGazeboExporter method) create_logger() (in module pyrobosim.utils.logging) create_polygons() (pyrobosim.core.locations.Location method) (pyrobosim.core.objects.Object method) create_sdf_link_text() (pyrobosim.core.gazebo.WorldGazeboExporter method) create_spawn_locations() (pyrobosim.core.locations.Location method) create_walls_for_export() (pyrobosim.core.gazebo.WorldGazeboExporter method) create_world() (pyrobosim.core.yaml_utils.WorldYamlLoader method)

D

delete() (pyrobosim.utils.trajectory.Trajectory method) detect() (in module pyrobosim.web.commands) detect_hallway_states() (pyrobosim.navigation.execution.ConstantVelocityExecutor method) detect_objects() (pyrobosim.core.robot.Robot method) direction (pyrobosim.web.figure.RobotTraceData attribute)

distance_between() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.utils.search_graph.SearchGraphPlanner method) do_start_sensor_threads() (pyrobosim.core.robot.Robot method) dynamic_patch() (in module pyrobosim.web.figure) dynamics_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method)

E

Edge (class in pyrobosim.utils.graph_types) enforce_dynamics_limits() (pyrobosim.core.dynamics.RobotDynamics2D method) Entity (class in pyrobosim.core.types) EntityMetadata (class in pyrobosim.core.types) execute() (pyrobosim.navigation.execution.ConstantVelocityExecutor method) (pyrobosim.navigation.types.PathExecutor method) execute_action() (pyrobosim.core.robot.Robot method) execute_plan() (pyrobosim.core.robot.Robot method)

EXECUTION_FAILURE (pyrobosim.planning.actions.ExecutionStatus attribute) execution_result_from_ros() (in module pyrobosim_ros.ros_conversions) execution_result_to_ros() (in module pyrobosim_ros.ros_conversions) ExecutionOptions (class in pyrobosim.planning.actions) ExecutionResult (class in pyrobosim.planning.actions) ExecutionStatus (class in pyrobosim.planning.actions) export() (pyrobosim.core.gazebo.WorldGazeboExporter method) extend() (pyrobosim.navigation.rrt.RRTPlanner method)

F

fill_yaws() (pyrobosim.utils.path.Path method) finalize_goal_handle() (in module pyrobosim_ros.ros_interface) find_path() (pyrobosim.utils.search_graph.SearchGraph method) follow_path() (pyrobosim.core.robot.Robot method) following_path (pyrobosim.navigation.types.PathExecutor attribute) FOVSensor (class in pyrobosim.sensors.fov) from_dict() (pyrobosim.utils.pose.Pose class method)

from_file() (pyrobosim.core.yaml_utils.WorldYamlLoader method) (pyrobosim.navigation.occupancy_grid.OccupancyGrid class method) from_list() (pyrobosim.utils.pose.Pose class method) from_transform() (pyrobosim.utils.pose.Pose class method) from_world() (pyrobosim.navigation.occupancy_grid.OccupancyGrid class method) from_yaml() (pyrobosim.core.yaml_utils.WorldYamlLoader method) FRONT (pyrobosim.manipulation.grasping.GraspFace attribute)

G

generate() (pyrobosim.manipulation.grasping.GraspGenerator method) get() (pyrobosim.core.types.EntityMetadata method) get_action_execution_options() (pyrobosim.core.yaml_utils.WorldYamlLoader method) get_angle() (in module pyrobosim.utils.pose) get_angular_distance() (pyrobosim.utils.pose.Pose method) get_bearing_range() (in module pyrobosim.utils.pose) get_categories() (pyrobosim.core.types.EntityMetadata method) get_constant_speed_trajectory() (in module pyrobosim.utils.trajectory) get_data_folder() (in module pyrobosim.utils.general) get_default_domains_folder() (in module pyrobosim.planning.pddlstream.utils) get_default_stream_info_fn() (in module pyrobosim.planning.pddlstream.utils) get_default_stream_map_fn() (in module pyrobosim.planning.pddlstream.utils) get_detect_cost() (in module pyrobosim.planning.pddlstream.primitives) get_display_coords() (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) get_display_polygons() (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.types.Sensor method) get_distance() (in module pyrobosim.utils.pose) get_entity_by_name() (pyrobosim.core.world.World method) get_entity_name() (in module pyrobosim_ros.ros_conversions) get_footprint() (pyrobosim.core.objects.Object method) get_global_logger() (in module pyrobosim.utils.logging) get_graphs() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method) get_grasp_at_pose_cost() (in module pyrobosim.planning.pddlstream.primitives) get_grasp_cuboid_pose() (pyrobosim.core.objects.Object method) get_grasp_generator() (pyrobosim.core.yaml_utils.WorldYamlLoader method) get_gripper_quads() (pyrobosim.manipulation.grasping.Grasp method) get_hallway_by_name() (pyrobosim.core.world.World method) get_hallway_names() (pyrobosim.core.world.World method) get_hallways_attached_to_room() (pyrobosim.core.world.World method) get_hallways_from_rooms() (pyrobosim.core.world.World method) get_known_closed_hallways() (pyrobosim.core.robot.Robot method) get_known_objects() (pyrobosim.core.robot.Robot method) get_latest_path() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method) get_linear_distance() (pyrobosim.utils.pose.Pose method) get_location_by_name() (pyrobosim.core.world.World method) get_location_from_args() (in module pyrobosim.core.yaml_utils) get_location_from_pose() (pyrobosim.core.world.World method)

get_location_in_hallway() (pyrobosim.core.world.World method) get_location_in_room() (pyrobosim.core.world.World method) get_location_metadata() (pyrobosim.core.world.World method) get_location_names() (pyrobosim.core.world.World method) get_locations() (pyrobosim.core.world.World method) get_measurement() (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) get_nav_poses() (in module pyrobosim.planning.pddlstream.primitives) get_object_by_name() (pyrobosim.core.world.World method) get_object_metadata() (pyrobosim.core.world.World method) get_object_names() (pyrobosim.core.world.World method) get_object_spawn_names() (pyrobosim.core.world.World method) get_object_spawns() (pyrobosim.core.world.World method) get_objects() (pyrobosim.core.world.World method) get_open_close_cost() (in module pyrobosim.planning.pddlstream.primitives) get_path_executor() (pyrobosim.core.yaml_utils.WorldYamlLoader method) get_path_length() (in module pyrobosim.planning.pddlstream.primitives) get_path_planner() (pyrobosim.core.yaml_utils.WorldYamlLoader method) get_pick_place_at_pose_cost() (in module pyrobosim.planning.pddlstream.primitives) get_pick_place_cost() (in module pyrobosim.planning.pddlstream.primitives) get_polygon_centroid() (in module pyrobosim.utils.polygon) get_pose() (pyrobosim.core.robot.Robot method) get_pose_relative_to() (pyrobosim.core.world.World method) get_robot_by_name() (pyrobosim.core.world.World method) get_robot_names() (pyrobosim.core.world.World method) get_room_by_name() (pyrobosim.core.world.World method) get_room_name() (pyrobosim.core.room.Room method) (pyrobosim.core.types.Entity method) get_room_names() (pyrobosim.core.world.World method) get_rotation_matrix() (pyrobosim.utils.pose.Pose method) get_sensors() (pyrobosim.core.yaml_utils.WorldYamlLoader method) get_straight_line_distance() (in module pyrobosim.planning.pddlstream.primitives) get_stream_info() (in module pyrobosim.planning.pddlstream.default_mappings) get_stream_map() (in module pyrobosim.planning.pddlstream.default_mappings) get_transform_matrix() (pyrobosim.utils.pose.Pose method) get_translation() (pyrobosim.utils.pose.Pose method) get_translation_matrix() (pyrobosim.utils.pose.Pose method) get_yaw() (pyrobosim.utils.pose.Pose method) goal_specification_from_ros() (in module pyrobosim_ros.ros_conversions) graph_node_from_entity() (in module pyrobosim.utils.knowledge) graph_nodes (pyrobosim.core.types.Entity attribute) Grasp (class in pyrobosim.manipulation.grasping) GraspDirection (class in pyrobosim.manipulation.grasping) GraspFace (class in pyrobosim.manipulation.grasping) GraspGenerator (class in pyrobosim.manipulation.grasping) grid_to_world() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method)

H

Hallway (class in pyrobosim.core.hallway) has_category() (pyrobosim.core.types.EntityMetadata method) has_straight_line_connection() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) height (pyrobosim.core.locations.Location attribute) (pyrobosim.core.objects.Object attribute) (pyrobosim.core.types.Entity attribute)

held_object (pyrobosim.web.figure.RobotTraceData attribute) heuristic_cost_estimate() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.utils.search_graph.SearchGraphPlanner method)

I

inflate_polygon() (in module pyrobosim.utils.polygon) internal_collision_polygon (pyrobosim.core.types.Entity attribute) interpolate_trajectory() (in module pyrobosim.utils.trajectory) INVALID_ACTION (pyrobosim.planning.actions.ExecutionStatus attribute) InvalidEntityCategoryException is_approx() (pyrobosim.utils.pose.Pose method) is_busy() (pyrobosim.core.robot.Robot method) is_charger (pyrobosim.core.types.Entity attribute) is_collision_free() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.room.Room method) (pyrobosim.core.types.Entity method)

is_connectable() (in module pyrobosim.utils.world_collision) is_empty() (pyrobosim.utils.trajectory.Trajectory method) is_in_bounds() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) is_in_collision() (pyrobosim.core.robot.Robot method) is_inside() (pyrobosim.core.types.Entity method) is_locked (pyrobosim.core.types.Entity attribute) is_moving() (pyrobosim.core.robot.Robot method) is_occupied() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) is_open (pyrobosim.core.types.Entity attribute) is_path_collision_free() (in module pyrobosim.utils.world_collision) is_success() (pyrobosim.planning.actions.ExecutionResult method)

L

LEFT (pyrobosim.manipulation.grasping.GraspFace attribute) Lidar2D (class in pyrobosim.sensors.lidar)

Location (class in pyrobosim.core.locations) lock_location() (pyrobosim.core.world.World method)

M

make_figure() (in module pyrobosim.web.figure) mark_changed() (pyrobosim.core.world.World method) metadata (pyrobosim.core.locations.Location attribute) (pyrobosim.core.objects.Object attribute) MetadataConflictException module pyrobosim pyrobosim.core pyrobosim.core.dynamics pyrobosim.core.gazebo pyrobosim.core.hallway pyrobosim.core.locations pyrobosim.core.objects pyrobosim.core.robot pyrobosim.core.room pyrobosim.core.types pyrobosim.core.world pyrobosim.core.yaml_utils pyrobosim.manipulation pyrobosim.manipulation.grasping pyrobosim.navigation pyrobosim.navigation.a_star pyrobosim.navigation.execution pyrobosim.navigation.occupancy_grid pyrobosim.navigation.prm pyrobosim.navigation.rrt pyrobosim.navigation.types pyrobosim.navigation.world_graph pyrobosim.planning pyrobosim.planning.actions pyrobosim.planning.pddlstream pyrobosim.planning.pddlstream.default_mappings pyrobosim.planning.pddlstream.planner pyrobosim.planning.pddlstream.primitives pyrobosim.planning.pddlstream.utils pyrobosim.sensors pyrobosim.sensors.fov pyrobosim.sensors.lidar pyrobosim.sensors.types pyrobosim.utils pyrobosim.utils.general pyrobosim.utils.graph_types pyrobosim.utils.knowledge pyrobosim.utils.logging pyrobosim.utils.path pyrobosim.utils.polygon pyrobosim.utils.pose pyrobosim.utils.search_graph pyrobosim.utils.trajectory pyrobosim.utils.world_collision pyrobosim.utils.world_motion_planning pyrobosim.web pyrobosim.web.app pyrobosim.web.commands pyrobosim.web.figure pyrobosim_ros pyrobosim_ros.ros_conversions pyrobosim_ros.ros_interface

N

name (pyrobosim.core.types.Entity attribute) nav_poses (pyrobosim.core.types.Entity attribute) navigate() (in module pyrobosim.web.commands) (pyrobosim.core.robot.Robot method) nearest() (pyrobosim.utils.search_graph.SearchGraph method)

neighbors() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.utils.search_graph.SearchGraphPlanner method) Node (class in pyrobosim.utils.graph_types) num_graph_traces() (in module pyrobosim.web.figure) num_points() (pyrobosim.utils.trajectory.Trajectory method)

O

Object (class in pyrobosim.core.objects) ObjectSpawn (class in pyrobosim.core.locations) OccupancyGrid (class in pyrobosim.navigation.occupancy_grid)

open_location() (in module pyrobosim.web.commands) (pyrobosim.core.robot.Robot method) (pyrobosim.core.world.World method)

P

package_robot_state() (pyrobosim_ros.ros_interface.WorldROSWrapper method) ParallelGraspProperties (class in pyrobosim.manipulation.grasping) parse_color() (in module pyrobosim.utils.general) Path (class in pyrobosim.utils.path) path (pyrobosim.web.figure.RobotTraceData attribute) path_from_ros() (in module pyrobosim_ros.ros_conversions) path_to_ros() (in module pyrobosim_ros.ros_conversions) PathExecutor (class in pyrobosim.navigation.types) PathPlanner (class in pyrobosim.navigation.types) pddlstream_solution_to_plan() (in module pyrobosim.planning.pddlstream.utils) PDDLStreamPlanner (class in pyrobosim.planning.pddlstream.planner) pick() (in module pyrobosim.web.commands) pick_object() (pyrobosim.core.robot.Robot method) place() (in module pyrobosim.web.commands) place_object() (pyrobosim.core.robot.Robot method) plan() (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method) (pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner method) (pyrobosim.utils.search_graph.SearchGraphPlanner method) plan_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) plan_cancel_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) plan_path() (pyrobosim.core.robot.Robot method) PLANNING_FAILURE (pyrobosim.planning.actions.ExecutionStatus attribute) plugin_name (pyrobosim.navigation.a_star.AStarPlanner attribute) (pyrobosim.navigation.prm.PRMPlanner attribute) (pyrobosim.navigation.rrt.RRTPlanner attribute) (pyrobosim.navigation.types.PathPlanner attribute) (pyrobosim.navigation.world_graph.WorldGraphPlanner attribute) (pyrobosim.sensors.fov.FOVSensor attribute) (pyrobosim.sensors.lidar.Lidar2D attribute) (pyrobosim.sensors.types.Sensor attribute) polygon (pyrobosim.core.types.Entity attribute) polygon_and_height_from_footprint() (in module pyrobosim.utils.polygon) polygon_and_height_from_mesh() (in module pyrobosim.utils.polygon) Pose (class in pyrobosim.utils.pose) pose (pyrobosim.core.types.Entity attribute) pose_from_ros() (in module pyrobosim_ros.ros_conversions) pose_to_ros() (in module pyrobosim_ros.ros_conversions) POSTCONDITION_FAILURE (pyrobosim.planning.actions.ExecutionStatus attribute) PRECONDITION_FAILURE (pyrobosim.planning.actions.ExecutionStatus attribute) print_details() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.locations.Location method) (pyrobosim.core.locations.ObjectSpawn method) (pyrobosim.core.objects.Object method) (pyrobosim.core.robot.Robot method) (pyrobosim.utils.path.Path method) PRMPlanner (class in pyrobosim.navigation.prm) process_goal_specification() (in module pyrobosim.planning.pddlstream.utils) publish_robot_state() (pyrobosim_ros.ros_interface.WorldROSWrapper method) pyrobosim module pyrobosim.core module pyrobosim.core.dynamics module pyrobosim.core.gazebo module pyrobosim.core.hallway module pyrobosim.core.locations module pyrobosim.core.objects module pyrobosim.core.robot module pyrobosim.core.room module pyrobosim.core.types module pyrobosim.core.world module pyrobosim.core.yaml_utils module pyrobosim.manipulation module

pyrobosim.manipulation.grasping module pyrobosim.navigation module pyrobosim.navigation.a_star module pyrobosim.navigation.execution module pyrobosim.navigation.occupancy_grid module pyrobosim.navigation.prm module pyrobosim.navigation.rrt module pyrobosim.navigation.types module pyrobosim.navigation.world_graph module pyrobosim.planning module pyrobosim.planning.actions module pyrobosim.planning.pddlstream module pyrobosim.planning.pddlstream.default_mappings module pyrobosim.planning.pddlstream.planner module pyrobosim.planning.pddlstream.primitives module pyrobosim.planning.pddlstream.utils module pyrobosim.sensors module pyrobosim.sensors.fov module pyrobosim.sensors.lidar module pyrobosim.sensors.types module pyrobosim.utils module pyrobosim.utils.general module pyrobosim.utils.graph_types module pyrobosim.utils.knowledge module pyrobosim.utils.logging module pyrobosim.utils.path module pyrobosim.utils.polygon module pyrobosim.utils.pose module pyrobosim.utils.search_graph module pyrobosim.utils.trajectory module pyrobosim.utils.world_collision module pyrobosim.utils.world_motion_planning module pyrobosim.web module pyrobosim.web.app module pyrobosim.web.commands module pyrobosim.web.figure module pyrobosim_ros module pyrobosim_ros.ros_conversions module pyrobosim_ros.ros_interface module

Q

query_to_entity() (in module pyrobosim.utils.knowledge)

R

random_goal() (in module pyrobosim.web.commands) random_object() (in module pyrobosim.web.commands) randomize_pose() (in module pyrobosim.web.commands) read_template_file() (pyrobosim.core.gazebo.WorldGazeboExporter method) reduce_waypoints_grid() (in module pyrobosim.navigation.occupancy_grid) reduce_waypoints_polygon() (in module pyrobosim.utils.world_motion_planning) registered_plugins (pyrobosim.navigation.types.PathPlanner attribute) (pyrobosim.sensors.types.Sensor attribute) remove_all_hallways() (pyrobosim.core.world.World method) remove_all_locations() (pyrobosim.core.world.World method) remove_all_objects() (pyrobosim.core.world.World method) remove_all_robots() (pyrobosim.core.world.World method) remove_all_rooms() (pyrobosim.core.world.World method) remove_edge() (pyrobosim.utils.search_graph.SearchGraph method) remove_hallway() (pyrobosim.core.world.World method) remove_location() (pyrobosim.core.world.World method) remove_node() (pyrobosim.utils.search_graph.SearchGraph method) remove_object() (pyrobosim.core.world.World method) remove_robot() (pyrobosim.core.world.World method) remove_robot_ros_interfaces() (pyrobosim_ros.ros_interface.WorldROSWrapper method) remove_room() (pyrobosim.core.world.World method) replace_goal_literal_tuple() (in module pyrobosim.planning.pddlstream.utils) replace_special_yaml_tokens() (in module pyrobosim.utils.general) reset() (pyrobosim.core.dynamics.RobotDynamics2D method) (pyrobosim.core.world.World method) (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method)

reset_path_planner() (in module pyrobosim.web.commands) (pyrobosim.core.robot.Robot method) reset_state() (pyrobosim.navigation.execution.ConstantVelocityExecutor method) reset_world_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) resolve_robot() (in module pyrobosim.web.commands) resolve_to_location() (in module pyrobosim.utils.knowledge) resolve_to_object() (in module pyrobosim.utils.knowledge) rewire_node() (pyrobosim.navigation.rrt.RRTPlanner method) RIGHT (pyrobosim.manipulation.grasping.GraspFace attribute) Robot (class in pyrobosim.core.robot) robot_detect_objects_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) robot_path_cancel_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) robot_path_follow_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) robot_path_plan_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) robot_path_planner_reset_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) RobotDynamics2D (class in pyrobosim.core.dynamics) RobotTraceData (class in pyrobosim.web.figure) Room (class in pyrobosim.core.room) ros_duration_to_float() (in module pyrobosim_ros.ros_conversions) rot2d() (in module pyrobosim.utils.pose) RRTPlanner (class in pyrobosim.navigation.rrt) run_async() (in module pyrobosim.web.commands)

S

sample_configuration() (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) sample_free_robot_pose_uniform() (pyrobosim.core.world.World method) sample_from_polygon() (in module pyrobosim.utils.polygon) sample_grasp_pose() (in module pyrobosim.planning.pddlstream.primitives) sample_motion() (in module pyrobosim.planning.pddlstream.primitives) sample_object_spawn_pose() (pyrobosim.core.world.World method) sample_place_pose() (in module pyrobosim.planning.pddlstream.primitives) save_to_file() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) SearchGraph (class in pyrobosim.utils.search_graph) SearchGraphPlanner (class in pyrobosim.utils.search_graph) Sensor (class in pyrobosim.sensors.types) sensor_fill (pyrobosim.web.figure.RobotTraceData attribute) sensors (pyrobosim.web.figure.RobotTraceData attribute) set_actions() (pyrobosim.planning.actions.TaskPlan method) set_euler_angles() (pyrobosim.utils.pose.Pose method) set_global_logger() (in module pyrobosim.utils.logging) set_inflation_radius() (pyrobosim.core.world.World method) set_location_state_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) set_metadata() (pyrobosim.core.world.World method) set_open() (pyrobosim.core.types.Entity method) set_parent() (in module pyrobosim.core.types) set_path_executor() (pyrobosim.core.robot.Robot method)

set_path_planner() (pyrobosim.core.robot.Robot method) set_pose() (pyrobosim.core.locations.Location method) (pyrobosim.core.objects.Object method) (pyrobosim.core.robot.Robot method) set_pose_from_parent() (pyrobosim.core.locations.ObjectSpawn method) set_poses() (pyrobosim.utils.path.Path method) set_quaternion() (pyrobosim.utils.pose.Pose method) set_sensors() (pyrobosim.core.robot.Robot method) set_world() (pyrobosim_ros.ros_interface.WorldROSWrapper method) should_succeed() (pyrobosim.planning.actions.ExecutionOptions method) should_try_grasp() (pyrobosim.manipulation.grasping.GraspGenerator method) show() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) show_grasps() (pyrobosim.manipulation.grasping.GraspGenerator method) shutdown() (pyrobosim.core.world.World method) (pyrobosim_ros.ros_interface.WorldROSWrapper method) size() (pyrobosim.planning.actions.TaskPlan method) start() (pyrobosim_ros.ros_interface.WorldROSWrapper method) start_thread() (pyrobosim.sensors.types.Sensor method) start_ui() (in module pyrobosim.web.app) status_text() (in module pyrobosim.web.app) step() (pyrobosim.core.dynamics.RobotDynamics2D method) stop_sensor_threads() (pyrobosim.core.robot.Robot method) stop_thread() (pyrobosim.sensors.types.Sensor method) SUCCESS (pyrobosim.planning.actions.ExecutionStatus attribute)

T

task_action_from_ros() (in module pyrobosim_ros.ros_conversions) task_action_to_ros() (in module pyrobosim_ros.ros_conversions) task_plan_from_ros() (in module pyrobosim_ros.ros_conversions) task_plan_to_ros() (in module pyrobosim_ros.ros_conversions) TaskAction (class in pyrobosim.planning.actions) TaskPlan (class in pyrobosim.planning.actions) test_collision_free() (in module pyrobosim.planning.pddlstream.primitives) thread_function() (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) to_dict() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.locations.Location method) (pyrobosim.core.objects.Object method) (pyrobosim.core.robot.Robot method) (pyrobosim.core.room.Room method) (pyrobosim.core.yaml_utils.WorldYamlWriter method) (pyrobosim.manipulation.grasping.GraspGenerator method) (pyrobosim.navigation.a_star.AStarPlanner method) (pyrobosim.navigation.execution.ConstantVelocityExecutor method) (pyrobosim.navigation.prm.PRMPlanner method) (pyrobosim.navigation.rrt.RRTPlanner method) (pyrobosim.navigation.types.PathExecutor method) (pyrobosim.navigation.types.PathPlanner method) (pyrobosim.navigation.world_graph.WorldGraphPlanner method) (pyrobosim.planning.actions.ExecutionOptions method) (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) (pyrobosim.utils.pose.Pose method)

to_file() (pyrobosim.core.yaml_utils.WorldYamlWriter method) TOP (pyrobosim.manipulation.grasping.GraspFace attribute) Trajectory (class in pyrobosim.utils.trajectory) transform_polygon() (in module pyrobosim.utils.polygon) translate_origin() (pyrobosim.manipulation.grasping.Grasp method) try_connect_until() (pyrobosim.navigation.rrt.RRTPlanner method)

U

UNKNOWN (pyrobosim.manipulation.grasping.GraspDirection attribute) (pyrobosim.manipulation.grasping.GraspFace attribute) (pyrobosim.planning.actions.ExecutionStatus attribute) unlock_location() (pyrobosim.core.world.World method) update() (pyrobosim.sensors.fov.FOVSensor method) (pyrobosim.sensors.lidar.Lidar2D method) (pyrobosim.sensors.types.Sensor method) update_bounds() (pyrobosim.core.world.World method) update_collision_polygon() (pyrobosim.core.locations.Location method) (pyrobosim.core.objects.Object method)

update_collision_polygons() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.room.Room method) update_location() (pyrobosim.core.world.World method) update_object() (pyrobosim.core.world.World method) update_polygons() (pyrobosim.core.robot.Robot method) (pyrobosim.core.world.World method) update_visualization_polygon() (pyrobosim.core.hallway.Hallway method) (pyrobosim.core.room.Room method) update_world_from_state_msg() (in module pyrobosim_ros.ros_interface)

V

validate_remaining_path() (pyrobosim.navigation.execution.ConstantVelocityExecutor method) validate_sensors_for_partial_obs_hallways() (pyrobosim.navigation.execution.ConstantVelocityExecutor method) (pyrobosim.navigation.types.PathExecutor method) velocity_command_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) viz_color (pyrobosim.core.hallway.Hallway attribute) (pyrobosim.core.locations.Location attribute) (pyrobosim.core.locations.ObjectSpawn attribute) (pyrobosim.core.objects.Object attribute) (pyrobosim.core.robot.Robot attribute) (pyrobosim.core.room.Room attribute) (pyrobosim.core.types.Entity attribute)

W

World (class in pyrobosim.core.world) world_info_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) world_state_callback() (pyrobosim_ros.ros_interface.WorldROSWrapper method) world_to_grid() (pyrobosim.navigation.occupancy_grid.OccupancyGrid method) world_to_pddlstream_init() (in module pyrobosim.planning.pddlstream.utils)

WorldGazeboExporter (class in pyrobosim.core.gazebo) WorldGraphPlanner (class in pyrobosim.navigation.world_graph) WorldROSWrapper (class in pyrobosim_ros.ros_interface) WorldYamlLoader (class in pyrobosim.core.yaml_utils) WorldYamlWriter (class in pyrobosim.core.yaml_utils) wrap_angle() (in module pyrobosim.utils.pose)

X

X_NEG (pyrobosim.manipulation.grasping.GraspDirection attribute)

X_POS (pyrobosim.manipulation.grasping.GraspDirection attribute)

Y

Y_NEG (pyrobosim.manipulation.grasping.GraspDirection attribute)

Y_POS (pyrobosim.manipulation.grasping.GraspDirection attribute)

Z

Z_NEG (pyrobosim.manipulation.grasping.GraspDirection attribute)

Z_POS (pyrobosim.manipulation.grasping.GraspDirection attribute)