Index

A

A (state_space_control.base.Plant attribute) (urdf_state_space.state_space.StateSpaceModel attribute) actuated_joint_names (state_space_control.trajectory.RobotTrajectory attribute) (urdf_state_space.state_space.StateSpaceModel attribute)

annotate_events() (in module state_space_control.simulation) as_matrix() (in module state_space_control.base) available_controllers() (in module state_space_control.base) available_excitations() (in module state_space_control.excitations) axis (state_space_setup_assistant.introspect.JointInfo attribute)

B

B (state_space_control.base.Plant attribute) (urdf_state_space.state_space.StateSpaceModel attribute) base_pose (state_space_control.trajectory.RobotFrame attribute) (state_space_control.trajectory.RobotTrajectory attribute)

base_twist (state_space_control.trajectory.RobotFrame attribute) (state_space_control.trajectory.RobotTrajectory attribute) benchmark (state_space_setup_assistant.session.WizardSession attribute) build_from_yaml() (in module urdf_state_space.config) build_state_space() (in module urdf_state_space.state_space)

C

C (state_space_control.base.Plant attribute) (urdf_state_space.state_space.StateSpaceModel attribute) c2d() (urdf_state_space.state_space.StateSpaceModel method) capped (state_space_control.simulation.SimOutput attribute) channel (state_space_control.simulation.SimOutput attribute) child (state_space_setup_assistant.introspect.JointInfo attribute) closed_loop() (state_space_control.base.ControllerResult method)

closed_loop_poles() (state_space_control.base.ControllerResult method) control_output_matrix() (in module state_space_control.simulation) controllability_matrix() (urdf_state_space.state_space.StateSpaceModel method) controller (state_space_control.base.ControllerResult attribute) ControllerDesign (class in state_space_control.base) ControllerResult (class in state_space_control.base) create_app() (in module state_space_setup_assistant.app) Custom (class in state_space_control.excitations)

D

D (state_space_control.base.Plant attribute) d (state_space_control.simulation.SimOutput attribute) D (urdf_state_space.state_space.StateSpaceModel attribute) damping_report() (in module state_space_control.analysis) data (state_space_control.trajectory.TrajectoryEvent attribute) default_t_final() (in module state_space_control.simulation) describe() (state_space_control.excitations.Excitation method) design() (state_space_control.base.ControllerDesign method) (state_space_control.controllers.hinf.HInf method) (state_space_control.controllers.hinf.MixedSensitivityHInf method) (state_space_control.controllers.lqg.LQG method) (state_space_control.controllers.lqr.LQR method) (state_space_control.controllers.pid.PID method)

design_cfg (state_space_setup_assistant.session.WizardSession attribute) design_controller() (in module state_space_setup_assistant.benchmark) design_yaml_dict() (in module state_space_setup_assistant.yamlgen) dt (urdf_state_space.config.ExportSpec attribute) dump_yaml() (in module state_space_setup_assistant.yamlgen) duration (state_space_control.trajectory.RobotTrajectory property)

E

effort (state_space_setup_assistant.introspect.JointInfo attribute) events (state_space_control.trajectory.RobotTrajectory attribute) Excitation (class in state_space_control.excitations)

excitation_meta (state_space_control.simulation.SimOutput attribute) excitation_schemas() (in module state_space_control.excitations) ExportSpec (class in urdf_state_space.config)

F

find_equilibrium() (in module state_space_setup_assistant.equilibrium) frame_at() (state_space_control.trajectory.FrameSampler method) FrameSampler (class in state_space_control.trajectory)

from_dict() (state_space_control.trajectory.TrajectoryEvent class method) from_model() (state_space_control.base.Plant class method) from_npz() (state_space_control.base.Plant class method) (state_space_control.trajectory.RobotTrajectory class method)

G

Gain

H

HInf (class in state_space_control.controllers.hinf)

I

Impulse (class in state_space_control.excitations) info (state_space_control.base.ControllerResult attribute) injection (state_space_control.excitations.Excitation attribute)

input_names (state_space_control.base.Plant attribute) is_controllable() (urdf_state_space.state_space.StateSpaceModel method) is_observable() (urdf_state_space.state_space.StateSpaceModel method) is_stable() (state_space_control.base.ControllerResult method)

J

joint_names (state_space_control.trajectory.RobotTrajectory attribute) (urdf_state_space.state_space.StateSpaceModel attribute) joint_positions (state_space_control.trajectory.RobotFrame attribute)

joint_velocities (state_space_control.trajectory.RobotFrame attribute) JointInfo (class in state_space_setup_assistant.introspect) joints (state_space_setup_assistant.introspect.RobotInfo attribute) (state_space_setup_assistant.session.WizardSession attribute)

K

K (state_space_control.base.ControllerResult attribute)

L

Linear model links (state_space_setup_assistant.introspect.RobotInfo attribute) list_controllers() (in module state_space_setup_assistant.schemas) load_npz() (urdf_state_space.state_space.StateSpaceModel class method)

load_urdf() (in module state_space_setup_assistant.resources) lower (state_space_setup_assistant.introspect.JointInfo attribute) LQG (class in state_space_control.controllers.lqg) LQR (class in state_space_control.controllers.lqr)

M

main() (in module state_space_control.cli) (in module state_space_response_viz.player_node) (in module state_space_setup_assistant.cli) (in module urdf_state_space.cli) make_controller() (in module state_space_control.base) make_excitation() (in module state_space_control.excitations) mat (urdf_state_space.config.ExportSpec attribute) materials (state_space_setup_assistant.introspect.RobotInfo attribute) message (state_space_control.trajectory.TrajectoryEvent attribute) meta (state_space_control.trajectory.RobotTrajectory attribute) METHODS (state_space_control.trajectory.FrameSampler attribute) mimic (state_space_setup_assistant.introspect.JointInfo attribute) MixedSensitivityHInf (class in state_space_control.controllers.hinf) model (state_space_setup_assistant.session.WizardSession attribute) model_cfg (state_space_setup_assistant.session.WizardSession attribute) model_yaml_dict() (in module state_space_setup_assistant.yamlgen) module state_space_control.analysis state_space_control.base state_space_control.cli state_space_control.controllers.hinf state_space_control.controllers.lqg state_space_control.controllers.lqr state_space_control.controllers.pid state_space_control.excitations state_space_control.simulation state_space_control.trajectory state_space_response_viz.playback state_space_response_viz.player_node state_space_response_viz.renderers state_space_setup_assistant.app state_space_setup_assistant.benchmark state_space_setup_assistant.cli state_space_setup_assistant.equilibrium state_space_setup_assistant.export state_space_setup_assistant.introspect state_space_setup_assistant.resources state_space_setup_assistant.ros2_control_export state_space_setup_assistant.schemas state_space_setup_assistant.session state_space_setup_assistant.validation state_space_setup_assistant.yamlgen urdf_state_space.cli urdf_state_space.config urdf_state_space.state_space

movable (state_space_setup_assistant.introspect.JointInfo attribute) movable_joints (state_space_setup_assistant.introspect.RobotInfo property)

N

n_inputs (state_space_control.base.Plant property) (urdf_state_space.state_space.StateSpaceModel property) n_joints (state_space_control.trajectory.RobotTrajectory property) n_outputs (state_space_control.base.Plant property) (urdf_state_space.state_space.StateSpaceModel property) n_states (state_space_control.base.Plant property) (urdf_state_space.state_space.StateSpaceModel property)

name (state_space_control.base.ControllerResult attribute) (state_space_setup_assistant.introspect.JointInfo attribute) (state_space_setup_assistant.introspect.RobotInfo attribute) now() (state_space_response_viz.playback.PlaybackClock method) npz (urdf_state_space.config.ExportSpec attribute)

O

observability_matrix() (urdf_state_space.state_space.StateSpaceModel method) Operating point (equilibrium)

output_dir (state_space_setup_assistant.session.WizardSession attribute) output_names (state_space_control.base.Plant attribute) (urdf_state_space.state_space.StateSpaceModel attribute)

P

PARAMS (state_space_control.excitations.Custom attribute) (state_space_control.excitations.Excitation attribute) (state_space_control.excitations.Impulse attribute) (state_space_control.excitations.Ramp attribute) (state_space_control.excitations.Sine attribute) (state_space_control.excitations.Step attribute) (state_space_control.excitations.Zero attribute) parent (state_space_setup_assistant.introspect.JointInfo attribute) parse_joints() (in module state_space_setup_assistant.introspect)

parse_robot() (in module state_space_setup_assistant.introspect) pause() (state_space_response_viz.playback.PlaybackClock method) PID (class in state_space_control.controllers.pid) Plant (class in state_space_control.base) plant (state_space_control.base.ControllerResult attribute) play() (state_space_response_viz.playback.PlaybackClock method) PlaybackClock (class in state_space_response_viz.playback) poles() (state_space_control.base.Plant method) (urdf_state_space.state_space.StateSpaceModel method)

Q

q (state_space_control.trajectory.RobotTrajectory attribute)

q_eq (urdf_state_space.state_space.StateSpaceModel attribute) qd (state_space_control.trajectory.RobotTrajectory attribute)

R

Ramp (class in state_space_control.excitations) register() (in module state_space_control.base) register_excitation() (in module state_space_control.excitations) registry_name (state_space_control.controllers.hinf.HInf attribute) (state_space_control.controllers.hinf.MixedSensitivityHInf attribute) (state_space_control.controllers.lqg.LQG attribute) (state_space_control.controllers.lqr.LQR attribute) (state_space_control.controllers.pid.PID attribute) (state_space_control.excitations.Custom attribute) (state_space_control.excitations.Impulse attribute) (state_space_control.excitations.Ramp attribute) (state_space_control.excitations.Sine attribute) (state_space_control.excitations.Step attribute) (state_space_control.excitations.Zero attribute) render() (state_space_response_viz.renderers.RVizRenderer method) (state_space_response_viz.renderers.TrajectoryRenderer method)

reset() (state_space_response_viz.playback.PlaybackClock method) reset_model() (state_space_setup_assistant.session.WizardSession method) reset_robot() (state_space_setup_assistant.session.WizardSession method) resolve_resource() (in module urdf_state_space.config) ResponsePlayer (class in state_space_response_viz.player_node) responses (state_space_setup_assistant.session.WizardSession attribute) result (state_space_setup_assistant.session.WizardSession attribute) robot_name (state_space_setup_assistant.session.WizardSession attribute) RobotFrame (class in state_space_control.trajectory) RobotInfo (class in state_space_setup_assistant.introspect) RobotTrajectory (class in state_space_control.trajectory) robustness_metrics() (in module state_space_setup_assistant.benchmark) ros2_control_yaml_dict() (in module state_space_setup_assistant.ros2_control_export) run_benchmark() (in module state_space_setup_assistant.benchmark) RVizRenderer (class in state_space_response_viz.renderers)

S

safe_share_path() (in module state_space_setup_assistant.resources) sample() (state_space_control.excitations.Custom method) (state_space_control.excitations.Excitation method) (state_space_control.excitations.Impulse method) (state_space_control.excitations.Ramp method) (state_space_control.excitations.Sine method) (state_space_control.excitations.Step method) (state_space_control.excitations.Zero method) save_mat() (urdf_state_space.state_space.StateSpaceModel method) save_npz() (state_space_control.base.ControllerResult method) (state_space_control.trajectory.RobotTrajectory method) (urdf_state_space.state_space.StateSpaceModel method) seek() (state_space_response_viz.playback.PlaybackClock method) set_speed() (state_space_response_viz.playback.PlaybackClock method) settling_time() (in module state_space_control.analysis) setup() (state_space_response_viz.renderers.RVizRenderer method) (state_space_response_viz.renderers.TrajectoryRenderer method) SimOutput (class in state_space_control.simulation) simulate_metrics() (in module state_space_setup_assistant.benchmark) simulate_response() (in module state_space_control.simulation) Sine (class in state_space_control.excitations) speed (state_space_response_viz.playback.PlaybackClock property) stable (state_space_control.simulation.SimOutput attribute) State state_space_control.analysis module state_space_control.base module state_space_control.cli module state_space_control.controllers.hinf module state_space_control.controllers.lqg module state_space_control.controllers.lqr module state_space_control.controllers.pid module state_space_control.excitations module

state_space_control.simulation module state_space_control.trajectory module state_space_response_viz.playback module state_space_response_viz.player_node module state_space_response_viz.renderers module state_space_setup_assistant.app module state_space_setup_assistant.benchmark module state_space_setup_assistant.cli module state_space_setup_assistant.equilibrium module state_space_setup_assistant.export module state_space_setup_assistant.introspect module state_space_setup_assistant.resources module state_space_setup_assistant.ros2_control_export module state_space_setup_assistant.schemas module state_space_setup_assistant.session module state_space_setup_assistant.validation module state_space_setup_assistant.yamlgen module StateSpaceModel (class in urdf_state_space.state_space) Step (class in state_space_control.excitations) step_response() (in module state_space_control.analysis) subject (state_space_control.trajectory.TrajectoryEvent attribute) summary() (state_space_control.base.ControllerResult method) (urdf_state_space.state_space.StateSpaceModel method)

T

t (state_space_control.simulation.SimOutput attribute) (state_space_control.trajectory.RobotFrame attribute) (state_space_control.trajectory.RobotTrajectory attribute) (state_space_control.trajectory.TrajectoryEvent attribute) t_end (state_space_response_viz.playback.PlaybackClock property) to_control() (urdf_state_space.state_space.StateSpaceModel method) to_dict() (state_space_control.trajectory.TrajectoryEvent method) (state_space_setup_assistant.introspect.JointInfo method)

to_jsonable() (in module state_space_setup_assistant.app) to_robot_trajectory() (in module state_space_control.simulation) TrajectoryEvent (class in state_space_control.trajectory) TrajectoryRenderer (class in state_space_response_viz.renderers) type (state_space_control.trajectory.TrajectoryEvent attribute) (state_space_setup_assistant.introspect.JointInfo attribute)

U

u (state_space_control.simulation.SimOutput attribute) (state_space_control.trajectory.RobotFrame attribute) (state_space_control.trajectory.RobotTrajectory attribute) u_eq (state_space_control.base.Plant attribute) (urdf_state_space.state_space.StateSpaceModel attribute) upper (state_space_setup_assistant.introspect.JointInfo attribute) urdf_path (state_space_setup_assistant.session.WizardSession attribute)

urdf_source (state_space_setup_assistant.session.WizardSession attribute) urdf_state_space.cli module urdf_state_space.config module urdf_state_space.state_space module urdf_xml (state_space_setup_assistant.session.WizardSession attribute)

V

validate() (state_space_control.trajectory.RobotTrajectory method) validate_urdf() (in module state_space_setup_assistant.validation)

validation (state_space_setup_assistant.session.WizardSession attribute) velocity (state_space_setup_assistant.introspect.JointInfo attribute)

W

WizardSession (class in state_space_setup_assistant.session)

workdir (state_space_setup_assistant.session.WizardSession attribute) write_bundle() (in module state_space_setup_assistant.export)

X

x0 (state_space_control.simulation.SimOutput attribute)

x_ctrl (state_space_control.simulation.SimOutput attribute) x_plant (state_space_control.simulation.SimOutput attribute)

Y

y (state_space_control.simulation.SimOutput attribute)

Z

Zero (class in state_space_control.excitations)