Index

A

a (moro.trajectory.PositionTrajectory attribute) achieved_pose (moro.inverse_kinematics.PoseIKSolution attribute) achieved_velocity (moro.differential_kinematics.VelocityIKSolution attribute) animate() (moro.visualization.MatplotlibBackend static method) (moro.visualization.RobotVisualizer method) (moro.visualization.ThreeJSBackend static method)

axa2quat() (in module moro.transformations) axa2rot() (in module moro.transformations) axis (moro.visualization.JointData attribute)

B

base_color (moro.visualization.VisualizationStyle attribute) base_radius (moro.visualization.VisualizationLayout attribute)

base_size (moro.visualization.VisualizationStyle attribute) bounds (moro.visualization.SceneFraming attribute) (moro.workspace.Workspace property)

C

cartesian_velocity() (in module moro.differential_kinematics) center (moro.visualization.SceneBounds property) (moro.visualization.SceneFraming attribute) characteristic_length (moro.visualization.SceneData property) christoffel_symbols() (moro.core.Robot method) cm_positions (moro.core.Robot property) compute_scene_bounds() (in module moro.visualization)

condition_number (moro.differential_kinematics.VelocityIKSolution attribute) condition_number() (in module moro.differential_kinematics) configurations (moro.workspace.Workspace attribute) converged (moro.inverse_kinematics.IKSolution attribute) (moro.inverse_kinematics.IKTrajectorySolution attribute) (moro.inverse_kinematics.PoseIKSolution attribute) coriolis_matrix() (moro.core.Robot method)

D

desired_velocity (moro.differential_kinematics.VelocityIKSolution attribute) dh() (in module moro.transformations) dh_parameters (moro.core.Robot property) dh_segments (moro.visualization.SceneData attribute) dh_table (moro.core.Robot property) DHSegmentData (class in moro.visualization) dimension (moro.visualization.SceneData attribute) dof (moro.core.Robot property) (moro.dynamics.DynamicsSolution property) (moro.trajectory.JointTrajectory property) (moro.workspace.Workspace property)

duration (moro.dynamics.DynamicsSolution property) (moro.trajectory.JointTrajectory property) (moro.trajectory.PositionTrajectory property) dynamic_model() (moro.core.Robot method) dynamic_model_matrix_form() (moro.core.Robot method) DynamicsSolution (class in moro.dynamics)

E

end (moro.visualization.DHSegmentData attribute) error (moro.inverse_kinematics.IKSolution attribute) errors (moro.inverse_kinematics.IKTrajectorySolution property)

eul2rot() (in module moro.transformations) euler_lagrange_equations() (moro.core.Robot method) evaluate_robot() (in module moro.visualization)

F

failed_index (moro.inverse_kinematics.IKTrajectorySolution attribute) fit_radius (moro.visualization.SceneFraming attribute) forward_dynamics() (in module moro.dynamics)

frame_length (moro.visualization.VisualizationLayout attribute) frame_scale (moro.visualization.VisualizationStyle attribute) FrameData (class in moro.visualization) frames (moro.visualization.SceneData attribute)

G

gravity (moro.core.Robot property)

gravity_vector() (moro.core.Robot method)

H

half_extent (moro.visualization.SceneFraming attribute) htm2rot() (in module moro.transformations)

htm2tra() (in module moro.transformations) htmrot() (in module moro.transformations) htmtra() (in module moro.transformations)

I

I_cm() (moro.core.Robot method) I_cm0() (moro.core.Robot method) IKSolution (class in moro.inverse_kinematics) IKTrajectorySolution (class in moro.inverse_kinematics) index (moro.visualization.JointData attribute) inertia_matrix() (moro.core.Robot method) inertia_tensors (moro.core.Robot property)

inverse_dynamics() (in module moro.dynamics) invhtm() (in module moro.transformations) is_homogeneous_transform() (in module moro.transformations) is_rotation_matrix() (in module moro.transformations) is_singular() (in module moro.differential_kinematics) iterations (moro.inverse_kinematics.IKSolution attribute) (moro.inverse_kinematics.IKTrajectorySolution property) (moro.inverse_kinematics.PoseIKSolution attribute)

J

J (moro.core.Robot property) J_cm_i() (moro.core.Robot method) J_point() (moro.core.Robot method) jacobian_rank() (in module moro.differential_kinematics) joint_appearance (moro.visualization.VisualizationStyle attribute) joint_color (moro.visualization.VisualizationStyle attribute) joint_data (moro.visualization.SceneData attribute) joint_limits (moro.core.Robot property) (moro.workspace.Workspace attribute) joint_radius (moro.visualization.VisualizationLayout attribute)

joint_representation (moro.visualization.VisualizationStyle attribute) joint_scale (moro.visualization.VisualizationStyle attribute) joint_size (moro.visualization.VisualizationStyle attribute) joint_trajectory() (in module moro.trajectory) joint_type() (moro.core.Robot method) joint_types (moro.core.Robot property) JointData (class in moro.visualization) joints (moro.visualization.SceneData attribute) JointTrajectory (class in moro.trajectory) Jv_cm_i() (moro.core.Robot method) Jw_cm_i() (moro.core.Robot method)

K

kind (moro.visualization.DHSegmentData attribute) (moro.visualization.JointData attribute)

kinetic_energy() (moro.core.Robot method)

L

lagrangian() (moro.core.Robot method) limited (moro.differential_kinematics.VelocityIKSolution attribute) link_color (moro.visualization.VisualizationStyle attribute)

link_kinetic_energy() (moro.core.Robot method) link_linewidth (moro.visualization.VisualizationStyle attribute) link_potential_energy() (moro.core.Robot method) link_radius (moro.visualization.VisualizationLayout attribute)

M

m() (moro.core.Robot method) manipulability() (in module moro.differential_kinematics) masses (moro.core.Robot property) MatplotlibBackend (class in moro.visualization) maximum (moro.visualization.SceneBounds attribute) message (moro.differential_kinematics.VelocityIKSolution attribute) (moro.dynamics.DynamicsSolution attribute) (moro.inverse_kinematics.IKSolution attribute) (moro.inverse_kinematics.IKTrajectorySolution attribute) (moro.inverse_kinematics.PoseIKSolution attribute) method (moro.differential_kinematics.VelocityIKSolution attribute) (moro.dynamics.DynamicsSolution attribute) (moro.inverse_kinematics.IKSolution attribute) (moro.inverse_kinematics.PoseIKSolution attribute) (moro.trajectory.JointTrajectory attribute) (moro.trajectory.PositionTrajectory attribute) minimum (moro.visualization.SceneBounds attribute) model_summary() (moro.core.Robot method) module moro.core moro.differential_kinematics moro.dynamics moro.inverse_kinematics moro.trajectory moro.transformations moro.visualization moro.workspace

moro.core module moro.differential_kinematics module moro.dynamics module moro.inverse_kinematics module moro.trajectory module moro.transformations module moro.visualization module moro.workspace module

O

orientation_error (moro.inverse_kinematics.PoseIKSolution attribute)

orientation_residual (moro.inverse_kinematics.PoseIKSolution attribute) origin (moro.visualization.JointData attribute)

P

p (moro.trajectory.PositionTrajectory attribute) plot() (moro.visualization.RobotVisualizer method) plot_workspace() (in module moro.visualization) points (moro.workspace.Workspace attribute) PoseIKSolution (class in moro.inverse_kinematics) position (moro.visualization.FrameData property)

position_error (moro.inverse_kinematics.PoseIKSolution attribute) position_residual (moro.inverse_kinematics.PoseIKSolution attribute) position_trajectory() (in module moro.trajectory) PositionTrajectory (class in moro.trajectory) potential_energy() (moro.core.Robot method) prismatic_color (moro.visualization.VisualizationStyle attribute)

Q

q (moro.dynamics.DynamicsSolution attribute) (moro.inverse_kinematics.IKSolution attribute) (moro.inverse_kinematics.PoseIKSolution attribute) (moro.trajectory.JointTrajectory attribute) q() (moro.core.Robot method) q_dot() (moro.core.Robot method) qd (moro.differential_kinematics.VelocityIKSolution attribute) (moro.dynamics.DynamicsSolution attribute) (moro.trajectory.JointTrajectory attribute)

qdd (moro.dynamics.DynamicsSolution attribute) (moro.trajectory.JointTrajectory attribute) qis_range (moro.core.Robot property) qs (moro.core.Robot property) (moro.inverse_kinematics.IKTrajectorySolution property) quat2axa() (in module moro.transformations) quat2rot() (in module moro.transformations)

R

r_cm() (moro.core.Robot method) R_i0() (moro.core.Robot method) r_o() (moro.core.Robot method) rank (moro.differential_kinematics.VelocityIKSolution attribute) reference_length (moro.visualization.VisualizationLayout attribute) render() (moro.visualization.MatplotlibBackend static method) (moro.visualization.ThreeJSBackend static method) residual (moro.differential_kinematics.VelocityIKSolution attribute) (moro.inverse_kinematics.IKSolution attribute) residual_norm (moro.differential_kinematics.VelocityIKSolution attribute) resolve_framing() (in module moro.visualization) resolve_layout() (in module moro.visualization) resolve_reference_length() (in module moro.visualization) revolute_color (moro.visualization.VisualizationStyle attribute)

Robot (class in moro.core) RobotVisualizer (class in moro.visualization) rot() (in module moro.transformations) rot2axa() (in module moro.transformations) rot2eul() (in module moro.transformations) rot2htm() (in module moro.transformations) rot2quat() (in module moro.transformations) rot2rotvec() (in module moro.transformations) rotation (moro.visualization.FrameData property) rotvec2rot() (in module moro.transformations) rotx() (in module moro.transformations) roty() (in module moro.transformations) rotz() (in module moro.transformations) row_index (moro.visualization.DHSegmentData attribute) rt2htm() (in module moro.transformations)

S

sample_workspace() (in module moro.workspace) samples (moro.dynamics.DynamicsSolution property) (moro.trajectory.JointTrajectory property) (moro.trajectory.PositionTrajectory property) (moro.workspace.Workspace property) SceneBounds (class in moro.visualization) SceneData (class in moro.visualization) SceneFraming (class in moro.visualization) seed (moro.workspace.Workspace attribute) show_base (moro.visualization.VisualizationStyle attribute) show_frames (moro.visualization.VisualizationStyle attribute) show_grid (moro.visualization.VisualizationStyle attribute) show_joints (moro.visualization.VisualizationStyle attribute) show_links (moro.visualization.VisualizationStyle attribute)

show_trajectory (moro.visualization.VisualizationStyle attribute) simulate() (in module moro.dynamics) singular_values() (in module moro.differential_kinematics) size (moro.visualization.SceneBounds property) skew() (in module moro.transformations) solutions (moro.inverse_kinematics.IKTrajectorySolution attribute) solve_pose_ik() (in module moro.inverse_kinematics) solve_position_ik() (in module moro.inverse_kinematics) solve_position_trajectory() (in module moro.inverse_kinematics) solve_velocity_ik() (in module moro.differential_kinematics) start (moro.visualization.DHSegmentData attribute) state_derivative() (in module moro.dynamics) success (moro.differential_kinematics.VelocityIKSolution attribute) (moro.dynamics.DynamicsSolution attribute)

T

T (moro.core.Robot property) t (moro.dynamics.DynamicsSolution attribute) (moro.trajectory.JointTrajectory attribute) (moro.trajectory.PositionTrajectory attribute) T (moro.visualization.FrameData attribute) T_i0() (moro.core.Robot method) T_ij() (moro.core.Robot method)

target_pose (moro.inverse_kinematics.PoseIKSolution attribute) task_jacobian() (in module moro.differential_kinematics) ThreeJSBackend (class in moro.visualization) trajectory_color (moro.visualization.VisualizationStyle attribute) trajectory_linewidth (moro.visualization.VisualizationStyle attribute) trajectory_mode (moro.visualization.VisualizationStyle attribute) Ts (moro.core.Robot property)

U

unconstrained_qd (moro.differential_kinematics.VelocityIKSolution attribute)

union_bounds() (in module moro.visualization)

V

v (moro.trajectory.PositionTrajectory attribute) v_cm() (moro.core.Robot method) VelocityIKSolution (class in moro.differential_kinematics)

vex() (in module moro.transformations) VisualizationLayout (class in moro.visualization) VisualizationStyle (class in moro.visualization)

W

w() (moro.core.Robot method)

w_rel0() (moro.core.Robot method) Workspace (class in moro.workspace)

X

x (moro.visualization.FrameData property)

Y

y (moro.visualization.FrameData property)

Z

z (moro.visualization.FrameData property)

z() (moro.core.Robot method)