Index

A

abs_weights() (dair_pll.deep_support_function.HomogeneousICNN method) activation (dair_pll.deep_support_function.HomogeneousICNN attribute) activation_jacobian() (dair_pll.deep_support_function.HomogeneousICNN method) add_plant_from_urdfs() (in module dair_pll.drake_utils) add_slices_from_trajectory() (dair_pll.dataset_management.TrajectorySliceDataset method) add_trajectories() (dair_pll.dataset_management.TrajectorySet method)

all_runs_dir() (in module dair_pll.file_utils) all_studies_dir() (in module dair_pll.file_utils) assemble_velocity_jacobian() (dair_pll.multibody_terms.ContactTerms static method) assure_created() (in module dair_pll.file_utils) assure_storage_tree_created() (in module dair_pll.file_utils) auxiliary_comparisons() (dair_pll.state_space.StateSpace method)

B

base() (dair_pll.state_space.FloatingBaseSpace method) base_and_learned_comparison_summary() (dair_pll.drake_experiment.DrakeExperiment method) (dair_pll.experiment.SupervisedLearningExperiment method) base_config (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) base_drake_system (dair_pll.drake_experiment.DrakeExperiment attribute) base_error() (dair_pll.state_space.FloatingBaseSpace method) batch_diagonal() (in module dair_pll.tensor_utils) batch_loss() (dair_pll.experiment.SupervisedLearningExperiment method)

batch_predict() (dair_pll.experiment.SupervisedLearningExperiment method) batch_size (dair_pll.experiment_config.OptimizerConfig attribute) best_learned_system_state (dair_pll.experiment.TrainingState attribute) best_valid_loss (dair_pll.experiment.TrainingState attribute) BoundedConvexCollisionGeometry (class in dair_pll.geometry) Box (class in dair_pll.geometry) box_representation() (dair_pll.urdf_utils.UrdfGeometryRepresentationFactory static method) broadcast_lorentz() (in module dair_pll.tensor_utils)

C

calc_out_size() (dair_pll.integrator.ConfigurationIntegrator static method) (dair_pll.integrator.DeltaConfigurationIntegrator static method) (dair_pll.integrator.DeltaStateIntegrator static method) (dair_pll.integrator.DeltaVelocityIntegrator static method) (dair_pll.integrator.Integrator static method) (dair_pll.integrator.VelocityIntegrator static method) carry_callback (dair_pll.system.System attribute) Categorical (class in dair_pll.hyperparameter) centered_uniform() (in module dair_pll.state_space) CenteredSampler (class in dair_pll.state_space) CHECKPOINT_FILENAME (in module dair_pll.file_utils) collide() (dair_pll.geometry.GeometryCollider static method) collide_mesh_mesh() (dair_pll.geometry.GeometryCollider static method) collide_plane_convex() (dair_pll.geometry.GeometryCollider static method) collision_candidates (dair_pll.drake_utils.CollisionGeometrySet attribute) (dair_pll.multibody_terms.ContactTerms attribute) collision_geometry_set (dair_pll.drake_utils.MultibodyPlantDiagram attribute) CollisionGeometry (class in dair_pll.geometry) CollisionGeometrySet (class in dair_pll.drake_utils) comparisons (dair_pll.state_space.StateSpace attribute) config (dair_pll.dataset_management.ExperimentDataManager attribute) (dair_pll.dataset_management.TrajectorySliceDataset attribute) (dair_pll.experiment.SupervisedLearningExperiment attribute)

config_square_error() (dair_pll.state_space.StateSpace method) configuration_difference() (dair_pll.state_space.FixedBaseSpace method) (dair_pll.state_space.FloatingBaseSpace method) (dair_pll.state_space.ProductSpace method) (dair_pll.state_space.StateSpace method) ConfigurationIntegrator (class in dair_pll.integrator) ConstantSampler (class in dair_pll.state_space) contact_terms (dair_pll.multibody_terms.MultibodyTerms attribute) CONTACTNETS_LOSS (dair_pll.drake_experiment.MultibodyLosses attribute) contactnets_loss() (dair_pll.drake_experiment.DrakeMultibodyLearnableExperiment method) (dair_pll.multibody_learnable_system.MultibodyLearnableSystem method) ContactTerms (class in dair_pll.multibody_terms) context_to_state() (dair_pll.drake_state_converter.DrakeStateConverter static method) convert() (dair_pll.geometry.PydrakeToCollisionGeometryFactory static method) convert_box() (dair_pll.geometry.PydrakeToCollisionGeometryFactory static method) convert_mesh() (dair_pll.geometry.PydrakeToCollisionGeometryFactory static method) convert_plane() (dair_pll.geometry.PydrakeToCollisionGeometryFactory static method) covariance() (dair_pll.state_space.CenteredSampler method) (dair_pll.state_space.ConstantSampler method) (dair_pll.state_space.StateSpaceSampler method) (dair_pll.state_space.WhiteNoiser method) current_learned_system_state (dair_pll.experiment.TrainingState attribute)

D

dair_pll.data_config module dair_pll.dataset_management module dair_pll.deep_learnable_model module dair_pll.deep_learnable_system module dair_pll.deep_support_function module dair_pll.drake_experiment module dair_pll.drake_state_converter module dair_pll.drake_system module dair_pll.drake_utils module dair_pll.experiment module dair_pll.experiment_config module dair_pll.file_utils module dair_pll.geometry module dair_pll.hyperparameter module dair_pll.inertia module dair_pll.integrator module dair_pll.multibody_learnable_system module dair_pll.multibody_terms module dair_pll.quaternion module dair_pll.state_space module dair_pll.system module dair_pll.tensor_utils module dair_pll.urdf_utils module dair_pll.vis_utils module dair_pll.wandb_manager module

data_config (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) data_dir() (in module dair_pll.file_utils) DataConfig (class in dair_pll.data_config) DataType (class in dair_pll.quaternion) deal() (in module dair_pll.tensor_utils) DeepLearnableExperiment (class in dair_pll.deep_learnable_system) DeepLearnableModel (class in dair_pll.deep_learnable_model) DeepLearnableSystem (class in dair_pll.deep_learnable_system) DeepLearnableSystemConfig (class in dair_pll.deep_learnable_system) DeepRecurrentModel (class in dair_pll.deep_learnable_model) DeepSupportConvex (class in dair_pll.geometry) default_epoch_callback() (in module dair_pll.experiment) default_range() (dair_pll.hyperparameter.Float method) (dair_pll.hyperparameter.Int method) (dair_pll.hyperparameter.Scalar method) delete() (in module dair_pll.file_utils) DeltaConfigurationIntegrator (class in dair_pll.integrator) DeltaStateIntegrator (class in dair_pll.integrator) DeltaVelocityIntegrator (class in dair_pll.integrator) DiagramBuilderFloat (in module dair_pll.drake_utils) directory (dair_pll.wandb_manager.WeightsAndBiasesManager attribute) distribution (dair_pll.hyperparameter.Categorical attribute) (dair_pll.hyperparameter.Float attribute) (dair_pll.hyperparameter.Hyperparameter attribute) (dair_pll.hyperparameter.Int attribute) (dair_pll.hyperparameter.Scalar attribute) drake_inertial_components_to_pi() (dair_pll.inertia.InertialParameterConverter static method) drake_ndarray_reformat() (in module dair_pll.drake_state_converter) drake_to_pi_cm() (dair_pll.inertia.InertialParameterConverter static method) drake_to_pi_o() (dair_pll.inertia.InertialParameterConverter static method) drake_to_state() (dair_pll.drake_state_converter.DrakeFixedBaseStateConverter static method) (dair_pll.drake_state_converter.DrakeFloatingBaseStateConverter static method) (dair_pll.drake_state_converter.DrakeModelStateConverterFactory static method) drake_to_theta() (dair_pll.inertia.InertialParameterConverter static method) DrakeDeepLearnableExperiment (class in dair_pll.drake_experiment) DrakeExperiment (class in dair_pll.drake_experiment) DrakeFixedBaseStateConverter (class in dair_pll.drake_state_converter) DrakeFloatingBaseStateConverter (class in dair_pll.drake_state_converter) DrakeModelStateConverterFactory (class in dair_pll.drake_state_converter) DrakeMultibodyLearnableExperiment (class in dair_pll.drake_experiment) DrakeMultibodyLearnableExperimentConfig (class in dair_pll.drake_experiment) DrakeStateConverter (class in dair_pll.drake_state_converter) DrakeSystem (class in dair_pll.drake_system) DrakeSystemConfig (class in dair_pll.drake_experiment) dt (dair_pll.data_config.DataConfig attribute) (dair_pll.drake_system.DrakeSystem attribute) (dair_pll.integrator.Integrator attribute) (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute)

E

epoch (dair_pll.experiment.TrainingState attribute) EpochCallbackCallable (in module dair_pll.experiment) epochs (dair_pll.experiment_config.OptimizerConfig attribute) epochs_since_best (dair_pll.experiment.TrainingState attribute) euler_step() (dair_pll.state_space.StateSpace method) evaluate_systems_on_sets() (dair_pll.experiment.SupervisedLearningExperiment method) exp() (in module dair_pll.quaternion) ExperimentDataManager (class in dair_pll.dataset_management) exponential() (dair_pll.state_space.FixedBaseSpace method) (dair_pll.state_space.FloatingBaseSpace method) (dair_pll.state_space.ProductSpace method) (dair_pll.state_space.StateSpace method)

extend_trajectory_sets() (dair_pll.dataset_management.ExperimentDataManager method) extract_body_parameters_and_variables() (dair_pll.multibody_terms.LagrangianTerms static method) extract_geometries_and_kinematics() (dair_pll.multibody_terms.ContactTerms static method) extract_mesh() (in module dair_pll.deep_support_function) extract_obj() (in module dair_pll.deep_support_function) extract_outward_normal_hyperplanes() (in module dair_pll.deep_support_function)

F

faces (dair_pll.system.MeshSummary attribute) fcl_geometry (dair_pll.geometry.DeepSupportConvex attribute) fill_link_with_parameterization() (in module dair_pll.urdf_utils) find() (dair_pll.urdf_utils.UrdfFindOrDefault static method) finished_training (dair_pll.experiment.TrainingState attribute) finite_difference() (dair_pll.state_space.StateSpace method) FixedBaseSpace (class in dair_pll.state_space) Float (class in dair_pll.hyperparameter) FloatingBaseSpace (class in dair_pll.state_space) forward() (dair_pll.deep_learnable_model.DeepRecurrentModel method) (dair_pll.deep_learnable_model.MLP method) (dair_pll.deep_learnable_model.ZeroModel method) (dair_pll.deep_support_function.HomogeneousICNN method) (dair_pll.multibody_terms.ContactTerms method) (dair_pll.multibody_terms.LagrangianTerms method) (dair_pll.multibody_terms.MultibodyTerms method)

forward_dynamics() (dair_pll.multibody_learnable_system.MultibodyLearnableSystem method) friction_params (dair_pll.multibody_terms.ContactTerms attribute) frictions (dair_pll.drake_utils.CollisionGeometrySet attribute) full_evaluation_period (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) full_evaluation_samples (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) future_states_slices (dair_pll.dataset_management.TrajectorySliceDataset attribute)

G

GaussianSampler (class in dair_pll.state_space) GaussianWhiteNoiser (class in dair_pll.state_space) generate_default_element() (dair_pll.urdf_utils.UrdfFindOrDefault static method) generate_results() (dair_pll.experiment.SupervisedLearningExperiment method) generate_state_space() (dair_pll.drake_utils.MultibodyPlantDiagram method) generate_suggestion() (in module dair_pll.hyperparameter) generate_updated_urdfs() (dair_pll.multibody_learnable_system.MultibodyLearnableSystem method) generate_visualization_system() (in module dair_pll.vis_utils) geometries (dair_pll.multibody_terms.ContactTerms attribute) geometry_body_assignment (dair_pll.multibody_terms.MultibodyTerms attribute) geometry_local_poses (dair_pll.multibody_terms.ContactTerms attribute) geometry_rotations (dair_pll.multibody_terms.ContactTerms attribute) geometry_spatial_jacobians (dair_pll.multibody_terms.ContactTerms attribute) geometry_translations (dair_pll.multibody_terms.ContactTerms attribute) GeometryCollider (class in dair_pll.geometry) get_all_bodies() (in module dair_pll.drake_utils) get_all_inertial_bodies() (in module dair_pll.drake_utils) get_asset() (in module dair_pll.file_utils) get_base_system() (dair_pll.drake_experiment.DrakeExperiment method) (dair_pll.experiment.SupervisedLearningExperiment method) get_bodies_in_model_instance() (in module dair_pll.drake_utils) get_body_names_in_model_instance() (in module dair_pll.drake_utils) get_collision_geometry_set() (in module dair_pll.drake_utils) get_configuration_filename() (in module dair_pll.file_utils) get_drake_system() (dair_pll.drake_experiment.DrakeExperiment method) get_evaluation_filename() (in module dair_pll.file_utils) get_fcl_geometry() (dair_pll.geometry.DeepSupportConvex method)

get_friction_coefficients() (dair_pll.multibody_terms.ContactTerms method) get_half_lengths() (dair_pll.geometry.Box method) get_hyperparameter_filename() (in module dair_pll.file_utils) get_learned_drake_system() (dair_pll.drake_experiment.DrakeExperiment method) (dair_pll.drake_experiment.DrakeMultibodyLearnableExperiment method) get_learned_system() (dair_pll.deep_learnable_system.DeepLearnableExperiment method) (dair_pll.drake_experiment.DrakeMultibodyLearnableExperiment method) (dair_pll.experiment.SupervisedLearningExperiment method) get_learned_urdf_dir() (in module dair_pll.file_utils) get_model_filename() (in module dair_pll.file_utils) get_numeric_file_count() (in module dair_pll.file_utils) get_optimizer() (dair_pll.experiment.SupervisedLearningExperiment method) get_oracle_system() (dair_pll.experiment.SupervisedLearningExperiment method) get_quantized_start_time() (dair_pll.drake_system.DrakeSystem method) get_radius() (dair_pll.geometry.Sphere method) get_sample() (dair_pll.state_space.CenteredSampler method) (dair_pll.state_space.ConstantSampler method) (dair_pll.state_space.StateSpaceSampler method) get_trajectory_count() (in module dair_pll.file_utils) get_trajectory_video_filename() (in module dair_pll.file_utils) get_updated_trajectory_sets() (dair_pll.dataset_management.ExperimentDataManager method) get_vertices() (dair_pll.geometry.Box method) (dair_pll.geometry.DeepSupportConvex method) (dair_pll.geometry.Polygon method) (dair_pll.geometry.SparseVertexConvexCollisionGeometry method) get_visualization_system() (dair_pll.drake_experiment.DrakeExperiment method) ground_truth_data_dir() (in module dair_pll.file_utils)

H

hidden_size (dair_pll.deep_learnable_system.DeepLearnableSystemConfig attribute) hidden_weights (dair_pll.deep_support_function.HomogeneousICNN attribute) HomogeneousICNN (class in dair_pll.deep_support_function)

Hyperparameter (class in dair_pll.hyperparameter) hyperparameter_opt_run_name() (in module dair_pll.file_utils) hyperparameter_values() (in module dair_pll.hyperparameter)

I

ids (dair_pll.drake_utils.CollisionGeometrySet attribute) import_data_to_storage() (in module dair_pll.file_utils) indices (dair_pll.dataset_management.TrajectorySet attribute) inertia_matrix_from_vector() (in module dair_pll.inertia) inertia_vector_from_matrix() (in module dair_pll.inertia) inertial_parameters (dair_pll.multibody_terms.LagrangianTerms attribute) InertialParameterConverter (class in dair_pll.inertia) init_symbolic_plant_context_and_state() (in module dair_pll.multibody_terms) init_urdfs (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute)

input_weights (dair_pll.deep_support_function.HomogeneousICNN attribute) Int (class in dair_pll.hyperparameter) Integrator (class in dair_pll.integrator) integrator (dair_pll.system.System attribute) integrator_type (dair_pll.deep_learnable_system.DeepLearnableSystemConfig attribute) inverse() (in module dair_pll.quaternion) inverse_np() (in module dair_pll.quaternion) inverse_torch() (in module dair_pll.quaternion) is_dataclass_instance() (in module dair_pll.hyperparameter)

L

lagrangian_forces (dair_pll.multibody_terms.LagrangianTerms attribute) lagrangian_terms (dair_pll.multibody_terms.MultibodyTerms attribute) LagrangianTerms (class in dair_pll.multibody_terms) launch() (dair_pll.wandb_manager.WeightsAndBiasesManager method) layers (dair_pll.deep_learnable_system.DeepLearnableSystemConfig attribute) learnable_config (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) learning_data_dir() (in module dair_pll.file_utils) learning_data_manager (dair_pll.experiment.SupervisedLearningExperiment attribute) length_param (dair_pll.geometry.Sphere attribute) length_params (dair_pll.geometry.Box attribute) load_binary() (in module dair_pll.file_utils)

load_configuration() (in module dair_pll.file_utils) load_evaluation() (in module dair_pll.file_utils) load_hyperparameters() (in module dair_pll.file_utils) load_string() (in module dair_pll.file_utils) load_suggestion() (in module dair_pll.hyperparameter) log (dair_pll.hyperparameter.Scalar attribute) log() (in module dair_pll.quaternion) log_config() (dair_pll.wandb_manager.WeightsAndBiasesManager static method) loss (dair_pll.drake_experiment.MultibodyLearnableSystemConfig attribute) loss_callback (dair_pll.experiment.SupervisedLearningExperiment attribute) LossCallbackCallable (in module dair_pll.experiment) lr (dair_pll.experiment_config.OptimizerConfig attribute)

M

make_configuration_callback() (in module dair_pll.multibody_terms) make_empty_trajectory_set() (dair_pll.dataset_management.ExperimentDataManager method) mass_matrix (dair_pll.multibody_terms.LagrangianTerms attribute) max_batch_dim (dair_pll.system.System attribute) mean (dair_pll.deep_learnable_model.DeepLearnableModel attribute) mesh_representation() (dair_pll.urdf_utils.UrdfGeometryRepresentationFactory static method) meshes (dair_pll.system.SystemSummary attribute) MeshSummary (class in dair_pll.system) MLP (class in dair_pll.deep_learnable_model) model (dair_pll.deep_learnable_system.DeepLearnableSystem attribute) model_constructor (dair_pll.deep_learnable_system.DeepLearnableSystemConfig attribute) model_ids (dair_pll.drake_utils.MultibodyPlantDiagram attribute) module dair_pll.data_config dair_pll.dataset_management dair_pll.deep_learnable_model dair_pll.deep_learnable_system dair_pll.deep_support_function dair_pll.drake_experiment dair_pll.drake_state_converter dair_pll.drake_system dair_pll.drake_utils dair_pll.experiment dair_pll.experiment_config dair_pll.file_utils dair_pll.geometry dair_pll.hyperparameter dair_pll.inertia dair_pll.integrator dair_pll.multibody_learnable_system dair_pll.multibody_terms dair_pll.quaternion dair_pll.state_space dair_pll.system dair_pll.tensor_utils dair_pll.urdf_utils dair_pll.vis_utils dair_pll.wandb_manager

multibody_terms (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute) MultibodyLearnableSystem (class in dair_pll.multibody_learnable_system) MultibodyLearnableSystemConfig (class in dair_pll.drake_experiment) MultibodyLosses (class in dair_pll.drake_experiment) MultibodyPlantDiagram (class in dair_pll.drake_utils) MultibodyTerms (class in dair_pll.multibody_terms) multiply() (in module dair_pll.quaternion) multiply_np() (in module dair_pll.quaternion) multiply_torch() (in module dair_pll.quaternion)

N

n_q (dair_pll.state_space.StateSpace attribute) n_sorted (dair_pll.dataset_management.ExperimentDataManager attribute) n_v (dair_pll.state_space.StateSpace attribute) n_x (dair_pll.state_space.StateSpace attribute) NdarrayCallable (class in dair_pll.quaternion)

network (dair_pll.geometry.DeepSupportConvex attribute) network_activations() (dair_pll.deep_support_function.HomogeneousICNN method) noise() (dair_pll.state_space.WhiteNoiser method) nonlinearity (dair_pll.deep_learnable_system.DeepLearnableSystemConfig attribute) normalize() (dair_pll.deep_learnable_model.DeepLearnableModel method) number_to_float() (in module dair_pll.inertia)

O

one_vector_block_diagonal() (in module dair_pll.tensor_utils) operation_selector() (in module dair_pll.quaternion) optimizer_config (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) optimizer_state (dair_pll.experiment.TrainingState attribute)

OptimizerConfig (class in dair_pll.experiment_config) out_size (dair_pll.integrator.Integrator attribute) output_urdfs_dir (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute) output_weight (dair_pll.deep_support_function.HomogeneousICNN attribute)

P

parallel_axis_theorem() (in module dair_pll.inertia) partial_step() (dair_pll.integrator.Integrator method) partial_step_callback (dair_pll.integrator.Integrator attribute) partial_sum_batch() (in module dair_pll.state_space) patience (dair_pll.experiment_config.OptimizerConfig attribute) pbmm() (in module dair_pll.tensor_utils) per_epoch_evaluation() (dair_pll.experiment.SupervisedLearningExperiment method) perturbations (dair_pll.geometry.DeepSupportConvex attribute) pi_cm() (dair_pll.multibody_terms.LagrangianTerms method) pi_cm_to_drake_spatial_inertia() (dair_pll.inertia.InertialParameterConverter static method) pi_cm_to_pi_o() (dair_pll.inertia.InertialParameterConverter static method) pi_cm_to_scalars() (dair_pll.inertia.InertialParameterConverter static method) pi_cm_to_theta() (dair_pll.inertia.InertialParameterConverter static method) pi_cm_to_urdf() (dair_pll.inertia.InertialParameterConverter static method) pi_o_to_pi_cm() (dair_pll.inertia.InertialParameterConverter static method) pi_o_to_theta() (dair_pll.inertia.InertialParameterConverter static method) Plane (class in dair_pll.geometry) plant (dair_pll.drake_utils.MultibodyPlantDiagram attribute) plant_diagram (dair_pll.drake_system.DrakeSystem attribute) (dair_pll.multibody_terms.MultibodyTerms attribute)

Polygon (class in dair_pll.geometry) polygon_representation() (dair_pll.urdf_utils.UrdfGeometryRepresentationFactory static method) PREDICTION_LOSS (dair_pll.drake_experiment.MultibodyLosses attribute) prediction_loss() (dair_pll.experiment.SupervisedLearningExperiment method) preprocess_initial_condition() (dair_pll.deep_learnable_system.DeepLearnableSystem method) (dair_pll.drake_system.DrakeSystem method) (dair_pll.system.System method) previous_states_slices (dair_pll.dataset_management.TrajectorySliceDataset attribute) ProductSpace (class in dair_pll.state_space) project_configuration() (dair_pll.state_space.FixedBaseSpace method) (dair_pll.state_space.FloatingBaseSpace method) (dair_pll.state_space.ProductSpace method) (dair_pll.state_space.StateSpace method) project_derivative() (dair_pll.state_space.StateSpace method) project_lorentz() (in module dair_pll.tensor_utils) project_name (dair_pll.wandb_manager.WeightsAndBiasesManager attribute) project_state() (dair_pll.state_space.StateSpace method) PydrakeToCollisionGeometryFactory (class in dair_pll.geometry)

Q

q() (dair_pll.state_space.StateSpace method) q_split() (dair_pll.state_space.ProductSpace method)

q_v() (dair_pll.state_space.StateSpace method) quat() (dair_pll.state_space.FloatingBaseSpace method) quaternion_error() (dair_pll.state_space.FloatingBaseSpace method)

R

ranges (dair_pll.state_space.CenteredSampler attribute) (dair_pll.state_space.WhiteNoiser attribute) relative_velocity_to_contact_jacobian() (dair_pll.multibody_terms.ContactTerms static method) represent_multibody_terms_as_urdfs() (in module dair_pll.urdf_utils) representation() (dair_pll.urdf_utils.UrdfGeometryRepresentationFactory static method) resume_from_id (dair_pll.wandb_manager.WeightsAndBiasesManager attribute) rotate() (in module dair_pll.quaternion)

rotate_np() (in module dair_pll.quaternion) rotate_torch() (in module dair_pll.quaternion) rotation_matrix_from_one_vector() (in module dair_pll.tensor_utils) run_dir() (in module dair_pll.file_utils) run_name (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) (dair_pll.wandb_manager.WeightsAndBiasesManager attribute) run_wandb (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute)

S

sample_initial_condition() (dair_pll.system.System method) sample_trajectory() (dair_pll.system.System method) sappy_reorder_mat() (in module dair_pll.tensor_utils) save_binary() (in module dair_pll.file_utils) save_configuration() (in module dair_pll.file_utils) save_evaluation() (in module dair_pll.file_utils) save_hyperparameters() (in module dair_pll.file_utils) save_string() (in module dair_pll.file_utils) Scalar (class in dair_pll.hyperparameter) scalars (dair_pll.system.SystemSummary attribute) scalars() (dair_pll.geometry.Box method) (dair_pll.geometry.CollisionGeometry method) (dair_pll.geometry.DeepSupportConvex method) (dair_pll.geometry.Plane method) (dair_pll.geometry.Polygon method) (dair_pll.geometry.Sphere method) scalars_and_meshes() (dair_pll.multibody_terms.MultibodyTerms method) ScalarT (class in dair_pll.hyperparameter) scene_graph (dair_pll.drake_utils.MultibodyPlantDiagram attribute) SceneGraphInspectorFloat (in module dair_pll.drake_utils) sequential_eval() (dair_pll.deep_learnable_model.DeepLearnableModel method) (dair_pll.deep_learnable_model.DeepRecurrentModel method) (dair_pll.deep_learnable_model.MLP method) (dair_pll.deep_learnable_model.ZeroModel method) set() (dair_pll.hyperparameter.Hyperparameter method) set_carry_sampler() (dair_pll.system.System method) set_normalization() (dair_pll.deep_learnable_model.DeepLearnableModel method) set_state_sampler() (dair_pll.system.System method) setup_training() (dair_pll.experiment.SupervisedLearningExperiment method) shift_state() (dair_pll.state_space.StateSpace method) sim (dair_pll.drake_utils.MultibodyPlantDiagram attribute) sim_step() (dair_pll.drake_system.DrakeSystem method) (dair_pll.multibody_learnable_system.MultibodyLearnableSystem method) simulate() (dair_pll.integrator.Integrator method) (dair_pll.system.System method) sinc() (in module dair_pll.quaternion) skew_symmetric() (in module dair_pll.tensor_utils) slice_config (dair_pll.data_config.DataConfig attribute) slices (dair_pll.dataset_management.TrajectorySet attribute) solver (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute) space (dair_pll.drake_system.DrakeSystem attribute) (dair_pll.drake_utils.MultibodyPlantDiagram attribute) (dair_pll.experiment.SupervisedLearningExperiment attribute) (dair_pll.integrator.Integrator attribute) (dair_pll.state_space.ConstantSampler attribute) (dair_pll.state_space.StateSpaceSampler attribute) (dair_pll.state_space.WhiteNoiser attribute) (dair_pll.system.System attribute)

SparseVertexConvexCollisionGeometry (class in dair_pll.geometry) spatial_to_point_jacobian() (in module dair_pll.tensor_utils) Sphere (class in dair_pll.geometry) sphere_representation() (dair_pll.urdf_utils.UrdfGeometryRepresentationFactory static method) state_difference() (dair_pll.state_space.StateSpace method) state_ndarray_reformat() (in module dair_pll.drake_state_converter) state_sampler (dair_pll.system.System attribute) state_square_error() (dair_pll.state_space.StateSpace method) state_to_context() (dair_pll.drake_state_converter.DrakeStateConverter static method) state_to_drake() (dair_pll.drake_state_converter.DrakeFixedBaseStateConverter static method) (dair_pll.drake_state_converter.DrakeFloatingBaseStateConverter static method) (dair_pll.drake_state_converter.DrakeModelStateConverterFactory static method) StateIntegrator (class in dair_pll.integrator) StateSpace (class in dair_pll.state_space) StateSpaceSampler (class in dair_pll.state_space) std_dev (dair_pll.deep_learnable_model.DeepLearnableModel attribute) step() (dair_pll.integrator.ConfigurationIntegrator method) (dair_pll.integrator.DeltaConfigurationIntegrator method) (dair_pll.integrator.DeltaStateIntegrator method) (dair_pll.integrator.DeltaVelocityIntegrator method) (dair_pll.integrator.Integrator method) (dair_pll.integrator.StateIntegrator method) (dair_pll.integrator.VelocityIntegrator method) storage (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) storage_dir() (in module dair_pll.file_utils) study_dir() (in module dair_pll.file_utils) suggest() (dair_pll.hyperparameter.Categorical method) (dair_pll.hyperparameter.Float method) (dair_pll.hyperparameter.Hyperparameter method) (dair_pll.hyperparameter.Int method) summary() (dair_pll.multibody_learnable_system.MultibodyLearnableSystem method) (dair_pll.system.System method) SupervisedLearningExperiment (class in dair_pll.experiment) SupervisedLearningExperimentConfig (class in dair_pll.experiment_config) support_points() (dair_pll.geometry.BoundedConvexCollisionGeometry method) (dair_pll.geometry.SparseVertexConvexCollisionGeometry method) (dair_pll.geometry.Sphere method) sweep_run_name() (in module dair_pll.file_utils) symmetric_offdiagonal() (in module dair_pll.tensor_utils) System (class in dair_pll.system) SystemConfig (class in dair_pll.experiment_config) SystemSummary (class in dair_pll.system)

T

t_history (dair_pll.data_config.TrajectorySliceConfig attribute) t_prediction (dair_pll.data_config.TrajectorySliceConfig attribute) t_skip (dair_pll.data_config.TrajectorySliceConfig attribute) TensorCallable (class in dair_pll.quaternion) test_fraction (dair_pll.data_config.DataConfig attribute) test_set (dair_pll.dataset_management.ExperimentDataManager attribute) theta_to_pi_cm() (dair_pll.inertia.InertialParameterConverter static method) theta_to_pi_o() (dair_pll.inertia.InertialParameterConverter static method) tile_dim() (in module dair_pll.tensor_utils) tile_last_dim() (in module dair_pll.tensor_utils) tile_penultimate_dim() (in module dair_pll.tensor_utils) train() (dair_pll.experiment.SupervisedLearningExperiment method) (dair_pll.geometry.DeepSupportConvex method)

train_epoch() (dair_pll.experiment.SupervisedLearningExperiment method) train_fraction (dair_pll.data_config.DataConfig attribute) train_set (dair_pll.dataset_management.ExperimentDataManager attribute) TrainingState (class in dair_pll.experiment) trajectories (dair_pll.dataset_management.TrajectorySet attribute) trajectory_dir (dair_pll.dataset_management.ExperimentDataManager attribute) trajectory_file() (in module dair_pll.file_utils) trajectory_predict() (dair_pll.experiment.SupervisedLearningExperiment method) trajectory_set_indices() (dair_pll.dataset_management.ExperimentDataManager method) trajectory_set_split_indices (dair_pll.experiment.TrainingState attribute) TrajectorySet (class in dair_pll.dataset_management) TrajectorySliceConfig (class in dair_pll.data_config) TrajectorySliceDataset (class in dair_pll.dataset_management) traverse_config() (in module dair_pll.hyperparameter)

U

UniformSampler (class in dair_pll.state_space) UniformWhiteNoiser (class in dair_pll.state_space) unique_body_identifier() (in module dair_pll.drake_utils) UniqueBodyIdentifier (in module dair_pll.drake_utils) unit_vertices (dair_pll.geometry.Box attribute) update() (dair_pll.wandb_manager.WeightsAndBiasesManager static method)

update_dynamically (dair_pll.data_config.DataConfig attribute) update_geometry_in_videos (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) UrdfFindOrDefault (class in dair_pll.urdf_utils) UrdfGeometryRepresentationFactory (class in dair_pll.urdf_utils) urdfs (dair_pll.drake_experiment.DrakeSystemConfig attribute) (dair_pll.drake_system.DrakeSystem attribute) (dair_pll.multibody_terms.MultibodyTerms attribute)

V

v() (dair_pll.state_space.StateSpace method) v_split() (dair_pll.state_space.ProductSpace method) valid_fraction (dair_pll.data_config.DataConfig attribute) valid_set (dair_pll.dataset_management.ExperimentDataManager attribute) value (dair_pll.hyperparameter.Categorical attribute) (dair_pll.hyperparameter.Float attribute) (dair_pll.hyperparameter.Hyperparameter attribute) (dair_pll.hyperparameter.Int attribute) (dair_pll.hyperparameter.Scalar attribute) variance_factor (dair_pll.state_space.CenteredSampler attribute) (dair_pll.state_space.WhiteNoiser attribute)

velocity_square_error() (dair_pll.state_space.StateSpace method) VelocityIntegrator (class in dair_pll.integrator) vertices (dair_pll.geometry.Polygon attribute) (dair_pll.system.MeshSummary attribute) videos (dair_pll.system.SystemSummary attribute) visualization_system (dair_pll.drake_experiment.DrakeExperiment attribute) (dair_pll.multibody_learnable_system.MultibodyLearnableSystem attribute) visualize_learned_geometry (dair_pll.drake_experiment.DrakeMultibodyLearnableExperimentConfig attribute) visualize_trajectory() (in module dair_pll.vis_utils) visualizer (dair_pll.drake_utils.MultibodyPlantDiagram attribute) visualizer_regeneration_is_required() (dair_pll.drake_experiment.DrakeExperiment method) (dair_pll.drake_experiment.DrakeMultibodyLearnableExperiment method)

W

wandb_dir() (in module dair_pll.file_utils) wandb_manager (dair_pll.experiment.SupervisedLearningExperiment attribute) wandb_project (dair_pll.experiment_config.SupervisedLearningExperimentConfig attribute) wandb_run_id (dair_pll.experiment.TrainingState attribute)

wd (dair_pll.experiment_config.OptimizerConfig attribute) WeightsAndBiasesManager (class in dair_pll.wandb_manager) WhiteNoiser (class in dair_pll.state_space) write_to_wandb() (dair_pll.experiment.SupervisedLearningExperiment method)

X

x() (dair_pll.state_space.StateSpace method) x_0 (dair_pll.state_space.CenteredSampler attribute) (dair_pll.state_space.ConstantSampler attribute)

x_split() (dair_pll.state_space.ProductSpace method)

Z

zero_state() (dair_pll.state_space.FixedBaseSpace method) (dair_pll.state_space.FloatingBaseSpace method) (dair_pll.state_space.ProductSpace method) (dair_pll.state_space.StateSpace method)

ZeroModel (class in dair_pll.deep_learnable_model) ZeroSampler (class in dair_pll.state_space)