Double Pendulum
Table of Contents
Double Pendulum Dynamics
Installation
Software Documentation
Repository Structure
Hardware
Control Methods
Leaderboards
Double Pendulum
Index
Index
A
|
B
|
C
|
D
|
E
|
F
|
G
|
I
|
K
|
L
|
M
|
N
|
O
|
P
|
Q
|
R
|
S
|
T
|
U
|
V
|
W
|
X
|
Y
A
AbstractController (class in double_pendulum.controller.abstract_controller)
action_space (double_pendulum.simulation.gym_env.CustomEnv attribute)
add() (double_pendulum.controller.DQN.replay_buffer.ReplayBuffer method)
angular_momentum_base() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
angular_momentum_ddot_base() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
angular_momentum_dot_base() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
animate_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)
animation() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)
apply() (double_pendulum.controller.DQN.networks.DQN method)
B
b1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
b2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
base (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
BaseQ (class in double_pendulum.controller.DQN.networks)
benchmark() (double_pendulum.analysis.benchmark.benchmarker method)
benchmarker (class in double_pendulum.analysis.benchmark)
best_action() (double_pendulum.controller.DQN.networks.BaseQ method)
(double_pendulum.controller.DQN.networks.DQN method)
build_identification_function() (in module double_pendulum.system_identification.dynamics)
build_identification_matrices() (in module double_pendulum.system_identification.dynamics)
butter_filter_rt (class in double_pendulum.utils.filters.low_pass)
butterworth_filter() (in module double_pendulum.utils.filters.butterworth)
C
center_of_mass() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
cf1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
cf2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
check_delay_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_goal_success() (double_pendulum.analysis.benchmark.benchmarker method)
check_meas_noise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_modelpar_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_parameters() (double_pendulum.controller.energy.energy_Xin.EnergyController method)
check_perturbation_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_unoise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_uresponsiveness_robustness() (double_pendulum.analysis.benchmark.benchmarker method)
check_x0() (in module double_pendulum.controller.lqr.roa.prob_roa)
cma_optimization() (in module double_pendulum.utils.optimization)
CollocationConstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol method)
com_dot() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
CombinedController (class in double_pendulum.controller.combined_controller)
compute_cost() (double_pendulum.analysis.benchmark.benchmarker method)
compute_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
compute_ref_cost() (double_pendulum.analysis.benchmark.benchmarker method)
compute_roa_prob() (in module double_pendulum.controller.lqr.roa.prob_roa)
compute_success_measure() (double_pendulum.analysis.benchmark.benchmarker method)
compute_target() (double_pendulum.controller.DQN.networks.BaseQ method)
(double_pendulum.controller.DQN.networks.DQN method)
compute_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
ComputedTorqueController (class in double_pendulum.controller.inverse_dynamics.computed_torque_controller)
ComputeTrajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol method)
concatenate_trajectories() (in module double_pendulum.utils.csv_trajectory)
construct_trajectories() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)
Controller_muli_out_sum_of_Gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)
Controller_multi_policy_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)
Controller_Random_exploration (class in double_pendulum.controller.random_exploration.random_exploration_controller)
controller_step() (double_pendulum.simulation.simulation.Simulator method)
Controller_sum_of_Gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)
coriolis_matrix() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
coulomb_vector() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
create_batch() (double_pendulum.controller.DQN.replay_buffer.ReplayBuffer static method)
create_plant_from_urdf() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)
create_section_poly() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
CustomEnv (class in double_pendulum.simulation.gym_env)
D
data_filter_realtime_1() (in module double_pendulum.utils.filters.running_mean)
data_filter_realtime_2() (in module double_pendulum.utils.filters.running_mean)
determin_poly() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
diff_to_matrix() (in module double_pendulum.model.symbolic_plant)
DirCol (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2)
dircol_calculator (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake)
directSphere() (in module double_pendulum.controller.lqr.roa.ellipsoid)
dlqr() (in module double_pendulum.controller.lqr.lqr)
dof (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
double_pendulum
module
double_pendulum.analysis
module
double_pendulum.analysis.benchmark
module
double_pendulum.analysis.benchmark_plot
module
double_pendulum.analysis.benchmark_scores
module
double_pendulum.analysis.leaderboard
module
double_pendulum.analysis.utils
module
double_pendulum.controller
module
double_pendulum.controller.abstract_controller
module
double_pendulum.controller.combined_controller
module
double_pendulum.controller.DQN
module
double_pendulum.controller.DQN.DQN_controller
module
double_pendulum.controller.DQN.exploration
module
double_pendulum.controller.DQN.networks
module
double_pendulum.controller.DQN.replay_buffer
module
double_pendulum.controller.DQN.simulate
module
double_pendulum.controller.DQN.utils
module
double_pendulum.controller.energy
module
double_pendulum.controller.energy.energy_Xin
module
double_pendulum.controller.friction_compensation
module
double_pendulum.controller.friction_compensation.friction_compensation_controller
module
double_pendulum.controller.gamepad
module
double_pendulum.controller.gamepad.gamepad
module
double_pendulum.controller.gamepad.gamepad_controller
module
double_pendulum.controller.gravity_compensation
module
double_pendulum.controller.gravity_compensation.gravity_compensation_controller
module
double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller
module
double_pendulum.controller.ilqr
module
double_pendulum.controller.ilqr.ilqr_mpc_cpp
module
double_pendulum.controller.ilqr.paropt
module
double_pendulum.controller.inverse_dynamics
module
double_pendulum.controller.inverse_dynamics.computed_torque_controller
module
double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller
module
double_pendulum.controller.lqr
module
double_pendulum.controller.lqr.lqr
module
double_pendulum.controller.lqr.lqr_controller
module
double_pendulum.controller.lqr.lqr_controller_drake
module
double_pendulum.controller.lqr.roa
module
double_pendulum.controller.lqr.roa.check
module
double_pendulum.controller.lqr.roa.ellipsoid
module
double_pendulum.controller.lqr.roa.prob_roa
module
double_pendulum.controller.mcpilco
module
double_pendulum.controller.mcpilco.mcpilco_controller
module
double_pendulum.controller.partial_feedback_linearization
module
double_pendulum.controller.partial_feedback_linearization.pfl
module
double_pendulum.controller.partial_feedback_linearization.symbolic_pfl
module
double_pendulum.controller.pid
module
double_pendulum.controller.pid.point_pid_controller
module
double_pendulum.controller.pid.trajectory_pid_controller
module
double_pendulum.controller.random_exploration
module
double_pendulum.controller.random_exploration.random_exploration_controller
module
double_pendulum.controller.SAC
module
double_pendulum.controller.SAC.SAC_controller
module
double_pendulum.controller.trajectory_following
module
double_pendulum.controller.trajectory_following.feed_forward
module
double_pendulum.controller.trajectory_following.trajectory_controller
module
double_pendulum.controller.tvlqr
module
double_pendulum.controller.tvlqr.tvlqr_controller
module
double_pendulum.controller.tvlqr.tvlqr_controller_drake
module
double_pendulum.experiments
module
double_pendulum.experiments.experimental_utils
module
double_pendulum.experiments.hardware_control_loop_tmotors
module
double_pendulum.experiments.performance_profiler
module
double_pendulum.experiments.video_recording
module
double_pendulum.model
module
double_pendulum.model.friction_matrix
module
double_pendulum.model.model_parameters
module
double_pendulum.model.plant
module
double_pendulum.model.symbolic_plant
module
double_pendulum.simulation
module
double_pendulum.simulation.gym_env
module
double_pendulum.simulation.simulation
module
double_pendulum.simulation.visualization
module
double_pendulum.system_identification
module
double_pendulum.system_identification.data_prep
module
double_pendulum.system_identification.dynamics
module
double_pendulum.system_identification.loss
module
double_pendulum.system_identification.plotting
module
double_pendulum.system_identification.sys_id
module
double_pendulum.trajectory_optimization
module
double_pendulum.trajectory_optimization.direct_collocation
module
double_pendulum.trajectory_optimization.direct_collocation.dircol_utils
module
double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake
module
double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2
module
double_pendulum.trajectory_optimization.ilqr
module
double_pendulum.trajectory_optimization.ilqr.ilqr_cpp
module
double_pendulum.trajectory_optimization.ilqr.paropt
module
double_pendulum.utils
module
double_pendulum.utils.cmaes_controller_par_optimizer
module
double_pendulum.utils.csv_trajectory
module
double_pendulum.utils.filters
module
double_pendulum.utils.filters.butterworth
module
double_pendulum.utils.filters.fast_fourier_transform
module
double_pendulum.utils.filters.identity
module
double_pendulum.utils.filters.kalman_filter
module
double_pendulum.utils.filters.low_pass
module
double_pendulum.utils.filters.running_mean
module
double_pendulum.utils.filters.savitzky_golay
module
double_pendulum.utils.filters.unscented_kalman_filter
module
double_pendulum.utils.optimization
module
double_pendulum.utils.pcw_polynomial
module
double_pendulum.utils.plotting
module
double_pendulum.utils.urdfs
module
double_pendulum.utils.wrap_angles
module
double_pendulum_dynamics_func (class in double_pendulum.simulation.gym_env)
DoublePendulumPlant (class in double_pendulum.model.plant)
DQN (class in double_pendulum.controller.DQN.networks)
DQNController (class in double_pendulum.controller.DQN.DQN_controller)
dynamics_func() (in module double_pendulum.system_identification.dynamics)
E
end_time() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
EnergyController (class in double_pendulum.controller.energy.energy_Xin)
EnergyShapingPFLAndLQRController (class in double_pendulum.controller.partial_feedback_linearization.pfl)
EnergyShapingPFLController (class in double_pendulum.controller.partial_feedback_linearization.pfl)
EpsilonGreedySchedule (class in double_pendulum.controller.DQN.exploration)
equation_of_motion() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
EquationOfMotion() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol method)
errfunc (class in double_pendulum.system_identification.loss)
errfunc_nl (class in double_pendulum.system_identification.loss)
euler_integrator() (double_pendulum.simulation.simulation.Simulator method)
explore() (double_pendulum.controller.DQN.exploration.EpsilonGreedySchedule method)
explore_() (double_pendulum.controller.DQN.exploration.EpsilonGreedySchedule method)
extract_data_from_polynomial() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)
F
fast_fourier_transform() (in module double_pendulum.utils.filters.fast_fourier_transform)
features (double_pendulum.controller.DQN.networks.MLP attribute)
FeedForwardController (class in double_pendulum.controller.trajectory_following.feed_forward)
filter_measurement() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.simulation.simulation.Simulator method)
FitPiecewisePolynomial (class in double_pendulum.utils.pcw_polynomial)
forward_dynamics() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
forward_kinematics() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
FrictionCompensationController (class in double_pendulum.controller.friction_compensation.friction_compensation_controller)
G
g_sym (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
GamePad (class in double_pendulum.controller.gamepad.gamepad)
GamepadController (class in double_pendulum.controller.gamepad.gamepad_controller)
generate_urdf() (in module double_pendulum.utils.urdfs)
get_Alin() (double_pendulum.model.plant.DoublePendulumPlant method)
get_arrow() (in module double_pendulum.simulation.visualization)
get_Blin() (double_pendulum.model.plant.DoublePendulumPlant method)
get_control_output() (double_pendulum.controller.abstract_controller.AbstractController method)
get_control_output_() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.DQN.DQN_controller.DQNController method)
(double_pendulum.controller.energy.energy_Xin.EnergyController method)
(double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController method)
(double_pendulum.controller.gamepad.gamepad_controller.GamepadController method)
(double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController method)
(double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController method)
(double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy method)
(double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy method)
(double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.controller.pid.point_pid_controller.PointPIDController method)
(double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController method)
(double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration method)
(double_pendulum.controller.SAC.SAC_controller.SACController method)
(double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController method)
(double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController method)
(double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController method)
get_control_u() (double_pendulum.simulation.simulation.Simulator method)
get_Cx() (double_pendulum.model.plant.DoublePendulumPlant method)
get_delay_score() (in module double_pendulum.analysis.benchmark_scores)
get_dict() (double_pendulum.model.model_parameters.model_parameters method)
get_energy() (in module double_pendulum.analysis.leaderboard)
get_forecast() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
get_friction_torque() (double_pendulum.controller.abstract_controller.AbstractController method)
get_Fx() (double_pendulum.model.plant.DoublePendulumPlant method)
get_gravity_torque() (double_pendulum.controller.abstract_controller.AbstractController method)
get_Gx() (double_pendulum.model.plant.DoublePendulumPlant method)
get_init_trajectory() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController method)
(double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController method)
(double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController method)
(double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController method)
(double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController method)
get_integrated_torque() (in module double_pendulum.analysis.leaderboard)
get_max_tau() (in module double_pendulum.analysis.leaderboard)
get_measurement() (double_pendulum.simulation.simulation.Simulator method)
get_measurement_noise_score() (in module double_pendulum.analysis.benchmark_scores)
get_Minvx() (double_pendulum.model.plant.DoublePendulumPlant method)
get_model_score() (in module double_pendulum.analysis.benchmark_scores)
get_Mx() (double_pendulum.model.plant.DoublePendulumPlant method)
get_np_policy() (double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy method)
(double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy method)
get_par_list() (in module double_pendulum.analysis.utils)
get_real_applied_u() (double_pendulum.simulation.simulation.Simulator method)
get_sample_indexes() (double_pendulum.controller.DQN.replay_buffer.ReplayBuffer method)
get_scores() (in module double_pendulum.analysis.benchmark_scores)
get_state() (double_pendulum.simulation.simulation.Simulator method)
get_swingup_time() (in module double_pendulum.analysis.leaderboard)
get_tau_smoothness() (in module double_pendulum.analysis.leaderboard)
get_torque_cost() (in module double_pendulum.analysis.leaderboard)
get_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)
get_trajectory_data() (double_pendulum.simulation.simulation.Simulator method)
get_unoise_score() (in module double_pendulum.analysis.benchmark_scores)
get_uresponsiveness_score() (in module double_pendulum.analysis.benchmark_scores)
get_value() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
(double_pendulum.utils.pcw_polynomial.InterpolateMatrix method)
(double_pendulum.utils.pcw_polynomial.InterpolateVector method)
get_velocity_cost() (in module double_pendulum.analysis.leaderboard)
getEllipseParamsFromQuad() (in module double_pendulum.controller.lqr.roa.ellipsoid)
getEllipsePatch() (in module double_pendulum.controller.lqr.roa.ellipsoid)
getEllipsePatches() (in module double_pendulum.controller.lqr.roa.ellipsoid)
gr_sym (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
gravity_vector() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
GravityCompensationController (class in double_pendulum.controller.gravity_compensation.gravity_compensation_controller)
I
I1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
I2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
iden() (in module double_pendulum.utils.filters.unscented_kalman_filter)
identity_filter (class in double_pendulum.utils.filters.identity)
ilqr_calculator (class in double_pendulum.trajectory_optimization.ilqr.ilqr_cpp)
ilqr_trajopt_loss (class in double_pendulum.trajectory_optimization.ilqr.paropt)
ilqrmpc_swingup_loss (class in double_pendulum.controller.ilqr.paropt)
ILQRMPCCPPController (class in double_pendulum.controller.ilqr.ilqr_mpc_cpp)
init() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)
init_() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.energy.energy_Xin.EnergyController method)
(double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController method)
(double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.controller.pid.point_pid_controller.PointPIDController method)
(double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController method)
init_filter() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.simulation.simulation.Simulator method)
init_profile() (double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration method)
integration() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)
InterpolateMatrix (class in double_pendulum.utils.pcw_polynomial)
InterpolateVector (class in double_pendulum.utils.pcw_polynomial)
InterpolationConstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol method)
inverse_dynamics() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
InverseDynamicsController (class in double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller)
Ir_sym (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
iterative_riccati() (in module double_pendulum.controller.lqr.lqr)
K
kalman_filter() (in module double_pendulum.utils.filters.kalman_filter)
kalman_filter_rt (class in double_pendulum.utils.filters.kalman_filter)
kd_func() (in module double_pendulum.controller.energy.energy_Xin)
kinetic_energy() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
L
l1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
l2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
lambdify_matrices() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
leaderboard_scores() (in module double_pendulum.analysis.leaderboard)
learn_on_batch() (double_pendulum.controller.DQN.networks.BaseQ method)
linear_matrices() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
linear_matrices_discrete() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
load() (double_pendulum.controller.DQN.replay_buffer.ReplayBuffer method)
load_dict() (double_pendulum.model.model_parameters.model_parameters method)
load_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
load_Kk_values() (in module double_pendulum.utils.csv_trajectory)
load_model() (double_pendulum.model.model_parameters.model_parameters method)
load_pickled_data() (in module double_pendulum.controller.DQN.utils)
load_trajectory() (in module double_pendulum.utils.csv_trajectory)
load_trajectory_full() (in module double_pendulum.utils.csv_trajectory)
load_yaml() (double_pendulum.model.model_parameters.model_parameters method)
loss() (double_pendulum.controller.DQN.networks.BaseQ method)
(double_pendulum.controller.DQN.networks.DQN method)
lowpass_filter() (in module double_pendulum.utils.filters.low_pass)
lowpass_filter_rt (class in double_pendulum.utils.filters.low_pass)
lqr() (in module double_pendulum.controller.lqr.lqr)
lqr_check_ctg (class in double_pendulum.controller.lqr.roa.check)
lqr_check_ctg_verification() (in module double_pendulum.controller.lqr.roa.check)
lqr_check_epsilon (class in double_pendulum.controller.lqr.roa.check)
lqr_check_epsilon_verification() (in module double_pendulum.controller.lqr.roa.check)
LQRController (class in double_pendulum.controller.lqr.lqr_controller)
(class in double_pendulum.controller.lqr.lqr_controller_drake)
LQRController_nonsymbolic (class in double_pendulum.controller.lqr.lqr_controller)
M
m1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
m2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
main() (in module double_pendulum.utils.filters.kalman_filter)
mass_matrix() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
MathematicalProgram() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol method)
metric() (double_pendulum.controller.DQN.networks.BaseQ static method)
MLP (class in double_pendulum.controller.DQN.networks)
model_parameters (class in double_pendulum.model.model_parameters)
module
double_pendulum
double_pendulum.analysis
double_pendulum.analysis.benchmark
double_pendulum.analysis.benchmark_plot
double_pendulum.analysis.benchmark_scores
double_pendulum.analysis.leaderboard
double_pendulum.analysis.utils
double_pendulum.controller
double_pendulum.controller.abstract_controller
double_pendulum.controller.combined_controller
double_pendulum.controller.DQN
double_pendulum.controller.DQN.DQN_controller
double_pendulum.controller.DQN.exploration
double_pendulum.controller.DQN.networks
double_pendulum.controller.DQN.replay_buffer
double_pendulum.controller.DQN.simulate
double_pendulum.controller.DQN.utils
double_pendulum.controller.energy
double_pendulum.controller.energy.energy_Xin
double_pendulum.controller.friction_compensation
double_pendulum.controller.friction_compensation.friction_compensation_controller
double_pendulum.controller.gamepad
double_pendulum.controller.gamepad.gamepad
double_pendulum.controller.gamepad.gamepad_controller
double_pendulum.controller.gravity_compensation
double_pendulum.controller.gravity_compensation.gravity_compensation_controller
double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller
double_pendulum.controller.ilqr
double_pendulum.controller.ilqr.ilqr_mpc_cpp
double_pendulum.controller.ilqr.paropt
double_pendulum.controller.inverse_dynamics
double_pendulum.controller.inverse_dynamics.computed_torque_controller
double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller
double_pendulum.controller.lqr
double_pendulum.controller.lqr.lqr
double_pendulum.controller.lqr.lqr_controller
double_pendulum.controller.lqr.lqr_controller_drake
double_pendulum.controller.lqr.roa
double_pendulum.controller.lqr.roa.check
double_pendulum.controller.lqr.roa.ellipsoid
double_pendulum.controller.lqr.roa.prob_roa
double_pendulum.controller.mcpilco
double_pendulum.controller.mcpilco.mcpilco_controller
double_pendulum.controller.partial_feedback_linearization
double_pendulum.controller.partial_feedback_linearization.pfl
double_pendulum.controller.partial_feedback_linearization.symbolic_pfl
double_pendulum.controller.pid
double_pendulum.controller.pid.point_pid_controller
double_pendulum.controller.pid.trajectory_pid_controller
double_pendulum.controller.random_exploration
double_pendulum.controller.random_exploration.random_exploration_controller
double_pendulum.controller.SAC
double_pendulum.controller.SAC.SAC_controller
double_pendulum.controller.trajectory_following
double_pendulum.controller.trajectory_following.feed_forward
double_pendulum.controller.trajectory_following.trajectory_controller
double_pendulum.controller.tvlqr
double_pendulum.controller.tvlqr.tvlqr_controller
double_pendulum.controller.tvlqr.tvlqr_controller_drake
double_pendulum.experiments
double_pendulum.experiments.experimental_utils
double_pendulum.experiments.hardware_control_loop_tmotors
double_pendulum.experiments.performance_profiler
double_pendulum.experiments.video_recording
double_pendulum.model
double_pendulum.model.friction_matrix
double_pendulum.model.model_parameters
double_pendulum.model.plant
double_pendulum.model.symbolic_plant
double_pendulum.simulation
double_pendulum.simulation.gym_env
double_pendulum.simulation.simulation
double_pendulum.simulation.visualization
double_pendulum.system_identification
double_pendulum.system_identification.data_prep
double_pendulum.system_identification.dynamics
double_pendulum.system_identification.loss
double_pendulum.system_identification.plotting
double_pendulum.system_identification.sys_id
double_pendulum.trajectory_optimization
double_pendulum.trajectory_optimization.direct_collocation
double_pendulum.trajectory_optimization.direct_collocation.dircol_utils
double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake
double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2
double_pendulum.trajectory_optimization.ilqr
double_pendulum.trajectory_optimization.ilqr.ilqr_cpp
double_pendulum.trajectory_optimization.ilqr.paropt
double_pendulum.utils
double_pendulum.utils.cmaes_controller_par_optimizer
double_pendulum.utils.csv_trajectory
double_pendulum.utils.filters
double_pendulum.utils.filters.butterworth
double_pendulum.utils.filters.fast_fourier_transform
double_pendulum.utils.filters.identity
double_pendulum.utils.filters.kalman_filter
double_pendulum.utils.filters.low_pass
double_pendulum.utils.filters.running_mean
double_pendulum.utils.filters.savitzky_golay
double_pendulum.utils.filters.unscented_kalman_filter
double_pendulum.utils.optimization
double_pendulum.utils.pcw_polynomial
double_pendulum.utils.plotting
double_pendulum.utils.urdfs
double_pendulum.utils.wrap_angles
motor_send_n_commands() (in module double_pendulum.experiments.performance_profiler)
motor_send_n_commands2() (in module double_pendulum.experiments.performance_profiler)
motor_speed_test() (in module double_pendulum.experiments.performance_profiler)
motor_speed_test2() (in module double_pendulum.experiments.performance_profiler)
N
n_actuators (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
n_links (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
name (double_pendulum.controller.DQN.networks.MLP attribute)
normalize_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)
O
observation_space (double_pendulum.simulation.gym_env.CustomEnv attribute)
P
parent (double_pendulum.controller.DQN.networks.MLP attribute)
PIDGravityCompensationController (class in double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller)
plot_benchmark_results() (in module double_pendulum.analysis.benchmark_plot)
plot_figures() (in module double_pendulum.utils.plotting)
plot_model_robustness_multi() (in module double_pendulum.analysis.benchmark_plot)
plot_timeseries() (in module double_pendulum.utils.plotting)
plot_torques() (in module double_pendulum.system_identification.plotting)
plotEllipse() (in module double_pendulum.controller.lqr.roa.ellipsoid)
PointPIDController (class in double_pendulum.controller.pid.point_pid_controller)
poly1() (in module double_pendulum.utils.pcw_polynomial)
poly2() (in module double_pendulum.utils.pcw_polynomial)
poly3() (in module double_pendulum.utils.pcw_polynomial)
potential_energy() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
profiler() (in module double_pendulum.experiments.performance_profiler)
Q
q (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q01 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q02 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q0d1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q0d2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
q2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qd (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qd1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qd2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qdd (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qdd1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
qdd2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
quadForm() (in module double_pendulum.controller.lqr.roa.ellipsoid)
R
r1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
r2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
rad2rev() (in module double_pendulum.experiments.experimental_utils)
random_action() (double_pendulum.controller.DQN.networks.BaseQ method)
read() (double_pendulum.controller.gamepad.gamepad.GamePad method)
record_data() (double_pendulum.simulation.simulation.Simulator method)
remove_namespaces() (in module double_pendulum.utils.urdfs)
render() (double_pendulum.simulation.gym_env.CustomEnv method)
replace_parameters() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
ReplayBuffer (class in double_pendulum.controller.DQN.replay_buffer)
ResampleTrajectory() (in module double_pendulum.utils.pcw_polynomial)
rescale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)
(double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)
(double_pendulum.system_identification.loss.errfunc method)
(double_pendulum.system_identification.loss.errfunc_nl method)
(double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)
(double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss method)
(double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss method)
reset() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.simulation.gym_env.CustomEnv method)
(double_pendulum.simulation.simulation.Simulator method)
reset_() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
reset_data_recorder() (double_pendulum.simulation.simulation.Simulator method)
rev2rad() (in module double_pendulum.experiments.experimental_utils)
rhs() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
roa_prob_loss (class in double_pendulum.controller.lqr.roa.prob_roa)
run_experiment() (in module double_pendulum.experiments.hardware_control_loop_tmotors)
run_system_identification() (in module double_pendulum.system_identification.sys_id)
run_system_identification_nl() (in module double_pendulum.system_identification.sys_id)
runge_integrator() (double_pendulum.simulation.simulation.Simulator method)
running_mean_filter() (in module double_pendulum.utils.filters.running_mean)
S
SACController (class in double_pendulum.controller.SAC.SAC_controller)
sample_random_batch() (double_pendulum.controller.DQN.replay_buffer.ReplayBuffer method)
sampleFromEllipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)
save() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.DQN.networks.BaseQ method)
(double_pendulum.controller.DQN.replay_buffer.ReplayBuffer method)
save_() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.energy.energy_Xin.EnergyController method)
(double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController method)
(double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController method)
(double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController method)
(double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.controller.pid.point_pid_controller.PointPIDController method)
(double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController method)
(double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController method)
(double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController method)
save_data() (in module double_pendulum.experiments.experimental_utils)
save_dict() (double_pendulum.model.model_parameters.model_parameters method)
save_frame() (double_pendulum.experiments.video_recording.VideoWriterWidget method)
save_pickled_data() (in module double_pendulum.controller.DQN.utils)
save_trajectory() (in module double_pendulum.utils.csv_trajectory)
save_trajectory_csv() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
savitzky_golay_filter() (in module double_pendulum.utils.filters.savitzky_golay)
scipy_fft() (in module double_pendulum.utils.filters.fast_fourier_transform)
scipy_par_optimization() (in module double_pendulum.utils.optimization)
scope (double_pendulum.controller.DQN.networks.MLP attribute)
set_arrow_properties() (in module double_pendulum.simulation.visualization)
set_cfric() (double_pendulum.model.model_parameters.model_parameters method)
set_com() (double_pendulum.model.model_parameters.model_parameters method)
set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
set_cost_par() (double_pendulum.analysis.benchmark.benchmarker method)
set_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
set_cost_parameters_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
set_damping() (double_pendulum.model.model_parameters.model_parameters method)
set_disturbances() (double_pendulum.simulation.simulation.Simulator method)
set_dof() (double_pendulum.model.model_parameters.model_parameters method)
set_filter_args() (double_pendulum.controller.abstract_controller.AbstractController method)
set_filter_parameters() (double_pendulum.simulation.simulation.Simulator method)
set_final_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
set_friction_compensation() (double_pendulum.controller.abstract_controller.AbstractController method)
set_gear_ratio() (double_pendulum.model.model_parameters.model_parameters method)
set_goal() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.energy.energy_Xin.EnergyController method)
(double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.lqr.lqr_controller_drake.LQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController method)
(double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController method)
(double_pendulum.controller.pid.point_pid_controller.PointPIDController method)
(double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
set_gravity() (double_pendulum.model.model_parameters.model_parameters method)
set_gravity_compensation() (double_pendulum.controller.abstract_controller.AbstractController method)
set_inertia() (double_pendulum.model.model_parameters.model_parameters method)
set_init_traj() (double_pendulum.analysis.benchmark.benchmarker method)
set_length() (double_pendulum.model.model_parameters.model_parameters method)
set_mass() (double_pendulum.model.model_parameters.model_parameters method)
set_measurement_parameters() (double_pendulum.simulation.simulation.Simulator method)
set_model_parameter() (double_pendulum.analysis.benchmark.benchmarker method)
set_model_parameters() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
(double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)
set_motor_inertia() (double_pendulum.model.model_parameters.model_parameters method)
set_motor_parameters() (double_pendulum.simulation.simulation.Simulator method)
set_parameters() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.energy.energy_Xin.EnergyController method)
(double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)
(double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController method)
(double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic method)
(double_pendulum.controller.pid.point_pid_controller.PointPIDController method)
(double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
(double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)
set_process_noise() (double_pendulum.simulation.simulation.Simulator method)
set_start() (double_pendulum.controller.abstract_controller.AbstractController method)
(double_pendulum.controller.combined_controller.CombinedController method)
(double_pendulum.controller.combined_controller.SimultaneousControllers method)
(double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController method)
(double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)
set_state() (double_pendulum.simulation.simulation.Simulator method)
set_torque_limit() (double_pendulum.model.model_parameters.model_parameters method)
setZeroPosition() (in module double_pendulum.experiments.experimental_utils)
show_frame() (double_pendulum.experiments.video_recording.VideoWriterWidget method)
sim_callback() (double_pendulum.controller.lqr.roa.check.lqr_check_ctg method)
(double_pendulum.controller.lqr.roa.check.lqr_check_epsilon method)
simulate() (double_pendulum.simulation.simulation.Simulator method)
(in module double_pendulum.controller.DQN.simulate)
simulate_and_animate() (double_pendulum.simulation.simulation.Simulator method)
simulate_and_get_cost() (double_pendulum.analysis.benchmark.benchmarker method)
Simulator (class in double_pendulum.simulation.simulation)
SimultaneousControllers (class in double_pendulum.controller.combined_controller)
smooth_data() (in module double_pendulum.system_identification.data_prep)
solve_least_squares() (in module double_pendulum.utils.optimization)
split_data() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
start_recording() (double_pendulum.experiments.video_recording.VideoWriterWidget method)
start_time() (double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial method)
step() (double_pendulum.simulation.gym_env.CustomEnv method)
(double_pendulum.simulation.simulation.Simulator method)
sub_symbols() (in module double_pendulum.model.symbolic_plant)
swingup_loss (class in double_pendulum.utils.cmaes_controller_par_optimizer)
symbolic_coriolis_matrix() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_coulomb_vector() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_gravity_vector() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_kinetic_energy() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_linear_matrices() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_mass_matrix() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_potential_energy() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
symbolic_total_energy() (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
SymbolicDoublePendulum (class in double_pendulum.model.symbolic_plant)
SymbolicPFLAndLQRController (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)
SymbolicPFLController (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)
T
tl1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
tl2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
total_energy() (double_pendulum.model.plant.DoublePendulumPlant method)
(double_pendulum.model.symbolic_plant.SymbolicDoublePendulum method)
traj_opt_loss (class in double_pendulum.utils.cmaes_controller_par_optimizer)
trajectory_properties() (in module double_pendulum.utils.csv_trajectory)
TrajectoryController (class in double_pendulum.controller.trajectory_following.trajectory_controller)
TrajectoryInterpController (class in double_pendulum.controller.trajectory_following.trajectory_controller)
TrajPIDController (class in double_pendulum.controller.pid.trajectory_pid_controller)
TVLQRController (class in double_pendulum.controller.tvlqr.tvlqr_controller)
(class in double_pendulum.controller.tvlqr.tvlqr_controller_drake)
U
u (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
u0 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
u01 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
u02 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
u1 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
u2 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
unscale_action() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)
unscale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)
(double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)
(double_pendulum.system_identification.loss.errfunc method)
(double_pendulum.system_identification.loss.errfunc_nl method)
(double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)
(double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss method)
(double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss method)
unscale_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)
unscented_kalman_filter_rt (class in double_pendulum.utils.filters.unscented_kalman_filter)
update() (double_pendulum.experiments.video_recording.VideoWriterWidget method)
update_online_params() (double_pendulum.controller.DQN.networks.BaseQ method)
update_target_params() (double_pendulum.controller.DQN.networks.BaseQ method)
(double_pendulum.controller.DQN.networks.DQN method)
V
vector_mult() (in module double_pendulum.model.symbolic_plant)
VideoWriterWidget (class in double_pendulum.experiments.video_recording)
volEllipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)
W
wrap_angles() (in module double_pendulum.utils.wrap_angles)
wrap_angles_diff() (in module double_pendulum.utils.wrap_angles)
wrap_angles_top() (in module double_pendulum.utils.wrap_angles)
X
x (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
x0 (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
xd (double_pendulum.model.symbolic_plant.SymbolicDoublePendulum attribute)
Y
yb_friction_matrix() (in module double_pendulum.model.friction_matrix)
yb_matrix_sym (class in double_pendulum.system_identification.dynamics)