Index

_

__call__() (JaxComponent method)

A

add_component() (Problem method) add_markers() (BatchVisualizer method)

ArrayLike (in module mjinx.typing) ArrayOrFloat (in module mjinx.typing) attitude_jacobian() (in module mjinx.configuration._lie)

B

Barrier (class in mjinx.components.barriers._base) barrier() (Problem method)

BatchVisualizer (class in mjinx.visualize) body2id() (SelfCollisionBarrier method) BOTH (PositionLimitType attribute)

C

check_primal_dual_infeasability (OSQPParameters attribute) ClassKFunctions (in module mjinx.typing) close() (BatchVisualizer method) CollisionBody (in module mjinx.typing) CollisionPair (in module mjinx.typing) compile() (Problem method) Component (class in mjinx.components._base) component() (Problem method) compute_barrier() (JaxBarrier method) compute_collision_pairs() (in module mjinx.configuration._collision) compute_constraint() (JaxConstraint method) compute_error() (JaxTask method)

compute_jacobian() (JaxComponent method) (JaxComTask method) (JaxFrameTask method) (JaxJointBarrier method) (JaxJointTask method) (JaxModelEqualityConstraint method) (JaxSelfCollisionBarrier method) compute_safe_displacement() (JaxBarrier method) ComTask (class in mjinx.components.tasks._com_task) Constraint (class in mjinx.components.constraints._base) copy_and_set() (JaxComponent method) cost (Task property)

D

d_min_vec (SelfCollisionBarrier property) dim (Component property) dist (SimplifiedContact attribute)

dual_infeasible_tol (OSQPParameters attribute) dual_var_eq (LocalIKSolution attribute) dual_var_ineq (LocalIKSolution attribute)

E

eq_qp_solve (OSQPParameters attribute)

error (LocalIKSolution attribute)

F

frame (SimplifiedContact attribute)

FrameTask (class in mjinx.components.tasks._obj_frame_task) from_str() (PositionLimitType static method)

G

gain (Component property) gain_fn (Component property) geom (SimplifiedContact attribute) geom_groups() (in module mjinx.configuration._collision) geom_point_jacobian() (in module mjinx.configuration._collision) (in module mjinx.configuration._model) get_configuration_limit() (in module mjinx.configuration._model) get_distance() (in module mjinx.configuration._collision) get_frame() (JaxObjBarrier method) (JaxObjTask method) get_frame_jacobian_local() (in module mjinx.configuration._model)

get_frame_jacobian_world_aligned() (in module mjinx.configuration._model) get_joint_zero() (in module mjinx.configuration._lie) get_pos() (JaxObjBarrier method) (JaxObjTask method) get_prefix() (BatchVisualizer method) get_rotation() (JaxObjBarrier method) (JaxObjTask method) get_transform() (in module mjinx.configuration._model) get_transform_frame_to_world() (in module mjinx.configuration._model) GlobalIKData (class in mjinx.solvers._global_ik) GlobalIKSolution (class in mjinx.solvers._global_ik) GlobalIKSolver (class in mjinx.solvers._global_ik)

I

implicit_diff_solve (OSQPParameters attribute) includes_max() (PositionLimitType static method) includes_min() (PositionLimitType static method) init() (GlobalIKSolver method) (LocalIKSolver method) (Solver method)

integrate() (in module mjinx.configuration._model) iterations (LocalIKSolution attribute)

J

jac_dq2v() (in module mjinx.configuration._lie) jax_component (Component property) JaxBarrier (class in mjinx.components.barriers._base) JaxComponent (class in mjinx.components._base) JaxComponentType (ComTask attribute) (FrameTask attribute) (JointBarrier attribute) (JointTask attribute) (ModelEqualityConstraint attribute) (ObjTask attribute) (PositionBarrier attribute) (PositionTask attribute) (SelfCollisionBarrier attribute) JaxComTask (class in mjinx.components.tasks._com_task)

JaxConstraint (class in mjinx.components.constraints._base) JaxFrameTask (class in mjinx.components.tasks._obj_frame_task) JaxJointBarrier (class in mjinx.components.barriers._joint_barrier) JaxJointTask (class in mjinx.components.tasks._joint_task) JaxModelEqualityConstraint (class in mjinx.components.constraints._equality_constraint) JaxObjBarrier (class in mjinx.components.barriers._obj_barrier) JaxObjTask (class in mjinx.components.tasks._obj_task) JaxPositionBarrier (class in mjinx.components.barriers._obj_position_barrier) JaxPositionTask (class in mjinx.components.tasks._obj_position_task) JaxProblemData (class in mjinx.problem) JaxSelfCollisionBarrier (class in mjinx.components.barriers._self_collision_barrier) JaxTask (class in mjinx.components.tasks._base) joint_difference() (in module mjinx.configuration._lie) JointBarrier (class in mjinx.components.barriers._joint_barrier) JointTask (class in mjinx.components.tasks._joint_task)

L

limit_type (PositionBarrier property) LocalIKData (class in mjinx.solvers._local_ik)

LocalIKSolution (class in mjinx.solvers._local_ik) LocalIKSolver (class in mjinx.solvers._local_ik) loss_fn() (GlobalIKSolver method)

M

MarkerData (class in mjinx.visualize) mask (Component property) mask_idxs (Component property) matrix_cost (Task property) MAX (PositionLimitType attribute) maxiter (OSQPParameters attribute) MIN (PositionLimitType attribute) mjinx.components._base module mjinx.components.barriers._base module mjinx.components.barriers._joint_barrier module mjinx.components.barriers._obj_barrier module mjinx.components.barriers._obj_position_barrier module mjinx.components.barriers._self_collision_barrier module mjinx.components.constraints._base module mjinx.components.constraints._equality_constraint module mjinx.components.tasks._base module mjinx.components.tasks._com_task module mjinx.components.tasks._joint_task module mjinx.components.tasks._obj_frame_task module mjinx.components.tasks._obj_position_task module mjinx.components.tasks._obj_task module mjinx.configuration._collision module mjinx.configuration._lie module mjinx.configuration._model module

mjinx.problem module mjinx.solvers._base module mjinx.solvers._global_ik module mjinx.solvers._local_ik module mjinx.typing module mjinx.visualize module model (Component property) (Solver attribute) ModelEqualityConstraint (class in mjinx.components.constraints._equality_constraint) modified (Component property) module mjinx.components._base mjinx.components.barriers._base mjinx.components.barriers._joint_barrier mjinx.components.barriers._obj_barrier mjinx.components.barriers._obj_position_barrier mjinx.components.barriers._self_collision_barrier mjinx.components.constraints._base mjinx.components.constraints._equality_constraint mjinx.components.tasks._base mjinx.components.tasks._com_task mjinx.components.tasks._joint_task mjinx.components.tasks._obj_frame_task mjinx.components.tasks._obj_position_task mjinx.components.tasks._obj_task mjinx.configuration._collision mjinx.configuration._lie mjinx.configuration._model mjinx.problem mjinx.solvers._base mjinx.solvers._global_ik mjinx.solvers._local_ik mjinx.typing mjinx.visualize momentum (OSQPParameters attribute)

N

name (Component property)

ndarray (in module mjinx.typing)

O

obj_id (ObjBarrier property) (ObjTask property) obj_name (ObjBarrier property) (ObjTask property) obj_type (ObjBarrier property) (ObjTask property)

ObjBarrier (class in mjinx.components.barriers._obj_barrier) ObjTask (class in mjinx.components.tasks._obj_task) optax_state (GlobalIKData attribute) OSQPParameters (class in mjinx.solvers._local_ik)

P

p_max (PositionBarrier property) p_min (PositionBarrier property) pos (SimplifiedContact attribute) PositionBarrier (class in mjinx.components.barriers._obj_position_barrier)

PositionLimitType (class in mjinx.typing) PositionTask (class in mjinx.components.tasks._obj_position_task) primal_infeasible_tol (OSQPParameters attribute) Problem (class in mjinx.problem)

Q

q_max (JointBarrier property) q_min (JointBarrier property)

q_opt (GlobalIKSolution attribute) qmask_idxs (JointBarrier property) (JointTask property)

R

remove_component() (Problem method) remove_high_level_body_tags() (BatchVisualizer method) replace() (SimplifiedContact method)

rho_max (OSQPParameters attribute) rho_min (OSQPParameters attribute) rho_start (OSQPParameters attribute) rot_matrix (MarkerData property)

S

save_video() (BatchVisualizer method) SelfCollisionBarrier (class in mjinx.components.barriers._self_collision_barrier) set_vmap_dimension() (Problem method) sigma (OSQPParameters attribute) SimplifiedContact (class in mjinx.typing) skew_symmetric() (in module mjinx.configuration._lie) soft_constraint_cost (Constraint property) solve() (GlobalIKSolver method) (Solver method)

solve_from_data() (GlobalIKSolver method) (LocalIKSolver method) (Solver method) Solver (class in mjinx.solvers._base) SolverData (class in mjinx.solvers._base) SolverSolution (class in mjinx.solvers._base) sorted_pair() (in module mjinx.configuration._collision) status (LocalIKSolution attribute) stepsize_updates_frequency (OSQPParameters attribute)

T

target_com (ComTask property) target_frame (FrameTask property) target_pos (PositionTask property) target_q (JointTask property)

Task (class in mjinx.components.tasks._base) task() (Problem method) termination_check_frequency (OSQPParameters attribute) tol (OSQPParameters attribute)

U

update() (BatchVisualizer method) (in module mjinx.configuration._model) update_cost() (Task method) update_gain() (Component method) update_model() (Component method) (JointBarrier method) (JointTask method) (ModelEqualityConstraint method) (ObjBarrier method) (ObjTask method) (SelfCollisionBarrier method)

update_p_max() (PositionBarrier method) update_p_min() (PositionBarrier method) update_q_max() (JointBarrier method) update_q_min() (JointBarrier method) update_target_com() (ComTask method) update_target_frame() (FrameTask method) update_target_pos() (PositionTask method) update_target_q() (JointTask method) update_v_max() (Problem method) update_v_min() (Problem method)

V

v_max (Problem property) v_min (Problem property) v_opt (SolverSolution attribute)

v_prev (LocalIKData attribute) validate_body_pair() (SelfCollisionBarrier method) vector_gain (Component property)