Index

A

A (vsf.estimator.LinearRecursiveEstimator attribute) add_deformable() (vsf.sim.QuasistaticVSFSimulator method) add_geometry() (vsf.sim.klamptWorldWrapper method) add_geometry_from_file() (vsf.sim.klamptWorldWrapper method) add_observation() (vsf.estimator.LinearRecursiveEstimator method) add_robot() (vsf.sim.klamptWorldWrapper method) anchor_local (vsf.sim.PointVSFQuasistaticSimBody attribute) anchor_normal_local (vsf.sim.PointVSFQuasistaticSimBody attribute)

apply_control() (vsf.sim.klamptWorldWrapper method) attach() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoDenseForceSensor method) (vsf.sensor.PunyoPressureSensor method) attachModelName (vsf.sensor.BaseSensor attribute) (vsf.sensor.PunyoDenseForceSensor attribute) (vsf.sensor.PunyoPressureSensor attribute) axis_mode (vsf.core.PointVSF attribute)

B

BaseCalibrator (class in vsf.sensor) BaseDataset (class in vsf.dataset) BaseSensor (class in vsf.sensor) BaseVSF (class in vsf.core) batch_estimate() (vsf.estimator.NeuralVSFEstimator method) (vsf.estimator.PointVSFEstimator method)

batch_estimate_sim_dataset() (vsf.estimator.PointVSFEstimator method) bbox (vsf.core.VSFRGBDCameraFactory attribute) (vsf.core.VSFRGBDCameraFactoryConfig attribute) bg_pcd (vsf.core.VSFRGBDCameraFactory attribute) bodies_in_contact() (vsf.sensor.SimState method) body_states (vsf.sensor.SimState attribute) body_transforms (vsf.sensor.SimState attribute)

C

cache (vsf.dataset.DatasetConfig attribute) cache_data (vsf.dataset.MultiModalDataset attribute) calibrate() (vsf.sensor.BaseCalibrator method) (vsf.sensor.TareCalibrator method) clean_visual (vsf.core.VSFRGBDCameraFactoryConfig attribute) clear_obs_buffer() (vsf.estimator.LinearRecursiveEstimator method) compatible() (vsf.sensor.BaseCalibrator method) (vsf.sensor.TareCalibrator method) compute_forces() (vsf.core.PointVSF method) config (vsf.estimator.PointVSFEstimator attribute)

contact_bodies() (vsf.sensor.BaseSensor method) contact_params (vsf.sim.PointVSFQuasistaticSimBody attribute) contact_states_on_body() (vsf.sensor.SimState method) contacts (vsf.sensor.SimState attribute) contacts_on_body() (vsf.sensor.SimState method) ContactState (class in vsf.sensor) control_keys (vsf.dataset.DatasetConfig attribute) (vsf.dataset.MultiModalDataset attribute) convert_geometry() (vsf.sim.klamptWorldWrapper method) create_sequence() (vsf.dataset.MultiModalDataset method)

D

data_types (vsf.dataset.MultiModalDataset attribute) DatasetConfig (class in vsf.dataset) debug (vsf.core.VSFFactoryConfig attribute) deformed_points() (vsf.sim.PointVSFQuasistaticSimBody method) deformed_points_torch() (vsf.sim.PointVSFQuasistaticSimBody method) depth_extrapolation (vsf.core.VSFRGBDCameraFactoryConfig attribute) depth_sig (vsf.core.VSFRGBDCameraFactoryConfig attribute) device (vsf.core.NeuralVSF property) (vsf.core.PointVSF property) (vsf.sensor.SimState property) (vsf.sim.NeuralVSFQuasistaticSimBody property) (vsf.sim.PointVSFQuasistaticSimBody property)

dir_path (vsf.dataset.MultiModalDataset attribute) downsample() (vsf.core.VSFFactory method) downsample_visual (vsf.core.VSFRGBDCameraFactoryConfig attribute) dtype (vsf.core.NeuralVSF property) (vsf.core.PointVSF property) (vsf.sensor.SimState property) (vsf.sim.NeuralVSFQuasistaticSimBody property) (vsf.sim.PointVSFQuasistaticSimBody property)

E

elems1 (vsf.sensor.ContactState attribute)

elems2 (vsf.sensor.ContactState attribute) estimator (vsf.estimator.PointVSFEstimator attribute)

F

feature_tensor() (vsf.core.PointVSF method) features (vsf.core.PointVSF attribute) (vsf.core.VSFFactoryConfig attribute) finalize_estimation() (vsf.estimator.LinearRecursiveEstimator method) (vsf.estimator.QuadProgOptimizer method)

find_closest_point() (vsf.sim.klamptWorldWrapper method) forces (vsf.sensor.ContactState attribute) fps_num (vsf.core.VSFFactoryConfig attribute) from_world() (vsf.sim.klamptWorldWrapper static method)

G

get() (vsf.core.VSFFactory method) get_all_pcd() (vsf.sim.klamptWorldWrapper method) get_calibration() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoPressureSensor method) get_control_keys() (vsf.sim.QuasistaticVSFSimulator method) get_covar() (vsf.estimator.LinearRecursiveEstimator method) get_deform_motion_lines() (vsf.sim.PointVSFQuasistaticSimBody method) get_geom_trans_dict() (vsf.sim.klamptWorldWrapper method) get_geometry() (vsf.sim.klamptWorldWrapper method) get_internal_state() (vsf.sensor.BaseSensor method) get_mean() (vsf.estimator.LinearRecursiveEstimator method) get_obj_pcd() (vsf.sim.PointVSFQuasistaticSimBody method) get_observed_indices() (vsf.estimator.LinearRecursiveEstimator method) get_proxy_pts() (vsf.sim.PointVSFQuasistaticSimBody method)

get_sensor() (vsf.sim.QuasistaticVSFSimulator method) get_sensor_keys() (vsf.sim.QuasistaticVSFSimulator method) get_sequence() (vsf.dataset.BaseDataset method) (vsf.dataset.MultiModalDataset method) get_sf_pts() (vsf.core.VSFRGBDCameraFactory method) get_transform() (vsf.sim.klamptWorldWrapper method) get_unobserved_indices() (vsf.estimator.LinearRecursiveEstimator method) get_var() (vsf.estimator.LinearRecursiveEstimator method) get_vg_pts() (vsf.core.VSFRGBDCameraFactory method) getBBox() (vsf.core.BaseVSF method) (vsf.core.NeuralVSF method) (vsf.core.PointVSF method) getStiffness() (vsf.core.BaseVSF method) (vsf.core.NeuralVSF method) (vsf.core.PointVSF method)

I

IMAGE16_DTYPE (vsf.dataset.MultiModalDataset attribute)

IMAGE8_DTYPE (vsf.dataset.MultiModalDataset attribute)

K

keys (vsf.dataset.DatasetConfig attribute)

klampt_world_wrapper (vsf.sim.QuasistaticVSFSimulator attribute) klamptWorldWrapper (class in vsf.sim)

L

linearize_dataset() (vsf.estimator.PointVSFEstimator method) linearize_observation() (vsf.estimator.PointVSFEstimator method) LinearRecursiveEstimator (class in vsf.estimator) load() (vsf.core.BaseVSF method) (vsf.core.NeuralVSF method) (vsf.core.PointVSF method) load_all() (vsf.core.VSFFactory method) load_features() (vsf.core.VSFFactory method)

load_obj_all() (vsf.core.VSFRGBDCameraFactory method) load_rest_pts() (vsf.core.VSFFactory method) load_state() (vsf.sim.NeuralVSFQuasistaticSimBody method) (vsf.sim.PointVSFQuasistaticSimBody method) (vsf.sim.QuasistaticVSFSimulator method) load_state_dict() (vsf.estimator.LinearRecursiveEstimator method) (vsf.sim.QuasistaticVSFSimulator method) load_vis_pcd() (vsf.core.VSFRGBDCameraFactory method)

M

max_buffer_len (vsf.estimator.LinearRecursiveEstimator attribute) measurement_errors() (vsf.sensor.BaseSensor method) measurement_force_jacobian() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoDenseForceSensor method) (vsf.sensor.PunyoPressureSensor method) measurement_names() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoDenseForceSensor method) (vsf.sensor.PunyoPressureSensor method) measurements() (vsf.sim.QuasistaticVSFSimulator method)

module vsf.core vsf.dataset vsf.estimator vsf.prior vsf.sensor vsf.sim vsf.utils vsf.visualize MultiModalDataset (class in vsf.dataset)

N

name (vsf.sensor.BaseSensor attribute) (vsf.sensor.PunyoDenseForceSensor attribute) (vsf.sensor.PunyoPressureSensor attribute) NeuralVSF (class in vsf.core) NeuralVSFEstimator (class in vsf.estimator)

NeuralVSFQuasistaticSimBody (class in vsf.sim) num_bodies (vsf.sim.klamptWorldWrapper property) num_contacts (vsf.sim.PointVSFQuasistaticSimBody property) num_obs() (vsf.estimator.LinearRecursiveEstimator method) num_points (vsf.core.PointVSF property)

O

obj_knn (vsf.sim.PointVSFQuasistaticSimBody attribute) object (vsf.sensor.PunyoPressureSensor attribute) obs_buffer (vsf.estimator.LinearRecursiveEstimator attribute) online_finalize() (vsf.estimator.NeuralVSFEstimator method) (vsf.estimator.PointVSFEstimator method)

online_init() (vsf.estimator.NeuralVSFEstimator method) (vsf.estimator.PointVSFEstimator method) online_reset() (vsf.estimator.NeuralVSFEstimator method) (vsf.estimator.PointVSFEstimator method) online_update() (vsf.estimator.NeuralVSFEstimator method) (vsf.estimator.PointVSFEstimator method)

P

path (vsf.dataset.DatasetConfig attribute) perfer (vsf.sim.PointVSFQuasistaticSimBody attribute) (vsf.sim.QuasistaticVSFSimulator attribute) point_local (vsf.sim.PointVSFQuasistaticSimBody attribute) point_object_idx (vsf.sim.PointVSFQuasistaticSimBody attribute) points (vsf.sensor.ContactState attribute) PointVSF (class in vsf.core) PointVSFEstimator (class in vsf.estimator) PointVSFQuasistaticSimBody (class in vsf.sim) pose (vsf.sim.PointVSFQuasistaticSimBody attribute) predict() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoDenseForceSensor method) (vsf.sensor.PunyoPressureSensor method)

predict_observation() (vsf.estimator.LinearRecursiveEstimator method) predict_torch() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoDenseForceSensor method) (vsf.sensor.PunyoPressureSensor method) prior_factory (vsf.estimator.PointVSFEstimator attribute) prior_predict() (vsf.estimator.PointVSFEstimator method) process() (vsf.core.VSFFactory method) (vsf.core.VSFRGBDCameraFactory method) PunyoDenseForceSensor (class in vsf.sensor) PunyoPressureSensor (class in vsf.sensor)

Q

QuadProgOptimizer (class in vsf.estimator)

QuasistaticVSFSimulator (class in vsf.sim) query_point_contacts() (vsf.sim.klamptWorldWrapper method)

R

reset() (vsf.sensor.BaseSensor method) (vsf.sim.NeuralVSFQuasistaticSimBody method) (vsf.sim.PointVSFQuasistaticSimBody method) (vsf.sim.QuasistaticVSFSimulator method)

rest_points (vsf.core.PointVSF attribute)

S

save() (vsf.core.BaseVSF method) (vsf.core.NeuralVSF method) (vsf.core.PointVSF method) save_all() (vsf.core.VSFFactory method) save_features() (vsf.core.VSFFactory method) save_obj_all() (vsf.core.VSFRGBDCameraFactory method) save_rest_pts() (vsf.core.VSFFactory method) save_vis_pcd() (vsf.core.VSFRGBDCameraFactory method) scaled_vertex_normals (vsf.sensor.PunyoPressureSensor attribute) sensor_keys (vsf.dataset.DatasetConfig attribute) (vsf.dataset.MultiModalDataset attribute) sensors (vsf.sim.QuasistaticVSFSimulator attribute) seq_cache (vsf.dataset.MultiModalDataset attribute) seq_names (vsf.dataset.MultiModalDataset attribute) set_calibration() (vsf.sensor.BaseSensor method) (vsf.sensor.PunyoPressureSensor method) set_feature() (vsf.core.PointVSF method) set_features() (vsf.core.VSFFactory method) set_internal_state() (vsf.sensor.BaseSensor method) set_perfer() (vsf.sim.QuasistaticVSFSimulator method) set_uniform_feature() (vsf.core.PointVSF method)

set_vis_features() (vsf.core.VSFRGBDCameraFactory method) setup_local_pcd_lst() (vsf.sim.klamptWorldWrapper method) setup_local_sdf_lst() (vsf.sim.klamptWorldWrapper method) setup_obj_knn() (vsf.sim.PointVSFQuasistaticSimBody method) setup_obj_pts() (vsf.core.VSFRGBDCameraFactory method) setup_opt_var() (vsf.estimator.QuadProgOptimizer method) setup_optimizer() (vsf.estimator.PointVSFEstimator method) SimState (class in vsf.sensor) slide_contacts() (vsf.sim.PointVSFQuasistaticSimBody method) solve() (vsf.estimator.QuadProgOptimizer method) state() (vsf.sim.NeuralVSFQuasistaticSimBody method) (vsf.sim.PointVSFQuasistaticSimBody method) (vsf.sim.QuasistaticVSFSimulator method) state_dict() (vsf.estimator.LinearRecursiveEstimator method) (vsf.sim.QuasistaticVSFSimulator method) step() (vsf.sim.NeuralVSFQuasistaticSimBody method) (vsf.sim.PointVSFQuasistaticSimBody method) (vsf.sim.QuasistaticVSFSimulator method) stiffness (vsf.core.PointVSF attribute) struct_prior_factory (vsf.estimator.PointVSFEstimator attribute) subgraph() (vsf.sensor.SimState method)

T

TareCalibrator (class in vsf.sensor) to() (vsf.core.BaseVSF method) (vsf.core.NeuralVSF method) (vsf.core.PointVSF method) (vsf.estimator.LinearRecursiveEstimator method) (vsf.sensor.ContactState method)

triangles (vsf.sensor.PunyoDenseForceSensor attribute) (vsf.sensor.PunyoPressureSensor attribute) type (vsf.dataset.DatasetConfig attribute)

U

update() (vsf.sensor.BaseSensor method) update_attachments() (vsf.sim.klamptWorldWrapper method) update_deformable() (vsf.sim.klamptWorldWrapper method)

update_estimation() (vsf.estimator.LinearRecursiveEstimator method) (vsf.estimator.QuadProgOptimizer method) update_geometry() (vsf.sim.klamptWorldWrapper method) update_robot() (vsf.sim.klamptWorldWrapper method)

V

verbose (vsf.core.VSFFactoryConfig attribute) (vsf.sim.PointVSFQuasistaticSimBody attribute) vertex_areas (vsf.sensor.PunyoPressureSensor attribute) vertex_normals (vsf.sensor.PunyoPressureSensor attribute) vertices (vsf.sensor.PunyoDenseForceSensor attribute) (vsf.sensor.PunyoPressureSensor attribute) vg_shape (vsf.core.VSFRGBDCameraFactory attribute) view (vsf.core.VSFRGBDCameraFactoryConfig attribute) vis_pcd (vsf.core.VSFRGBDCameraFactory attribute) voxel_size (vsf.core.VSFFactoryConfig attribute) vsf (vsf.estimator.PointVSFEstimator attribute) vsf.core module vsf.dataset module vsf.estimator module

vsf.prior module vsf.sensor module vsf.sim module vsf.utils module vsf.visualize module vsf_model (vsf.sim.PointVSFQuasistaticSimBody attribute) vsf_objects (vsf.sim.QuasistaticVSFSimulator attribute) vsf_sim (vsf.estimator.PointVSFEstimator attribute) VSFFactory (class in vsf.core) VSFFactoryConfig (class in vsf.core) VSFRGBDCameraFactory (class in vsf.core) VSFRGBDCameraFactoryConfig (class in vsf.core)