Full API documentation
Contents:
- vsf.core module
BaseVSFNeuralVSFPointVSFPointVSF.rest_pointsPointVSF.axis_modePointVSF.stiffnessPointVSF.featuresPointVSF.compute_forces()PointVSF.devicePointVSF.dtypePointVSF.feature_tensor()PointVSF.getBBox()PointVSF.getStiffness()PointVSF.load()PointVSF.num_pointsPointVSF.save()PointVSF.set_feature()PointVSF.set_uniform_feature()PointVSF.to()
VSFFactoryVSFFactoryConfigVSFRGBDCameraFactoryVSFRGBDCameraFactory.bg_pcdVSFRGBDCameraFactory.vis_pcdVSFRGBDCameraFactory.bboxVSFRGBDCameraFactory.vg_shapeVSFRGBDCameraFactory.get_sf_pts()VSFRGBDCameraFactory.get_vg_pts()VSFRGBDCameraFactory.load_obj_all()VSFRGBDCameraFactory.load_vis_pcd()VSFRGBDCameraFactory.process()VSFRGBDCameraFactory.save_obj_all()VSFRGBDCameraFactory.save_vis_pcd()VSFRGBDCameraFactory.set_vis_features()VSFRGBDCameraFactory.setup_obj_pts()
VSFRGBDCameraFactoryConfig
- vsf.sensor module
BaseCalibratorBaseSensorBaseSensor.nameBaseSensor.attachModelNameBaseSensor.attach()BaseSensor.contact_bodies()BaseSensor.get_calibration()BaseSensor.get_internal_state()BaseSensor.measurement_errors()BaseSensor.measurement_force_jacobian()BaseSensor.measurement_names()BaseSensor.predict()BaseSensor.predict_torch()BaseSensor.reset()BaseSensor.set_calibration()BaseSensor.set_internal_state()BaseSensor.update()
ContactStatePunyoDenseForceSensorPunyoDenseForceSensor.namePunyoDenseForceSensor.attachModelNamePunyoDenseForceSensor.verticesPunyoDenseForceSensor.trianglesPunyoDenseForceSensor.attach()PunyoDenseForceSensor.measurement_force_jacobian()PunyoDenseForceSensor.measurement_names()PunyoDenseForceSensor.predict()PunyoDenseForceSensor.predict_torch()
PunyoPressureSensorPunyoPressureSensor.namePunyoPressureSensor.attachModelNamePunyoPressureSensor.objectPunyoPressureSensor.verticesPunyoPressureSensor.trianglesPunyoPressureSensor.vertex_normalsPunyoPressureSensor.vertex_areasPunyoPressureSensor.scaled_vertex_normalsPunyoPressureSensor.attach()PunyoPressureSensor.get_calibration()PunyoPressureSensor.measurement_force_jacobian()PunyoPressureSensor.measurement_names()PunyoPressureSensor.predict()PunyoPressureSensor.predict_torch()PunyoPressureSensor.set_calibration()
SimStateTareCalibrator
- vsf.sim module
NeuralVSFQuasistaticSimBodyPointVSFQuasistaticSimBodyPointVSFQuasistaticSimBody.vsf_modelPointVSFQuasistaticSimBody.posePointVSFQuasistaticSimBody.contact_paramsPointVSFQuasistaticSimBody.perferPointVSFQuasistaticSimBody.verbosePointVSFQuasistaticSimBody.obj_knnPointVSFQuasistaticSimBody.point_object_idxPointVSFQuasistaticSimBody.point_localPointVSFQuasistaticSimBody.anchor_localPointVSFQuasistaticSimBody.anchor_normal_localPointVSFQuasistaticSimBody.deformed_points()PointVSFQuasistaticSimBody.deformed_points_torch()PointVSFQuasistaticSimBody.devicePointVSFQuasistaticSimBody.dtypePointVSFQuasistaticSimBody.get_deform_motion_lines()PointVSFQuasistaticSimBody.get_obj_pcd()PointVSFQuasistaticSimBody.get_proxy_pts()PointVSFQuasistaticSimBody.load_state()PointVSFQuasistaticSimBody.num_contactsPointVSFQuasistaticSimBody.reset()PointVSFQuasistaticSimBody.setup_obj_knn()PointVSFQuasistaticSimBody.slide_contacts()PointVSFQuasistaticSimBody.state()PointVSFQuasistaticSimBody.step()
QuasistaticVSFSimulatorQuasistaticVSFSimulator.klampt_world_wrapperQuasistaticVSFSimulator.vsf_objectsQuasistaticVSFSimulator.sensorsQuasistaticVSFSimulator.perferQuasistaticVSFSimulator.add_deformable()QuasistaticVSFSimulator.get_control_keys()QuasistaticVSFSimulator.get_sensor()QuasistaticVSFSimulator.get_sensor_keys()QuasistaticVSFSimulator.load_state()QuasistaticVSFSimulator.load_state_dict()QuasistaticVSFSimulator.measurements()QuasistaticVSFSimulator.reset()QuasistaticVSFSimulator.set_perfer()QuasistaticVSFSimulator.state()QuasistaticVSFSimulator.state_dict()QuasistaticVSFSimulator.step()
klamptWorldWrapperklamptWorldWrapper.add_geometry()klamptWorldWrapper.add_geometry_from_file()klamptWorldWrapper.add_robot()klamptWorldWrapper.apply_control()klamptWorldWrapper.convert_geometry()klamptWorldWrapper.find_closest_point()klamptWorldWrapper.from_world()klamptWorldWrapper.get_all_pcd()klamptWorldWrapper.get_geom_trans_dict()klamptWorldWrapper.get_geometry()klamptWorldWrapper.get_transform()klamptWorldWrapper.num_bodiesklamptWorldWrapper.query_point_contacts()klamptWorldWrapper.setup_local_pcd_lst()klamptWorldWrapper.setup_local_sdf_lst()klamptWorldWrapper.update_attachments()klamptWorldWrapper.update_deformable()klamptWorldWrapper.update_geometry()klamptWorldWrapper.update_robot()
- vsf.estimator module
LinearRecursiveEstimatorLinearRecursiveEstimator.obs_bufferLinearRecursiveEstimator.max_buffer_lenLinearRecursiveEstimator.ALinearRecursiveEstimator.add_observation()LinearRecursiveEstimator.clear_obs_buffer()LinearRecursiveEstimator.finalize_estimation()LinearRecursiveEstimator.get_covar()LinearRecursiveEstimator.get_mean()LinearRecursiveEstimator.get_observed_indices()LinearRecursiveEstimator.get_unobserved_indices()LinearRecursiveEstimator.get_var()LinearRecursiveEstimator.load_state_dict()LinearRecursiveEstimator.num_obs()LinearRecursiveEstimator.predict_observation()LinearRecursiveEstimator.state_dict()LinearRecursiveEstimator.to()LinearRecursiveEstimator.update_estimation()
NeuralVSFEstimatorPointVSFEstimatorPointVSFEstimator.configPointVSFEstimator.prior_factoryPointVSFEstimator.struct_prior_factoryPointVSFEstimator.vsfPointVSFEstimator.vsf_simPointVSFEstimator.estimatorPointVSFEstimator.batch_estimate()PointVSFEstimator.batch_estimate_sim_dataset()PointVSFEstimator.linearize_dataset()PointVSFEstimator.linearize_observation()PointVSFEstimator.online_finalize()PointVSFEstimator.online_init()PointVSFEstimator.online_reset()PointVSFEstimator.online_update()PointVSFEstimator.prior_predict()PointVSFEstimator.setup_optimizer()
QuadProgOptimizer
- vsf.utils module
- vsf.visualize module
- vsf.dataset module
BaseDatasetDatasetConfigMultiModalDatasetMultiModalDataset.data_typesMultiModalDataset.dir_pathMultiModalDataset.seq_namesMultiModalDataset.cache_dataMultiModalDataset.seq_cacheMultiModalDataset.sensor_keysMultiModalDataset.control_keysMultiModalDataset.IMAGE16_DTYPEMultiModalDataset.IMAGE8_DTYPEMultiModalDataset.create_sequence()MultiModalDataset.get_sequence()
- vsf.prior module