Index

A

act_indexes (bam.mujoco.MujocoController attribute) actuator (bam.mujoco.MujocoController attribute) Actuator (class in bam.actuator) actuator_name (bam.model.Model attribute) actuators (in module bam.actuators) ADDR_GOAL_POSITION (in module bam.dynamixel.dynamixel) ADDR_P_GAIN (in module bam.dynamixel.dynamixel) ADDR_PRESENT_LOAD (in module bam.dynamixel.dynamixel) ADDR_PRESENT_POSITION (in module bam.dynamixel.dynamixel) ADDR_PRESENT_SPEED (in module bam.dynamixel.dynamixel) ADDR_PRESENT_TEMPERATURE (in module bam.dynamixel.dynamixel) ADDR_PRESENT_VOLTAGE (in module bam.dynamixel.dynamixel) ADDR_TORQUE_ENABLE (in module bam.dynamixel.dynamixel) amps (in module bam.erob.static), [1] angle_wrap() (in module bam.erob.record) arg_parser (in module bam.dynamixel.all_record) (in module bam.dynamixel.record) (in module bam.erob.all_record) (in module bam.erob.record) (in module bam.erob.static) (in module bam.feetech.all_record) (in module bam.feetech.record) (in module bam.fit) (in module bam.to_mujoco)

args (in module bam.dynamixel.all_record) (in module bam.dynamixel.record) (in module bam.erob.all_record) (in module bam.erob.record) (in module bam.erob.static) (in module bam.feetech.all_record) (in module bam.feetech.record) (in module bam.fit) (in module bam.to_mujoco) arm_mass (bam.testbench.Pendulum attribute)

B

bam module bam.actuator module bam.actuators module bam.dynamixel module bam.dynamixel.actuator module bam.dynamixel.all_record module bam.dynamixel.dynamixel module bam.dynamixel.record module bam.erob module bam.erob.actuator module bam.erob.all_record module bam.erob.etherban module bam.erob.record module bam.erob.static module bam.feetech module bam.feetech.actuator module

bam.feetech.all_record module bam.feetech.record module bam.fit module bam.logs module bam.mjlab module bam.model module bam.mujoco module bam.parameter module bam.simulate module bam.testbench module bam.to_mujoco module bam.trajectory module bam.unitree module bam.unitree.actuator module BamActuator (class in bam.mjlab) BamActuatorCfg (class in bam.mjlab) build() (bam.mjlab.BamActuatorCfg method)

C

c (in module bam.dynamixel.record) cfg (bam.mjlab.BamActuator attribute) Client (class in bam.erob.etherban) client (in module bam.erob.etherban) (in module bam.erob.static) command_base (in module bam.dynamixel.all_record) (in module bam.erob.all_record) (in module bam.feetech.all_record) command_field (bam.mjlab.BamActuator property) compute() (bam.mjlab.BamActuator method) compute_bias() (bam.testbench.Pendulum method) (bam.testbench.Testbench method) compute_control() (bam.actuator.Actuator method) (bam.actuator.CurrentControlledActuator method) (bam.actuator.VoltageControlledActuator method) (bam.erob.actuator.ErobActuator method) (bam.feetech.actuator.STS3215Actuator method) (bam.unitree.actuator.UnitreeGo1Actuator method) compute_frictions() (bam.model.Model method)

compute_mass() (bam.testbench.Pendulum method) (bam.testbench.Testbench method) compute_score() (in module bam.fit) compute_scores() (in module bam.fit) compute_torque() (bam.actuator.Actuator method) (bam.actuator.CurrentControlledActuator method) (bam.actuator.VoltageControlledActuator method) (bam.erob.actuator.ErobActuator method) (bam.unitree.actuator.UnitreeGo1Actuator method) context (bam.erob.etherban.Client attribute) control_unit() (bam.actuator.Actuator method) (bam.actuator.CurrentControlledActuator method) (bam.actuator.VoltageControlledActuator method) (bam.erob.actuator.ErobActuator method) (bam.unitree.actuator.UnitreeGo1Actuator method) convert_xl330_pwm_to_duty() (in module bam.dynamixel.record) convert_xl330_velocity() (in module bam.dynamixel.record) cubic_interpolate() (in module bam.trajectory) CurrentControlledActuator (class in bam.actuator)

D

damping (bam.erob.actuator.ErobActuator attribute) (bam.unitree.actuator.UnitreeGo1Actuator attribute) data (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.erob.static) (in module bam.feetech.record) date (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.feetech.record) DCMotorActuator (class in bam.actuator) default_kd_scale (bam.mjlab.BamActuator attribute) default_kp_scale (bam.mjlab.BamActuator attribute) default_max_velocity (bam.feetech.actuator.STS3215Actuator attribute)

directional (bam.model.Model attribute) directory (bam.logs.Logs attribute) dof_indexes (bam.mujoco.MujocoController attribute) dof_to_q_target (bam.mujoco.MujocoController attribute) dofs (bam.mujoco.MujocoController attribute) DummyModel (class in bam.model) duration (bam.trajectory.LiftAndDrop attribute) (bam.trajectory.Nothing attribute) (bam.trajectory.SinSin attribute) (bam.trajectory.SinusTimeSquare attribute) (bam.trajectory.Trajectory attribute) (bam.trajectory.UpAndDown attribute) DynamixelActuatorV1 (class in bam.dynamixel.dynamixel) DynamixelXL320 (class in bam.dynamixel.dynamixel)

E

edit_spec() (bam.mjlab.BamActuator method) ErobActuator (class in bam.erob.actuator)

error_gain (bam.actuator.CurrentControlledActuator attribute) (bam.actuator.VoltageControlledActuator attribute) eth (in module bam.erob.record)

F

filename (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.feetech.record)

G

get_extra_inertia() (bam.actuator.Actuator method) (bam.dynamixel.actuator.MXActuator method) (bam.dynamixel.actuator.XL320Actuator method) (bam.dynamixel.actuator.XL330Actuator method) (bam.dynamixel.actuator.XL330CurrentActuator method) (bam.erob.actuator.ErobActuator method) (bam.feetech.actuator.STS3215Actuator method) (bam.unitree.actuator.UnitreeGo1Actuator method)

get_parameter_values() (bam.model.Model method) get_parameters() (bam.model.Model method) get_q_target() (bam.mujoco.MujocoController method) get_statuses() (bam.erob.etherban.Client method) goal_position (in module bam.dynamixel.record), [1] (in module bam.feetech.record), [1] goto_safe() (bam.erob.etherban.Client method)

H

has_value (in module bam.erob.static), [1]

I

id (bam.dynamixel.dynamixel.DynamixelActuatorV1 attribute) (bam.dynamixel.dynamixel.DynamixelXL320 attribute) ids (in module bam.feetech.record) initialize() (bam.actuator.Actuator method) (bam.actuator.CurrentControlledActuator method) (bam.actuator.DCMotorActuator method) (bam.dynamixel.actuator.MXActuator method) (bam.dynamixel.actuator.XL320Actuator method) (bam.dynamixel.actuator.XL330Actuator method) (bam.dynamixel.actuator.XL330CurrentActuator method) (bam.erob.actuator.ErobActuator method) (bam.feetech.actuator.STS3215Actuator method) (bam.mjlab.BamActuator method) (bam.unitree.actuator.UnitreeGo1Actuator method)

io (in module bam.feetech.record)

J

joint_indexes (bam.mujoco.MujocoController attribute)

json_files (bam.logs.Logs attribute) json_path (bam.mjlab.BamActuatorCfg attribute)

K

kd_scale (bam.mjlab.BamActuator attribute) kp (bam.actuator.DCMotorActuator attribute) kp_fw (bam.mjlab.BamActuatorCfg attribute) kp_scale (bam.mjlab.BamActuator attribute)

KPS (in module bam.dynamixel.all_record) kps (in module bam.dynamixel.all_record) (in module bam.erob.all_record) (in module bam.feetech.all_record)

L

last_log (in module bam.fit) last_ts (bam.mujoco.MujocoController attribute) length (bam.testbench.Pendulum attribute) LiftAndDrop (class in bam.trajectory) load_config() (in module bam.mujoco) load_dependent (bam.model.Model attribute) load_log() (bam.actuator.Actuator method) (bam.actuator.DCMotorActuator method) (bam.erob.actuator.ErobActuator method) (bam.feetech.actuator.STS3215Actuator method) (bam.unitree.actuator.UnitreeGo1Actuator method)

load_model() (in module bam.model) load_model_from_dict() (in module bam.model) load_parameters() (bam.model.Model method) load_parameters_from_dict() (bam.model.Model method) lock (bam.erob.etherban.Client attribute) logs (bam.logs.Logs attribute) Logs (class in bam.logs) logs (in module bam.fit) logs_batch (in module bam.fit)

M

make_batch() (bam.logs.Logs method) make_model() (in module bam.fit) mass (bam.testbench.Pendulum attribute) max (bam.parameter.Parameter attribute) max_amps (bam.erob.actuator.ErobActuator attribute) max_current (bam.mjlab.BamActuatorCfg attribute) (bam.mujoco.MujocoController attribute) max_friction_base (bam.model.Model attribute) max_load_friction (bam.model.Model attribute) max_pwm (bam.actuator.VoltageControlledActuator attribute) max_variation (in module bam.dynamixel.record) (in module bam.feetech.record) max_viscous_friction (bam.model.Model attribute) max_volts (bam.erob.actuator.ErobActuator attribute) min (bam.parameter.Parameter attribute) model (bam.mjlab.BamActuatorCfg attribute) (bam.mujoco.MujocoController attribute) (bam.simulate.Simulator attribute) Model (class in bam.model) model (in module bam.fit) (in module bam.to_mujoco) models (in module bam.model) module bam bam.actuator bam.actuators bam.dynamixel bam.dynamixel.actuator bam.dynamixel.all_record bam.dynamixel.dynamixel bam.dynamixel.record bam.erob bam.erob.actuator bam.erob.all_record bam.erob.etherban bam.erob.record bam.erob.static bam.feetech bam.feetech.actuator bam.feetech.all_record bam.feetech.record bam.fit bam.logs bam.mjlab bam.model bam.mujoco bam.parameter bam.simulate bam.testbench bam.to_mujoco bam.trajectory bam.unitree bam.unitree.actuator

monitor() (in module bam.fit) motor_name (bam.mjlab.BamActuatorCfg attribute) mujoco_data (bam.mujoco.MujocoController attribute) mujoco_model (bam.mujoco.MujocoController attribute) MujocoController (class in bam.mujoco) MXActuator (class in bam.dynamixel.actuator)

N

name (bam.model.Model attribute)

Nothing (class in bam.trajectory)

O

objective() (in module bam.fit)

optimize (bam.parameter.Parameter attribute) orders (bam.erob.etherban.Client attribute)

P

packetHandler (bam.dynamixel.dynamixel.DynamixelActuatorV1 attribute) (bam.dynamixel.dynamixel.DynamixelXL320 attribute) Parameter (class in bam.parameter) params_json_filename (in module bam.fit)

Pendulum (class in bam.testbench) portHandler (bam.dynamixel.dynamixel.DynamixelActuatorV1 attribute) (bam.dynamixel.dynamixel.DynamixelXL320 attribute) position_control() (bam.erob.etherban.Client method)

Q

q_target (bam.mujoco.MujocoController attribute)

qpos_indexes (bam.mujoco.MujocoController attribute) quadratic (bam.model.Model attribute)

R

read_data() (bam.dynamixel.dynamixel.DynamixelActuatorV1 method) (bam.dynamixel.dynamixel.DynamixelXL320 method) (in module bam.feetech.record) read_float() (in module bam.erob.static) reset() (bam.actuator.Actuator method) (bam.mjlab.BamActuator method) (bam.model.Model method) (bam.mujoco.MujocoController method) (bam.simulate.Simulator method)

reset_gains() (bam.mjlab.BamActuator method) return_dt (in module bam.dynamixel.record) (in module bam.feetech.record) rollout_log() (bam.simulate.Simulator method) run() (bam.erob.etherban.Client method) run_background() (bam.erob.etherban.Client method) running (bam.erob.etherban.Client attribute)

S

screen (bam.simulate.Simulator attribute) send() (bam.erob.etherban.Client method) sentence (in module bam.dynamixel.all_record) (in module bam.erob.all_record) (in module bam.feetech.all_record) set_actuator() (bam.model.Model method) set_d_gain() (bam.dynamixel.dynamixel.DynamixelXL320 method) set_gains() (bam.mjlab.BamActuator method) set_goal_position() (bam.dynamixel.dynamixel.DynamixelActuatorV1 method) (bam.dynamixel.dynamixel.DynamixelXL320 method) set_i_gain() (bam.dynamixel.dynamixel.DynamixelXL320 method) set_led() (bam.dynamixel.dynamixel.DynamixelXL320 method) set_model() (bam.actuator.Actuator method) set_moving_speed() (bam.dynamixel.dynamixel.DynamixelXL320 method) set_order() (bam.erob.etherban.Client method) set_p_gain() (bam.dynamixel.dynamixel.DynamixelActuatorV1 method) (bam.dynamixel.dynamixel.DynamixelXL320 method) set_pid_gains() (bam.dynamixel.dynamixel.DynamixelXL320 method)

set_q_target() (bam.mujoco.MujocoController method) set_torque() (bam.dynamixel.dynamixel.DynamixelActuatorV1 method) (bam.dynamixel.dynamixel.DynamixelXL320 method) Simulator (class in bam.simulate) SinSin (class in bam.trajectory) SinusTimeSquare (class in bam.trajectory) socket (bam.erob.etherban.Client attribute) split() (bam.logs.Logs method) start (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.feetech.record), [1] static_data (in module bam.erob.static) statuses (bam.erob.etherban.Client attribute) step() (bam.simulate.Simulator method) stop() (bam.erob.etherban.Client method) stribeck (bam.model.Model attribute) STS3215Actuator (class in bam.feetech.actuator) sync() (bam.erob.etherban.Client method)

T

t (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.feetech.record) testbench (bam.actuator.Actuator attribute) Testbench (class in bam.testbench) testbench_class (bam.actuator.Actuator attribute) title (bam.model.Model attribute) to_mujoco() (bam.actuator.Actuator method) (bam.actuator.CurrentControlledActuator method) (bam.actuator.VoltageControlledActuator method) (bam.unitree.actuator.UnitreeGo1Actuator method)

trajectories (in module bam.dynamixel.all_record) (in module bam.erob.all_record) (in module bam.feetech.all_record) (in module bam.trajectory) Trajectory (class in bam.trajectory) trajectory (in module bam.dynamixel.record) (in module bam.erob.record) (in module bam.feetech.record) (in module bam.trajectory)

U

UnitreeGo1Actuator (class in bam.unitree.actuator)

UpAndDown (class in bam.trajectory) update() (bam.mujoco.MujocoController method)

V

validation_logs (in module bam.fit) value (bam.parameter.Parameter attribute) values (in module bam.to_mujoco) vin (bam.actuator.DCMotorActuator attribute) (bam.mjlab.BamActuatorCfg attribute) vin_drop_gain (bam.mjlab.BamActuator attribute) (bam.mujoco.MujocoController attribute)

vin_drop_gain_range (bam.mjlab.BamActuatorCfg attribute) vin_min (bam.mjlab.BamActuatorCfg attribute) (bam.mujoco.MujocoController attribute) vin_range (bam.mjlab.BamActuatorCfg attribute) vin_tensor (bam.mjlab.BamActuator attribute) VoltageControlledActuator (class in bam.actuator)

W

wait_lock (bam.erob.etherban.Client attribute)

wait_stability() (bam.erob.etherban.Client method) wandb_run (in module bam.fit)

X

XL320_ADDR_CCW_ANGLE_LIMIT (in module bam.dynamixel.dynamixel) XL320_ADDR_CONTROL_MODE (in module bam.dynamixel.dynamixel) XL320_ADDR_CW_ANGLE_LIMIT (in module bam.dynamixel.dynamixel) XL320_ADDR_D_GAIN (in module bam.dynamixel.dynamixel) XL320_ADDR_GOAL_POSITION (in module bam.dynamixel.dynamixel) XL320_ADDR_HW_ERROR_STATUS (in module bam.dynamixel.dynamixel) XL320_ADDR_I_GAIN (in module bam.dynamixel.dynamixel) XL320_ADDR_LED (in module bam.dynamixel.dynamixel) XL320_ADDR_MAX_TORQUE (in module bam.dynamixel.dynamixel) XL320_ADDR_MOVING (in module bam.dynamixel.dynamixel) XL320_ADDR_MOVING_SPEED (in module bam.dynamixel.dynamixel) XL320_ADDR_P_GAIN (in module bam.dynamixel.dynamixel) XL320_ADDR_PRESENT_LOAD (in module bam.dynamixel.dynamixel) XL320_ADDR_PRESENT_POSITION (in module bam.dynamixel.dynamixel)

XL320_ADDR_PRESENT_SPEED (in module bam.dynamixel.dynamixel) XL320_ADDR_PRESENT_TEMPERATURE (in module bam.dynamixel.dynamixel) XL320_ADDR_PRESENT_VOLTAGE (in module bam.dynamixel.dynamixel) XL320_ADDR_TORQUE_ENABLE (in module bam.dynamixel.dynamixel) XL320_ADDR_TORQUE_LIMIT (in module bam.dynamixel.dynamixel) XL320_CENTER (in module bam.dynamixel.dynamixel) XL320_RANGE_DEG (in module bam.dynamixel.dynamixel) XL320_RESOLUTION (in module bam.dynamixel.dynamixel) XL320Actuator (class in bam.dynamixel.actuator) XL330_ENCODER_COUNTS_PER_REV (in module bam.dynamixel.actuator) XL330_KP_DIVISOR (in module bam.dynamixel.actuator) XL330_PWM_LIMIT (in module bam.dynamixel.actuator) XL330Actuator (class in bam.dynamixel.actuator) XL330CurrentActuator (class in bam.dynamixel.actuator)