Index A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | W | X A adapt_rho (gato.config.SolverParams attribute) add_contact_pos_rows() (gato.interface.BSQP method) add_fc_box() (gato.interface.BSQP method) add_fc_cone() (gato.interface.BSQP method) add_lin_u_rows() (gato.interface.BSQP method) admm_active (gato.interface.BSQP property) admm_check_every (gato.interface.BSQP property) admm_eps_abs (gato.interface.BSQP property) admm_eps_rel (gato.interface.BSQP property) admm_iters (gato.interface.SolverStats attribute) admm_linsys (gato.controller.StepResult attribute) (gato.interface.BSQP property) admm_linsys_iters (gato.interface.SolverStats attribute) admm_r_dual (gato.interface.SolverStats attribute) admm_r_prim (gato.interface.SolverStats attribute) apply() (gato.hypotheses.ForceHypothesisBatch method) (gato.hypotheses.HypothesisBatch method) (gato.hypotheses.IdentifiedWrenchBatch method) ArmTrackEnv (class in gato.envs) asdict() (gato.config.SolverParams method) available() (in module gato.interface) available_cached() (in module gato._cache) B batch_size (gato.estimators.OneStepWrenchIdentifier attribute) (gato.hypotheses.HypothesisBatch attribute) (gato.interface.SolveResult property) best_id (gato.controller.StepResult attribute) BSQP (class in gato.interface) budget_hit (gato.controller.StepResult attribute) (gato.interface.SolverStats attribute) build() (in module gato.builder) C cache_dir() (in module gato._cache) canonicalize_inertials() (in module gato.builder) CEMForceEstimator (class in gato.estimators) check() (in module gato.fingerprint) check_solver() (in module gato.fingerprint) codegen() (in module gato.builder) contact_positions() (gato.interface.BSQP method) control_at() (gato.interface.SolveResult method) ctrl_lim_cost (gato.config.SolverParams attribute) D data (gato.interface.BSQP property) debug_setup_kkt() (gato.interface.BSQP method) decide_policy() (in module gato.linsys_autotune) detect_arch() (in module gato._cache) disable_row_groups() (gato.interface.BSQP method) diverged (gato.interface.SolveResult property) done() (gato.policy.GoalReference method) (gato.policy.TrajectoryReference method) E ee_frame_id (gato.interface.BSQP property) ee_frame_of() (in module gato.tasks) ee_pos() (gato.envs.ArmTrackEnv method) (gato.interface.BSQP method) enable_collision() (gato.interface.BSQP method) enable_ee_terminal_equality() (gato.interface.BSQP method) enable_limit_admm() (gato.interface.BSQP method) enable_limit_al() (gato.interface.BSQP method) enable_limit_barrier() (gato.interface.BSQP method) enable_limit_telemetry() (gato.interface.BSQP method) enable_u_cone() (gato.interface.BSQP method) ensure_module() (in module gato._cache) exact_hessian (gato.config.SolverParams attribute) exact_hessian_available() (gato.interface.BSQP method) F fc (gato.controller.StepResult attribute) fc_at() (gato.interface.SolveResult method) fc_slots() (gato.interface.BSQP method) fc_traj() (gato.interface.SolveResult method) feasible_fig8() (in module gato.tasks) fig8_path() (in module gato.tasks) fig8_reference() (in module gato.tasks) fig8_scenarios() (in module gato.tasks) final_merit (gato.interface.SolverStats attribute) find_module() (in module gato._cache) fit_tau() (in module gato.linsys_autotune) force_estimator (gato.mpc_gato.MPC_GATO property) ForceEstimator (class in gato.estimators) ForceHypothesisBatch (class in gato.hypotheses) from_mapping() (gato.config.SolverParams class method) G gato._cache module gato.builder module gato.config module gato.controller module gato.envs module gato.estimators module gato.fingerprint module gato.hypotheses module gato.interface module gato.linsys_autotune module gato.mpc_gato module gato.policy module gato.rowkinds module gato.tasks module gato.worlds module generate_batch() (gato.estimators.CEMForceEstimator method) (gato.estimators.ForceEstimator method) (gato.estimators.IdentifiedWrenchSampler method) (gato.estimators.OneStepWrenchIdentifier method) get_admm_rho_scale() (gato.interface.BSQP method) get_admm_state() (gato.interface.BSQP method) get_collision_admm_state() (gato.interface.BSQP method) get_collision_row_duals() (gato.interface.BSQP method) get_lambda() (gato.interface.BSQP method) get_row_duals() (gato.interface.BSQP method) get_row_groups() (gato.interface.BSQP method) get_stats() (gato.estimators.CEMForceEstimator method) (gato.estimators.ForceEstimator method) (gato.estimators.IdentifiedWrenchSampler method) (gato.estimators.OneStepWrenchIdentifier method) (gato.hypotheses.ForceHypothesisBatch method) (gato.hypotheses.HypothesisBatch method) (gato.hypotheses.IdentifiedWrenchBatch method) get_warm() (gato.interface.BSQP method) GoalReference (class in gato.policy) H hold_warm() (gato.interface.BSQP method) hypo_stats (gato.controller.StepResult attribute) HypothesisBatch (class in gato.hypotheses) I IdentifiedWrenchBatch (class in gato.hypotheses) IdentifiedWrenchSampler (class in gato.estimators) identify() (gato.estimators.IdentifiedWrenchSampler method) (gato.estimators.OneStepWrenchIdentifier method) ik_track() (in module gato.tasks) initial_merit (gato.interface.SolverStats attribute) is_vector_kind() (in module gato.rowkinds) iterations (gato.controller.StepResult attribute) J joint_speed_ratio() (in module gato.tasks) K kkt_converged (gato.interface.SolverStats attribute) L LIMIT_DEFAULTS (gato.controller.MPCController attribute) limits (gato.controller.StepResult attribute) linsys (gato.config.SolverParams attribute) (gato.interface.SolverStats attribute) load() (in module gato.fingerprint) load_manifest() (in module gato._cache) load_module() (in module gato._cache) load_registry() (in module gato.builder) load_tuning() (in module gato.linsys_autotune) lookup() (in module gato.linsys_autotune) ls_num_iters (gato.interface.SolverStats attribute) M max_pcg_iters (gato.config.SolverParams attribute) max_sqp_iters (gato.config.SolverParams attribute) metadata (gato.envs.ArmTrackEnv attribute) min_merit (gato.interface.SolverStats attribute) model (gato.interface.BSQP property) module gato._cache gato.builder gato.config gato.controller gato.envs gato.estimators gato.fingerprint gato.hypotheses gato.interface gato.linsys_autotune gato.mpc_gato gato.policy gato.rowkinds gato.tasks gato.worlds module_key() (in module gato._cache) module_name() (in module gato.interface) MPC_GATO (class in gato.mpc_gato) MPCController (class in gato.controller) MPCPolicy (class in gato.policy) mu (gato.config.SolverParams attribute) MuJoCoWorld (class in gato.worlds) N N (gato.interface.SolveResult attribute) n_actuated (gato.interface.SolveResult attribute) n_contact_rows (gato.interface.BSQP property) N_cost (gato.config.SolverParams attribute) n_fc (gato.interface.SolveResult property) n_updates (gato.estimators.IdentifiedWrenchSampler property) native_root() (in module gato._cache) nu (gato.interface.SolveResult attribute) nx (gato.interface.SolveResult attribute) O OneStepWrenchIdentifier (class in gato.estimators) P params (gato.worlds.MuJoCoWorld property) pcg_iters (gato.interface.SolverStats attribute) pcg_times_us (gato.interface.SolverStats attribute) pcg_tol (gato.config.SolverParams attribute) pickplace_scenarios() (in module gato.tasks) PinocchioWorld (class in gato.worlds) pred_err (gato.controller.StepResult attribute) pred_err_warm() (gato.interface.BSQP method) probe_tip_drop() (in module gato.worlds) Q q_cost (gato.config.SolverParams attribute) q_lim_cost (gato.config.SolverParams attribute) qd_cost (gato.config.SolverParams attribute) R register_robot() (in module gato._cache) replace() (gato.config.SolverParams method) repo_root() (in module gato.builder) report() (in module gato.fingerprint) reseeded (gato.controller.StepResult attribute) reset() (gato.controller.MPCController method) (gato.envs.ArmTrackEnv method) (gato.estimators.CEMForceEstimator method) (gato.estimators.ForceEstimator method) (gato.estimators.IdentifiedWrenchSampler method) (gato.estimators.OneStepWrenchIdentifier method) (gato.hypotheses.ForceHypothesisBatch method) (gato.hypotheses.HypothesisBatch method) (gato.hypotheses.IdentifiedWrenchBatch method) (gato.interface.BSQP method) (gato.policy.MPCPolicy method) reset_dual() (gato.interface.BSQP method) reset_rho() (gato.interface.BSQP method) resolve() (in module gato._cache) resolve_admm_linsys() (in module gato.linsys_autotune) resolve_linsys() (in module gato.linsys_autotune) rho (gato.config.SolverParams attribute) robot_entry() (in module gato._cache) robot_info() (in module gato.interface) robot_urdf() (in module gato.interface) rotated_inertial_origins() (in module gato.builder) row_max_violation (gato.interface.SolverStats attribute) row_mech (gato.interface.BSQP property) row_sum_violation (gato.interface.SolverStats attribute) row_viol (gato.controller.StepResult attribute) run_mpc_fig8() (gato.mpc_gato.MPC_GATO method) run_mpc_goals() (gato.mpc_gato.MPC_GATO method) S save_tuning() (in module gato.linsys_autotune) select() (gato.hypotheses.HypothesisBatch method) (gato.hypotheses.IdentifiedWrenchBatch method) set_admm_exit() (gato.interface.BSQP method) set_admm_linsys() (gato.interface.BSQP method) set_admm_merit() (gato.interface.BSQP method) set_admm_rho_adaptation() (gato.interface.BSQP method) set_collect_stats() (gato.interface.BSQP method) set_collision_environment() (gato.interface.BSQP method) set_cost_weights() (gato.interface.BSQP method) set_cost_weights_per_knot() (gato.interface.BSQP method) set_drho_batch() (gato.interface.BSQP method) set_exact_hessian() (gato.interface.BSQP method) set_f_ext_B() (gato.interface.BSQP method) set_fc_cost() (gato.interface.BSQP method) set_fc_ref() (gato.interface.BSQP method) set_linsys() (gato.interface.BSQP method) set_q_nom() (gato.interface.BSQP method) set_q_pos_cost() (gato.interface.BSQP method) set_row_group_bounds() (gato.interface.BSQP method) set_row_group_mask() (gato.interface.BSQP method) set_row_group_rho() (gato.interface.BSQP method) set_row_group_soft() (gato.interface.BSQP method) set_row_group_targets() (gato.interface.BSQP method) set_u_cost_vec() (gato.interface.BSQP method) set_warm() (gato.interface.BSQP method) setup_external_forces() (gato.mpc_gato.MPC_GATO method) shift_warm() (gato.interface.BSQP method) Sigma (gato.estimators.CEMForceEstimator property) sim_forward() (gato.interface.BSQP method) solve (gato.controller.StepResult attribute) solve() (gato.interface.BSQP method) solve_ratio (gato.config.SolverParams attribute) solve_time_us (gato.interface.SolveResult attribute) (gato.interface.SolverStats attribute) solve_warm() (gato.interface.BSQP method) solver_qdd_fn() (in module gato.fingerprint) SolveResult (class in gato.interface) SolverParams (class in gato.config) SolverStats (class in gato.interface) sqp_iters (gato.interface.SolverStats attribute) stats (gato.interface.SolveResult attribute) step() (gato.controller.MPCController method) (gato.envs.ArmTrackEnv method) (gato.worlds.MuJoCoWorld method) (gato.worlds.PinocchioWorld method) step_size (gato.interface.SolverStats attribute) StepResult (class in gato.controller) T toolchain_identity() (in module gato._cache) TrajectoryReference (class in gato.policy) U u (gato.controller.StepResult attribute) u0() (gato.interface.SolveResult method) u_cost (gato.config.SolverParams attribute) update() (gato.estimators.CEMForceEstimator method) (gato.estimators.ForceEstimator method) (gato.estimators.IdentifiedWrenchSampler method) (gato.estimators.OneStepWrenchIdentifier method) (gato.hypotheses.ForceHypothesisBatch method) (gato.hypotheses.HypothesisBatch method) (gato.hypotheses.IdentifiedWrenchBatch method) urdf_limits() (in module gato.tasks) V vel_lim_cost (gato.config.SolverParams attribute) W wall_s (gato.controller.StepResult attribute) warmup() (gato.controller.MPCController method) window() (gato.policy.GoalReference method) (gato.policy.TrajectoryReference method) within_q_limits() (in module gato.tasks) world_wrench_to_gato_slot() (in module gato.hypotheses) wrench_identifier (gato.mpc_gato.MPC_GATO property) X xu (gato.interface.SolveResult attribute) xu_b() (gato.interface.SolveResult method) xu_best (gato.controller.StepResult attribute)