Index

A

actions_cache (metasim.sim.BaseSimHandler property), [1] actuators (metasim.cfg.robots.BaseRobotCfg attribute), [1] AndOp (class in metasim.cfg.checkers), [1]

ArticulationObjCfg (class in metasim.cfg.objects), [1] axis (metasim.cfg.checkers.PositionShiftChecker attribute), [1] (metasim.cfg.checkers.RotationShiftChecker attribute), [1]

B

base_obj_name (metasim.cfg.checkers.Relative3DSphereDetector attribute), [1] (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] BaseCameraCfg (class in metasim.cfg.sensors.cameras), [1] BaseChecker (class in metasim.cfg.checkers), [1]

BaseObjCfg (class in metasim.cfg.objects), [1] BaseRobotCfg (class in metasim.cfg.robots), [1] BaseSimHandler (class in metasim.sim), [1] bounding_distance (metasim.cfg.checkers.PositionShiftChecker attribute), [1]

C

check() (metasim.cfg.checkers.AndOp method), [1] (metasim.cfg.checkers.BaseChecker method), [1] (metasim.cfg.checkers.DetectedChecker method), [1] (metasim.cfg.checkers.JointPosChecker method), [1] (metasim.cfg.checkers.JointPosShiftChecker method), [1] (metasim.cfg.checkers.NotOp method), [1] (metasim.cfg.checkers.OrOp method), [1] (metasim.cfg.checkers.PositionShiftChecker method), [1] (metasim.cfg.checkers.RotationShiftChecker method), [1] checker_lower (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] checker_upper (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] clipping_range (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] close() (metasim.sim.BaseSimHandler method), [1]

collapse_fixed_joints (metasim.cfg.robots.BaseRobotCfg attribute), [1] collision_enabled (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] color (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] control_type (metasim.cfg.robots.BaseRobotCfg attribute), [1] curobo_ref_cfg_name (metasim.cfg.robots.BaseRobotCfg attribute), [1] curobo_tcp_rel_pos (metasim.cfg.robots.BaseRobotCfg attribute), [1] curobo_tcp_rel_rot (metasim.cfg.robots.BaseRobotCfg attribute), [1]

D

data_types (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] debug_vis (metasim.cfg.checkers.Relative3DSphereDetector attribute), [1] (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] default_joint_positions (metasim.cfg.robots.BaseRobotCfg attribute), [1] default_orientation (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.BaseObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] default_position (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.BaseObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

DetectedChecker (class in metasim.cfg.checkers), [1] detector (metasim.cfg.checkers.DetectedChecker attribute), [1] distance (metasim.cfg.checkers.PositionShiftChecker attribute), [1]

E

ee_body_name (metasim.cfg.robots.BaseRobotCfg attribute), [1] enabled_gravity (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.BaseObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1]

enabled_self_collisions (metasim.cfg.robots.BaseRobotCfg attribute), [1] episode_length_buf (metasim.sim.BaseSimHandler property), [1]

F

fix_base_link (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.BaseObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1]

fixed (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] focal_length (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] focus_distance (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]

G

get_body_names() (metasim.sim.BaseSimHandler method), [1] get_body_reindex() (metasim.sim.BaseSimHandler method), [1] get_debug_viewers() (metasim.cfg.checkers.AndOp method), [1] (metasim.cfg.checkers.BaseChecker method), [1] (metasim.cfg.checkers.DetectedChecker method), [1] (metasim.cfg.checkers.JointPosChecker method), [1] (metasim.cfg.checkers.NotOp method), [1] (metasim.cfg.checkers.OrOp method), [1] (metasim.cfg.checkers.Relative3DSphereDetector method), [1] (metasim.cfg.checkers.RelativeBboxDetector method), [1]

get_joint_names() (metasim.sim.BaseSimHandler method), [1] get_joint_reindex() (metasim.sim.BaseSimHandler method), [1] gripper_close_q (metasim.cfg.robots.BaseRobotCfg attribute), [1] gripper_open_q (metasim.cfg.robots.BaseRobotCfg attribute), [1]

H

half_size (metasim.cfg.objects.PrimitiveCubeCfg property), [1] height (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]

horizontal_aperture (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] horizontal_fov (metasim.cfg.sensors.cameras.PinholeCameraCfg property), [1]

I

ignore_base_ori (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] ignore_if_first_check_success (metasim.cfg.checkers.DetectedChecker attribute), [1] intrinsics (metasim.cfg.sensors.cameras.PinholeCameraCfg property), [1] is_detected() (metasim.cfg.checkers.Relative3DSphereDetector method), [1] (metasim.cfg.checkers.RelativeBboxDetector method), [1]

isaacgym_flip_visual_attachments (metasim.cfg.robots.BaseRobotCfg attribute), [1] isaacgym_read_mjcf (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1]

J

joint_limits (metasim.cfg.robots.BaseRobotCfg attribute), [1] joint_name (metasim.cfg.checkers.JointPosChecker attribute), [1] (metasim.cfg.checkers.JointPosShiftChecker attribute), [1]

JointPosChecker (class in metasim.cfg.checkers), [1] JointPosShiftChecker (class in metasim.cfg.checkers), [1]

L

launch() (metasim.sim.BaseSimHandler method), [1]

look_at (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]

M

ManycoreScene827313Cfg (class in metasim.cfg.scenes), [1] mass (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] mesh_path (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] metasim.cfg.checkers module, [1] metasim.cfg.objects module, [1] metasim.cfg.randomization module, [1] metasim.cfg.render module, [1] metasim.cfg.robots module, [1] metasim.cfg.scenes module, [1] metasim.cfg.sensors.cameras module, [1] metasim.cfg.tasks module, [1] metasim.scripts module, [1] metasim.sim module, [1] metasim.utils module, [1] mjcf_path (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

mjx_mjcf_path (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] mode (metasim.cfg.checkers.JointPosChecker attribute), [1] module metasim.cfg.checkers, [1] metasim.cfg.objects, [1] metasim.cfg.randomization, [1] metasim.cfg.render, [1] metasim.cfg.robots, [1] metasim.cfg.scenes, [1] metasim.cfg.sensors.cameras, [1] metasim.cfg.tasks, [1] metasim.scripts, [1] metasim.sim, [1] metasim.utils, [1] mount_pos (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] mount_quat (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] mount_to (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]

N

name (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.BaseObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1] (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]

NonConvexRigidObjCfg (class in metasim.cfg.objects), [1] NotOp (class in metasim.cfg.checkers), [1] num_joints (metasim.cfg.robots.BaseRobotCfg attribute), [1]

O

obj_name (metasim.cfg.checkers.DetectedChecker attribute), [1] (metasim.cfg.checkers.JointPosChecker attribute), [1] (metasim.cfg.checkers.JointPosShiftChecker attribute), [1] (metasim.cfg.checkers.PositionShiftChecker attribute), [1] (metasim.cfg.checkers.RotationShiftChecker attribute), [1]

object_dict (metasim.sim.BaseSimHandler attribute), [1] OrOp (class in metasim.cfg.checkers), [1]

P

physics (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] PinholeCameraCfg (class in metasim.cfg.sensors.cameras), [1] pos (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1] positions (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

PositionShiftChecker (class in metasim.cfg.checkers), [1] PrimitiveCubeCfg (class in metasim.cfg.objects), [1] PrimitiveCylinderCfg (class in metasim.cfg.objects), [1] PrimitiveSphereCfg (class in metasim.cfg.objects), [1]

Q

quat (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

R

radian_threshold (metasim.cfg.checkers.JointPosChecker attribute), [1] (metasim.cfg.checkers.RotationShiftChecker attribute), [1] radius (metasim.cfg.checkers.Relative3DSphereDetector attribute), [1] (metasim.cfg.objects.PrimitiveCylinderCfg attribute), [1] (metasim.cfg.objects.PrimitiveSphereCfg attribute), [1] refresh_render() (metasim.sim.BaseSimHandler method), [1] Relative3DSphereDetector (class in metasim.cfg.checkers), [1] relative_pos (metasim.cfg.checkers.Relative3DSphereDetector attribute), [1] (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] relative_quat (metasim.cfg.checkers.RelativeBboxDetector attribute), [1] RelativeBboxDetector (class in metasim.cfg.checkers), [1] reset() (metasim.cfg.checkers.AndOp method), [1] (metasim.cfg.checkers.BaseChecker method), [1] (metasim.cfg.checkers.DetectedChecker method), [1] (metasim.cfg.checkers.JointPosShiftChecker method), [1] (metasim.cfg.checkers.NotOp method), [1] (metasim.cfg.checkers.OrOp method), [1] (metasim.cfg.checkers.PositionShiftChecker method), [1] (metasim.cfg.checkers.Relative3DSphereDetector method), [1] (metasim.cfg.checkers.RelativeBboxDetector method), [1] (metasim.cfg.checkers.RotationShiftChecker method), [1] (metasim.sim.BaseSimHandler method), [1]

RigidObjCfg (class in metasim.cfg.objects), [1] robot (metasim.sim.BaseSimHandler property), [1] RotationShiftChecker (class in metasim.cfg.checkers), [1]

S

scale (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

SceneCfg (class in metasim.cfg.scenes), [1] set_dof_targets() (metasim.sim.BaseSimHandler method), [1] set_states() (metasim.sim.BaseSimHandler method), [1] simulate() (metasim.sim.BaseSimHandler method), [1] size (metasim.cfg.objects.PrimitiveCubeCfg attribute), [1]

T

TapwaterScene131Cfg (class in metasim.cfg.scenes), [1] TapwaterScene138Cfg (class in metasim.cfg.scenes), [1] TapwaterScene144Cfg (class in metasim.cfg.scenes), [1]

TapwaterScene152Cfg (class in metasim.cfg.scenes), [1] TapwaterScene155Cfg (class in metasim.cfg.scenes), [1] threshold (metasim.cfg.checkers.JointPosShiftChecker attribute), [1]

U

urdf_path (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

usd_path (metasim.cfg.objects.ArticulationObjCfg attribute), [1] (metasim.cfg.objects.NonConvexRigidObjCfg attribute), [1] (metasim.cfg.objects.RigidObjCfg attribute), [1] (metasim.cfg.robots.BaseRobotCfg attribute), [1] (metasim.cfg.scenes.ManycoreScene827313Cfg attribute), [1] (metasim.cfg.scenes.SceneCfg attribute), [1] (metasim.cfg.scenes.TapwaterScene131Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene138Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene144Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene152Cfg attribute), [1] (metasim.cfg.scenes.TapwaterScene155Cfg attribute), [1]

V

vertical_aperture (metasim.cfg.sensors.cameras.PinholeCameraCfg property), [1] vertical_fov (metasim.cfg.sensors.cameras.PinholeCameraCfg property), [1]

volume (metasim.cfg.objects.PrimitiveCubeCfg property), [1] (metasim.cfg.objects.PrimitiveCylinderCfg property), [1] (metasim.cfg.objects.PrimitiveSphereCfg property), [1]

W

width (metasim.cfg.sensors.cameras.BaseCameraCfg attribute), [1] (metasim.cfg.sensors.cameras.PinholeCameraCfg attribute), [1]