cbfpy 0.0.1__py3-none-any.whl → 0.0.4__py3-none-any.whl

cbfpy/examples/joint_limits_demo.py

@@ -6,7 +6,7 @@ within the limits (+ some margin)
 
 This uses a single-integrator reduced model of the manipulator dynamics.
 We define the state as the joint positions and assume that we can directly control the joint velocities
-i.e. z = [q1, q2, q3] and u = [q1_dot, q2_dot, q3_dot] 
+i.e. z = [q1, q2, q3] and u = [q1_dot, q2_dot, q3_dot]
 """
 
 import numpy as np

cbfpy/examples/point_robot_obstacle_demo.py

@@ -9,8 +9,8 @@ This demo is interactive: click and drag the obstacle to move it around.
 Here, we have double integrator dynamics: z = [position, velocity], u = [acceleration]
 and we also use the state of the obstacle as an input to the CBF: z_obs = [position, velocity]
 
-This example includes both relative-degree-1 and relative-degree-2 CBFs. Staying inside the safe-set box is 
-RD2, since we have a positional barrier with acceleration inputs. Avoiding the obstacle is relative-degree-1, 
+This example includes both relative-degree-1 and relative-degree-2 CBFs. Staying inside the safe-set box is
+RD2, since we have a positional barrier with acceleration inputs. Avoiding the obstacle is relative-degree-1,
 because this is based on the relative velocity between the two objects.
 """
 
@@ -38,17 +38,17 @@ class PointRobotObstacleConfig(CBFConfig):
             init_args=(init_z_obs,),
         )
 
-    def f(self, z):
+    def f(self, z, *args, **kwargs):
         A = jnp.block(
             [[jnp.zeros((3, 3)), jnp.eye(3)], [jnp.zeros((3, 3)), jnp.zeros((3, 3))]]
         )
         return A @ z
 
-    def g(self, z):
+    def g(self, z, *args, **kwargs):
         B = jnp.block([[jnp.zeros((3, 3))], [jnp.eye(3) / self.mass]])
         return B
 
-    def h_1(self, z, z_obs):
+    def h_1(self, z, z_obs, **kwargs):
         # Distance between >= obstacle radius + robot radius + deceleration distance
         pos_robot = z[:3]
         vel_robot = z[3:]
@@ -69,13 +69,13 @@ class PointRobotObstacleConfig(CBFConfig):
             ]
         )
 
-    def h_2(self, z, z_obs):
+    def h_2(self, z, z_obs, **kwargs):
         # Stay inside the safe set (a box)
         pos_max = jnp.array([1.0, 1.0, 1.0])
         pos_min = jnp.array([-1.0, -1.0, -1.0])
         return jnp.concatenate([pos_max - z[:3], z[:3] - pos_min])
 
-    def alpha(self, h):
+    def alpha(self, h, *args, **kwargs):
         return 3 * h
 
 

{cbfpy-0.0.1.dist-info → cbfpy-0.0.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: cbfpy
-Version: 0.0.1
+Version: 0.0.4
 Summary: Control Barrier Functions in Python
 Author-email: Daniel Morton <danielpmorton@gmail.com>
 Project-URL: Documentation, https://danielpmorton.github.io/cbfpy/
@@ -8,15 +8,14 @@ Project-URL: Repository, https://github.com/danielpmorton/cbfpy/
 Keywords: control,barrier,function,CBF,Jax
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: numpy<2
+Requires-Dist: numpy
 Requires-Dist: jax
 Requires-Dist: jaxlib
 Requires-Dist: qpax
 Provides-Extra: examples
-Requires-Dist: pybullet; extra == "examples"
+Requires-Dist: pybullet>=3.2.7; extra == "examples"
 Requires-Dist: pygame; extra == "examples"
 Requires-Dist: wheel; extra == "examples"
 Requires-Dist: matplotlib; extra == "examples"
@@ -26,12 +25,19 @@ Requires-Dist: mkdocstrings[python]; extra == "dev"
 Requires-Dist: pylint; extra == "dev"
 Requires-Dist: black; extra == "dev"
 Provides-Extra: all
-Requires-Dist: pylint; extra == "all"
-Requires-Dist: black; extra == "all"
-Requires-Dist: pybullet; extra == "all"
+Requires-Dist: pybullet>=3.2.7; extra == "all"
 Requires-Dist: pygame; extra == "all"
+Requires-Dist: wheel; extra == "all"
+Requires-Dist: matplotlib; extra == "all"
 Requires-Dist: mkdocs-material; extra == "all"
 Requires-Dist: mkdocstrings[python]; extra == "all"
+Requires-Dist: pylint; extra == "all"
+Requires-Dist: black; extra == "all"
+Dynamic: license-file
+
+<div align="center">
+<img src="https://github.com/user-attachments/assets/0304752c-cb75-4d53-b45f-b6b1a0912d9c" alt="logo"></img>
+</div>
 
 # CBFpy: Control Barrier Functions in Python and Jax
 
@@ -43,20 +49,21 @@ CBFpy is an easy-to-use and high-performance framework for constructing and solv
 
 For API reference, see the following [documentation](https://danielpmorton.github.io/cbfpy)
 
-If you use CBFpy in your research, please use the following citation:
+If you use CBFpy in your research, please cite the following [paper](https://arxiv.org/abs/2503.06736):
 
 ```
-@software{Morton_CBFpy_2024,
-  author = {Morton, Daniel},
-  license = {MIT},
-  title = {{CBFpy: Control Barrier Functions in Python and Jax}},
-  url = {https://github.com/danielpmorton/cbfpy},
-  version = {0.0.1},
-  month = Dec,
-  year = {2024}
+@inproceedings{morton2025oscbf,
+  author={Morton, Daniel and Pavone, Marco},
+  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
+  title={Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions}, 
+  year={2025},
+  pages={187-194},
+  doi={10.1109/IROS60139.2025.11246389}
 }
 ```
 
+[![Paper](http://img.shields.io/badge/arXiv-2503.06736-B31B1B.svg)](https://arxiv.org/abs/2503.06736)
+
 ## Installation 
 
 ### From PyPI

cbfpy-0.0.4.dist-info/RECORD

@@ -0,0 +1,32 @@
+cbfpy/__init__.py,sha256=Fq5snpGxff_id-Qlpl1f52OZWr9WrVaEpZhmWE9fRpI,366
+cbfpy/cbfs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+cbfpy/cbfs/cbf.py,sha256=MhdnVNk37vmIiMF1_cZoV9zBUOXUHqn4L4DmPlkO9lY,12831
+cbfpy/cbfs/clf_cbf.py,sha256=T5SWaE8kdK-i9C7PxtevytCkai3Pu8AisNa8X8rEP38,17193
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+cbfpy/config/cbf_config.py,sha256=Q4hzvBkxmGVTJsS5E2jDkhpcUbGaC5wlddlpjHPnnHo,19076
+cbfpy/config/clf_cbf_config.py,sha256=srMa-MlTRsvpuQTZTOPAV9nBebIFBUwqkQYE3DbdtgA,13375
+cbfpy/envs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+cbfpy/envs/arm_envs.py,sha256=mY5A3nId0CbhpwbXrXx34T_Tce0QJzj3fiaJ2YAw4K8,2785
+cbfpy/envs/base_env.py,sha256=eaoUrGnKAb08v9Fouwu9vR5sjQYcSFO7rKHpSuL71_U,1815
+cbfpy/envs/car_env.py,sha256=u8-m3Mpp49FJclxARI63IDmZmKSz6zCFnxxwg1Q3CVo,11245
+cbfpy/envs/drone_env.py,sha256=tX6TLiYvweOvcWu4KIVjdJw4SPyQqwC6rsJR9NO1dp0,5761
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+cbfpy/examples/adaptive_cruise_control_demo.py,sha256=Hr64pf_opkzRh-i2Xdo8ahbeG5Wbn-cSgBb7HK3QrhU,4209
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+cbfpy/examples/joint_limits_demo.py,sha256=erDsImVJ-VOshlmauTk6x4cZWqfdG2M5Y0HY9C_V-6w,4533
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+cbfpy-0.0.4.dist-info/licenses/LICENSE,sha256=VsRPtVDiLQq5oEH67g9hLJNScJhe6URhGIkCcfLjGAA,1070
+test/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+test/test_speed.py,sha256=Trurpgin3F24XJAJNEpSvPjLjeGSKe4Jdi3uTLpRO-I,7334
+test/test_utils.py,sha256=vf9NOPLxY9EnQStzAGhctQ21DBoggbFdMOpzbDg1o8E,829
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+cbfpy-0.0.4.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+cbfpy-0.0.4.dist-info/top_level.txt,sha256=zf3vvm0IroFA5aatt-r1KWBtjBg-FeAh_e2ut4fLsjk,11
+cbfpy-0.0.4.dist-info/RECORD,,

{cbfpy-0.0.1.dist-info → cbfpy-0.0.4.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.6.0)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

test/test_speed.py

@@ -1,11 +1,11 @@
 """Speed tests for the CBF solver
 
 We evaluate the speed of the solver NOT just via the QP solve but via the whole process
-(solving for the nominal control input, constructing the QP matrices, and then solving). 
+(solving for the nominal control input, constructing the QP matrices, and then solving).
 This provides a more accurate view of what the controller frequency would actually be if
 deployed on the robot.
 
-These test cases can also be used to check that modifications to the CBF implementation 
+These test cases can also be used to check that modifications to the CBF implementation
 do not significantly degrade performance
 """
 

cbfpy/temp/test_import.py

@@ -1,3 +0,0 @@
-import cbfpy
-
-cbfpy.CBF()

cbfpy-0.0.1.dist-info/RECORD

@@ -1,33 +0,0 @@
-cbfpy/__init__.py,sha256=Fq5snpGxff_id-Qlpl1f52OZWr9WrVaEpZhmWE9fRpI,366
-cbfpy/cbfs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-cbfpy/cbfs/cbf.py,sha256=WDNAMFjWJq2gaa8rceg8nsimnb2o3CvAOgf_wCCmr-Q,13923
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-cbfpy/config/cbf_config.py,sha256=A6HGlf9P3HrG6DeK3qL9pr2zQtaWthbBwm7uN47CQLE,17069
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-cbfpy/envs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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