cbfpy 0.0.3__py3-none-any.whl → 0.0.4__py3-none-any.whl

cbfpy/cbfs/cbf.py

@@ -30,6 +30,7 @@ import jax
 import jax.numpy as jnp
 from jax import Array
 from jax.typing import ArrayLike
+import numpy as np
 import qpax
 
 from cbfpy.config.cbf_config import CBFConfig
@@ -126,19 +127,16 @@ class CBF:
             config.q,
             config.solver_tol,
         )
-        instance._validate_instance(*config.init_args)
+        instance._validate_instance(*config.init_args, **config.init_kwargs)
         return instance
 
-    def _validate_instance(self, *h_args) -> None:
-        """Checks that the CBF is valid; warns the user if not
+    def _validate_instance(self, *args, **kwargs) -> None:
+        """Checks that the CBF is valid; warns the user if not"""
 
-        Args:
-            *h_args: Optional additional arguments for the barrier function.
-        """
         try:
             # TODO: Decide if this should be checked on a row-by-row basis or via the full matrix
-            test_lgh = self.Lgh(jnp.ones(self.n), *h_args)
-            if jnp.allclose(test_lgh, 0):
+            test_lgh = self.Lgh(np.ones(self.n), *args, **kwargs)
+            if np.allclose(test_lgh, 0):
                 print_warning(
                     "Lgh is zero. Consider increasing the relative degree or modifying the barrier function."
                 )
@@ -149,18 +147,17 @@ class CBF:
             )
 
     @jax.jit
-    def safety_filter(self, z: Array, u_des: Array, *h_args) -> Array:
+    def safety_filter(self, z: Array, u_des: Array, *args, **kwargs) -> Array:
         """Apply the CBF safety filter to a nominal control
 
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Safe control input, shape (m,)
         """
-        P, q, A, b, G, h = self.qp_data(z, u_des, *h_args)
+        P, q, A, b, G, h = self.qp_data(z, u_des, *args, **kwargs)
         if self.relax_qp:
             x_qp = qpax.solve_qp_elastic_primal(
                 P,
@@ -182,12 +179,11 @@ class CBF:
             )
         return x_qp[: self.m]
 
-    def h(self, z: ArrayLike, *h_args) -> Array:
+    def h(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Barrier function(s)
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Barrier function evaluation, shape (num_barr,)
@@ -195,16 +191,16 @@ class CBF:
 
         # Take any relative-degree-2 barrier functions and convert them to relative-degree-1
         def _h_2(state):
-            return self.h_2(state, *h_args)
+            return self.h_2(state, *args, **kwargs)
 
-        h_2, dh_2_dt = jax.jvp(_h_2, (z,), (self.f(z),))
-        h_2_as_rd1 = dh_2_dt + self.alpha_2(h_2)
+        h_2, dh_2_dt = jax.jvp(_h_2, (z,), (self.f(z, *args, **kwargs),))
+        h_2_as_rd1 = dh_2_dt + self.alpha_2(h_2, *args, **kwargs)
 
         # Merge the relative-degree-1 and relative-degree-2 barrier functions
-        return jnp.concatenate([self.h_1(z, *h_args), h_2_as_rd1])
+        return jnp.concatenate([self.h_1(z, *args, **kwargs), h_2_as_rd1])
 
     def h_and_Lfh(  # pylint: disable=invalid-name
-        self, z: ArrayLike, *h_args
+        self, z: ArrayLike, *args, **kwargs
     ) -> Tuple[Array, Array]:
         """Lie derivative of the barrier function(s) wrt the autonomous dynamics `f(z)`
 
@@ -212,7 +208,6 @@ class CBF:
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             h (Array): Barrier function evaluation, shape (num_barr,)
@@ -222,16 +217,17 @@ class CBF:
         # with the bonus benefit of also evaluating the barrier function
 
         def _h(state):
-            return self.h(state, *h_args)
+            return self.h(state, *args, **kwargs)
 
-        return jax.jvp(_h, (z,), (self.f(z),))
+        return jax.jvp(_h, (z,), (self.f(z, *args, **kwargs),))
 
-    def Lgh(self, z: ArrayLike, *h_args) -> Array:  # pylint: disable=invalid-name
+    def Lgh(
+        self, z: ArrayLike, *args, **kwargs
+    ) -> Array:  # pylint: disable=invalid-name
         """Lie derivative of the barrier function(s) wrt the control dynamics `g(z)u`
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Lgh, shape (num_barr, m)
@@ -239,47 +235,45 @@ class CBF:
         # Note: the below code is just a more efficient way of stating `Lgh = jax.jacobian(self.h)(z) @ self.g(z)`
 
         def _h(state):
-            return self.h(state, *h_args)
+            return self.h(state, *args, **kwargs)
 
         def _jvp(g_column):
             return jax.jvp(_h, (z,), (g_column,))[1]
 
-        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z))
+        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z, *args, **kwargs))
 
     ## QP Matrices ##
 
     def P_qp(  # pylint: disable=invalid-name
-        self, z: Array, u_des: Array, *h_args
+        self, z: Array, u_des: Array, *args, **kwargs
     ) -> Array:
         """Quadratic term in the QP objective (`minimize 0.5 * x^T P x + q^T x`)
 
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: P matrix, shape (m, m)
         """
         # This is user-modifiable in the config, but defaults to 2 * I for the standard min-norm CBF objective
-        return self.P_config(z, u_des, *h_args)
+        return self.P_config(z, u_des, *args, **kwargs)
 
-    def q_qp(self, z: Array, u_des: Array, *h_args) -> Array:
+    def q_qp(self, z: Array, u_des: Array, *args, **kwargs) -> Array:
         """Linear term in the QP objective (`minimize 0.5 * x^T P x + q^T x`)
 
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: q vector, shape (m,)
         """
         # This is user-modifiable in the config, but defaults to -2 * u_des for the standard min-norm CBF objective
-        return self.q_config(z, u_des, *h_args)
+        return self.q_config(z, u_des, *args, **kwargs)
 
     def G_qp(  # pylint: disable=invalid-name
-        self, z: Array, u_des: Array, *h_args
+        self, z: Array, u_des: Array, *args, **kwargs
     ) -> Array:
         """Inequality constraint matrix for the QP (`Gx <= h`)
 
@@ -291,18 +285,17 @@ class CBF:
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: G matrix, shape (num_constraints, m)
         """
-        G = -self.Lgh(z, *h_args)
+        G = -self.Lgh(z, *args, **kwargs)
         if self.control_constrained:
             return jnp.block([[G], [jnp.eye(self.m)], [-jnp.eye(self.m)]])
         else:
             return G
 
-    def h_qp(self, z: Array, u_des: Array, *h_args) -> Array:
+    def h_qp(self, z: Array, u_des: Array, *args, **kwargs) -> Array:
         """Upper bound on constraints for the QP (`Gx <= h`)
 
         Note:
@@ -313,13 +306,12 @@ class CBF:
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: h vector, shape (num_constraints,)
         """
-        hz, lfh = self.h_and_Lfh(z, *h_args)
-        h = self.alpha(hz) + lfh
+        hz, lfh = self.h_and_Lfh(z, *args, **kwargs)
+        h = self.alpha(hz, *args, **kwargs) + lfh
         if self.control_constrained:
             return jnp.concatenate(
                 [h, jnp.asarray(self.u_max), -jnp.asarray(self.u_min)]
@@ -328,7 +320,7 @@ class CBF:
             return h
 
     def qp_data(
-        self, z: Array, u_des: Array, *h_args
+        self, z: Array, u_des: Array, *args, **kwargs
     ) -> Tuple[Array, Array, Array, Array, Array, Array]:
         """Constructs the QP matrices based on the current state and desired control
 
@@ -349,7 +341,6 @@ class CBF:
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             P (Array): Quadratic term in the QP objective, shape (m, m)
@@ -360,10 +351,10 @@ class CBF:
             h (Array): Upper bound on constraints, shape (num_constraints,)
         """
         return (
-            self.P_qp(z, u_des, *h_args),
-            self.q_qp(z, u_des, *h_args),
+            self.P_qp(z, u_des, *args, **kwargs),
+            self.q_qp(z, u_des, *args, **kwargs),
             jnp.zeros((0, self.m)),  # Equality matrix (not used for CBF)
             jnp.zeros(0),  # Equality vector (not used for CBF)
-            self.G_qp(z, u_des, *h_args),
-            self.h_qp(z, u_des, *h_args),
+            self.G_qp(z, u_des, *args, **kwargs),
+            self.h_qp(z, u_des, *args, **kwargs),
         )

cbfpy/cbfs/clf_cbf.py

@@ -43,6 +43,7 @@ import jax
 import jax.numpy as jnp
 from jax import Array
 from jax.typing import ArrayLike
+import numpy as np
 import qpax
 
 from cbfpy.config.clf_cbf_config import CLFCBFConfig
@@ -158,19 +159,16 @@ class CLFCBF:
             config.F,
             config.solver_tol,
         )
-        instance._validate_instance(*config.init_args)
+        instance._validate_instance(*config.init_args, **config.init_kwargs)
         return instance
 
-    def _validate_instance(self, *h_args) -> None:
-        """Checks that the CLF-CBF is valid; warns the user if not
+    def _validate_instance(self, *args, **kwargs) -> None:
+        """Checks that the CLF-CBF is valid; warns the user if not"""
 
-        Args:
-            *h_args: Optional additional arguments for the barrier function.
-        """
-        test_z = jnp.ones(self.n)
+        test_z = np.ones(self.n)
         try:
-            test_lgh = self.Lgh(test_z, *h_args)
-            if jnp.allclose(test_lgh, 0):
+            test_lgh = self.Lgh(test_z, *args, **kwargs)
+            if np.allclose(test_lgh, 0):
                 print_warning(
                     "Lgh is zero. Consider increasing the relative degree or modifying the barrier function."
                 )
@@ -179,26 +177,25 @@ class CLFCBF:
                 "Cannot test Lgh; missing additional arguments.\n"
                 + "Please provide an initial seed for these args in the config's init_args input"
             )
-        test_lgv = self.LgV(test_z, test_z)
-        if jnp.allclose(test_lgv, 0):
+        test_lgv = self.LgV(test_z, test_z, *args, **kwargs)
+        if np.allclose(test_lgv, 0):
             print_warning(
                 "LgV is zero. Consider increasing the relative degree or modifying the Lyapunov function."
             )
 
     @jax.jit
-    def controller(self, z: Array, z_des: Array, *h_args) -> Array:
+    def controller(self, z: Array, z_des: Array, *args, **kwargs) -> Array:
         """Compute the CLF-CBF optimal control input, optimizing for the CLF objective while
         satisfying the CBF safety constraint.
 
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Safe control input, shape (m,)
         """
-        P, q, A, b, G, h = self.qp_data(z, z_des, *h_args)
+        P, q, A, b, G, h = self.qp_data(z, z_des, *args, **kwargs)
         if self.relax_qp:
             x_qp = qpax.solve_qp_elastic_primal(
                 P,
@@ -220,12 +217,11 @@ class CLFCBF:
             )
         return x_qp[: self.m]
 
-    def h(self, z: ArrayLike, *h_args) -> Array:
+    def h(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Barrier function(s)
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Barrier function evaluation, shape (num_barr,)
@@ -233,16 +229,16 @@ class CLFCBF:
 
         # Take any relative-degree-2 barrier functions and convert them to relative-degree-1
         def _h_2(state):
-            return self.h_2(state, *h_args)
+            return self.h_2(state, *args, **kwargs)
 
-        h_2, dh_2_dt = jax.jvp(_h_2, (z,), (self.f(z),))
-        h_2_as_rd1 = dh_2_dt + self.alpha_2(h_2)
+        h_2, dh_2_dt = jax.jvp(_h_2, (z,), (self.f(z, *args, **kwargs),))
+        h_2_as_rd1 = dh_2_dt + self.alpha_2(h_2, *args, **kwargs)
 
         # Merge the relative-degree-1 and relative-degree-2 barrier functions
-        return jnp.concatenate([self.h_1(z, *h_args), h_2_as_rd1])
+        return jnp.concatenate([self.h_1(z, *args, **kwargs), h_2_as_rd1])
 
     def h_and_Lfh(  # pylint: disable=invalid-name
-        self, z: ArrayLike, *h_args
+        self, z: ArrayLike, *args, **kwargs
     ) -> Tuple[Array, Array]:
         """Lie derivative of the barrier function(s) wrt the autonomous dynamics `f(z)`
 
@@ -250,7 +246,6 @@ class CLFCBF:
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             h (Array): Barrier function evaluation, shape (num_barr,)
@@ -260,16 +255,17 @@ class CLFCBF:
         # with the bonus benefit of also evaluating the barrier function
 
         def _h(state):
-            return self.h(state, *h_args)
+            return self.h(state, *args, **kwargs)
 
-        return jax.jvp(_h, (z,), (self.f(z),))
+        return jax.jvp(_h, (z,), (self.f(z, *args, **kwargs),))
 
-    def Lgh(self, z: ArrayLike, *h_args) -> Array:  # pylint: disable=invalid-name
+    def Lgh(
+        self, z: ArrayLike, *args, **kwargs
+    ) -> Array:  # pylint: disable=invalid-name
         """Lie derivative of the barrier function(s) wrt the control dynamics `g(z)u`
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Lgh, shape (num_barr, m)
@@ -277,16 +273,16 @@ class CLFCBF:
         # Note: the below code is just a more efficient way of stating `Lgh = jax.jacobian(self.h)(z) @ self.g(z)`
 
         def _h(state):
-            return self.h(state, *h_args)
+            return self.h(state, *args, **kwargs)
 
         def _jvp(g_column):
             return jax.jvp(_h, (z,), (g_column,))[1]
 
-        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z))
+        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z, *args, **kwargs))
 
     ## CLF functions ##
 
-    def V(self, z: ArrayLike, z_des: ArrayLike) -> Array:
+    def V(self, z: ArrayLike, z_des: ArrayLike, *args, **kwargs) -> Array:
         """Control Lyapunov Function(s)
 
         Args:
@@ -298,17 +294,19 @@ class CLFCBF:
         """
 
         def _V_2(state):
-            return self.V_2(state, z_des)
+            return self.V_2(state, z_des, *args, **kwargs)
 
         # Take any relative-degree-2 CLFs and convert them to relative-degree-1
         # NOTE: If adding args to the CLF, create a wrapper func like with the barrier function
-        V_2, dV_2_dt = jax.jvp(_V_2, (z,), (self.f(z),))
-        V2_rd1 = dV_2_dt + self.gamma_2(V_2)
+        V_2, dV_2_dt = jax.jvp(_V_2, (z,), (self.f(z, *args, **kwargs),))
+        V2_rd1 = dV_2_dt + self.gamma_2(V_2, *args, **kwargs)
 
         # Merge the relative-degree-1 and relative-degree-2 CLFs
-        return jnp.concatenate([self.V_1(z, z_des), V2_rd1])
+        return jnp.concatenate([self.V_1(z, z_des, *args, **kwargs), V2_rd1])
 
-    def V_and_LfV(self, z: ArrayLike, z_des: ArrayLike) -> Tuple[Array, Array]:
+    def V_and_LfV(
+        self, z: ArrayLike, z_des: ArrayLike, *args, **kwargs
+    ) -> Tuple[Array, Array]:
         """Lie derivative of the CLF wrt the autonomous dynamics `f(z)`
 
         The evaluation of the CLF is also returned "for free", a byproduct of the jacobian-vector-product
@@ -323,11 +321,11 @@ class CLFCBF:
         """
 
         def _V(state):
-            return self.V(state, z_des)
+            return self.V(state, z_des, *args, **kwargs)
 
-        return jax.jvp(_V, (z,), (self.f(z),))
+        return jax.jvp(_V, (z,), (self.f(z, *args, **kwargs),))
 
-    def LgV(self, z: ArrayLike, z_des: ArrayLike) -> Array:
+    def LgV(self, z: ArrayLike, z_des: ArrayLike, *args, **kwargs) -> Array:
         """Lie derivative of the CLF wrt the control dynamics `g(z)u`
 
         Args:
@@ -339,50 +337,48 @@ class CLFCBF:
         """
 
         def _V(state):
-            return self.V(state, z_des)
+            return self.V(state, z_des, *args, **kwargs)
 
         def _jvp(g_column):
             return jax.jvp(_V, (z,), (g_column,))[1]
 
-        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z))
+        return jax.vmap(_jvp, in_axes=1, out_axes=1)(self.g(z, *args, **kwargs))
 
     ## QP Matrices ##
 
     def P_qp(  # pylint: disable=invalid-name
-        self, z: Array, z_des: Array, *h_args
+        self, z: Array, z_des: Array, *args, **kwargs
     ) -> Array:
         """Quadratic term in the QP objective (`minimize 0.5 * x^T P x + q^T x`)
 
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: P matrix, shape (m, m)
         """
         return jnp.block(
             [
-                [self.H(z), jnp.zeros((self.m, 1))],
+                [self.H(z, *args, **kwargs), jnp.zeros((self.m, 1))],
                 [jnp.zeros((1, self.m)), jnp.atleast_1d(self.clf_relaxation_penalty)],
             ]
         )
 
-    def q_qp(self, z: Array, z_des: Array, *h_args) -> Array:
+    def q_qp(self, z: Array, z_des: Array, *args, **kwargs) -> Array:
         """Linear term in the QP objective (`minimize 0.5 * x^T P x + q^T x`)
 
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: Q vector, shape (m,)
         """
-        return jnp.concatenate([self.F(z), jnp.array([0.0])])
+        return jnp.concatenate([self.F(z, *args, **kwargs), jnp.array([0.0])])
 
     def G_qp(  # pylint: disable=invalid-name
-        self, z: Array, z_des: Array, *h_args
+        self, z: Array, z_des: Array, *args, **kwargs
     ) -> Array:
         """Inequality constraint matrix for the QP (`Gx <= h`)
 
@@ -394,15 +390,17 @@ class CLFCBF:
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: G matrix, shape (num_constraints, m)
         """
         G = jnp.block(
             [
-                [self.LgV(z, z_des), -1.0 * jnp.ones((self.num_clf, 1))],
-                [-self.Lgh(z, *h_args), jnp.zeros((self.num_cbf, 1))],
+                [
+                    self.LgV(z, z_des, *args, **kwargs),
+                    -1.0 * jnp.ones((self.num_clf, 1)),
+                ],
+                [-self.Lgh(z, *args, **kwargs), jnp.zeros((self.num_cbf, 1))],
             ]
         )
         if self.control_constrained:
@@ -416,7 +414,7 @@ class CLFCBF:
         else:
             return G
 
-    def h_qp(self, z: Array, z_des: Array, *h_args) -> Array:
+    def h_qp(self, z: Array, z_des: Array, *args, **kwargs) -> Array:
         """Upper bound on constraints for the QP (`Gx <= h`)
 
         Note:
@@ -427,17 +425,16 @@ class CLFCBF:
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: h vector, shape (num_constraints,)
         """
-        hz, lfh = self.h_and_Lfh(z, *h_args)
-        vz, lfv = self.V_and_LfV(z, z_des)
+        hz, lfh = self.h_and_Lfh(z, *args, **kwargs)
+        vz, lfv = self.V_and_LfV(z, z_des, *args, **kwargs)
         h = jnp.concatenate(
             [
-                -lfv - self.gamma(vz),
-                self.alpha(hz) + lfh,
+                -lfv - self.gamma(vz, *args, **kwargs),
+                self.alpha(hz, *args, **kwargs) + lfh,
             ]
         )
         if self.control_constrained:
@@ -448,7 +445,7 @@ class CLFCBF:
             return h
 
     def qp_data(
-        self, z: Array, z_des: Array, *h_args
+        self, z: Array, z_des: Array, *args, **kwargs
     ) -> Tuple[Array, Array, Array, Array, Array, Array]:
         """Constructs the QP matrices based on the current state and desired control
 
@@ -469,7 +466,6 @@ class CLFCBF:
         Args:
             z (Array): State, shape (n,)
             z_des (Array): Desired state, shape (n,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             P (Array): Quadratic term in the QP objective, shape (m + 1, m + 1)
@@ -480,10 +476,10 @@ class CLFCBF:
             h (Array): Upper bound on constraints, shape (num_constraints,)
         """
         return (
-            self.P_qp(z, z_des, *h_args),
-            self.q_qp(z, z_des, *h_args),
+            self.P_qp(z, z_des, *args, **kwargs),
+            self.q_qp(z, z_des, *args, **kwargs),
             jnp.zeros((0, self.m + 1)),  # Equality matrix (not used for CLF-CBF)
             jnp.zeros(0),  # Equality vector (not used for CLF-CBF)
-            self.G_qp(z, z_des, *h_args),
-            self.h_qp(z, z_des, *h_args),
+            self.G_qp(z, z_des, *args, **kwargs),
+            self.h_qp(z, z_des, *args, **kwargs),
         )

cbfpy/config/cbf_config.py

@@ -38,7 +38,6 @@ is infeasible.
 
 from typing import Optional, Callable
 from abc import ABC, abstractmethod
-import warnings
 
 import numpy as np
 import jax
@@ -75,9 +74,10 @@ class CBFConfig(ABC):
         control_relaxation_penalty (float, optional): Penalty on the control constraint slack variables in the
             relaxed QP. Defaults to 1e5. Note: only applies if relax_qp is True.
         solver_tol (float, optional): Tolerance for the QP solver. Defaults to 1e-3.
-        init_args (tuple, optional): If your barrier function relies on additional arguments other than just the state,
-            include an initial seed for these arguments here. This is to help test the output of the barrier function.
-            Defaults to ().
+        init_args (tuple, optional): If your barriers or dynamics rely on additional (non-differentiable, static shape)
+            args other than just the state, include an initial seed for these args here. Defaults to None.
+        init_kwargs (dict, optional): If your barriers or dynamics rely on additional (non-differentiable, static shape)
+            kwargs other than just the state, include an initial seed for these kwargs here. Defaults to None.
     """
 
     def __init__(
@@ -90,7 +90,8 @@ class CBFConfig(ABC):
         cbf_relaxation_penalty: float = 1e3,
         control_relaxation_penalty: float = 1e5,
         solver_tol: float = 1e-3,
-        init_args: tuple = (),
+        init_args: Optional[tuple] = None,
+        init_kwargs: Optional[dict] = None,
     ):
         if not (isinstance(n, int) and n > 0):
             raise ValueError(f"n must be a positive integer. Got: {n}")
@@ -123,10 +124,18 @@ class CBFConfig(ABC):
                 + " Solution will likely be poor."
             )
 
-        if not isinstance(init_args, tuple):
+        if init_args is None:
+            init_args = ()
+        elif not isinstance(init_args, tuple):
             raise ValueError(f"init_args must be a tuple. Got: {init_args}")
         self.init_args = init_args
 
+        if init_kwargs is None:
+            init_kwargs = {}
+        elif not isinstance(init_kwargs, dict):
+            raise ValueError(f"init_kwargs must be a dict. Got: {init_kwargs}")
+        self.init_kwargs = init_kwargs
+
         if not (
             isinstance(control_relaxation_penalty, (int, float))
             and control_relaxation_penalty >= 0
@@ -164,10 +173,10 @@ class CBFConfig(ABC):
             print("WARNING: Control constraints have a lower penalty than the CBFs.")
 
         # Test if the methods are provided and verify their output dimension
-        z_test = jnp.ones(self.n)
-        u_test = jnp.ones(self.m)
-        f_test = self.f(z_test)
-        g_test = self.g(z_test)
+        z_test = np.ones(self.n)
+        u_test = np.ones(self.m)
+        f_test = self.f(z_test, *self.init_args, **self.init_kwargs)
+        g_test = self.g(z_test, *self.init_args, **self.init_kwargs)
         if f_test.shape != (self.n,):
             raise ValueError(
                 f"Invalid shape for f(z). Got {f_test.shape}, expected ({self.n},)"
@@ -177,13 +186,10 @@ class CBFConfig(ABC):
                 f"Invalid shape for g(z). Got {g_test.shape}, expected ({self.n}, {self.m})"
             )
         try:
-            h1_test = self.h_1(z_test, *self.init_args)
-            h2_test = self.h_2(z_test, *self.init_args)
+            h1_test = self.h_1(z_test, *self.init_args, **self.init_kwargs)
+            h2_test = self.h_2(z_test, *self.init_args, **self.init_kwargs)
         except TypeError as e:
-            raise ValueError(
-                "Cannot test the barrier function; likely missing additional arguments.\n"
-                + "Please provide an initial seed for these args in the config's init_args input"
-            ) from e
+            raise ValueError("Cannot test the barrier function") from e
         if h1_test.ndim != 1 or h2_test.ndim != 1:
             raise ValueError("Barrier function(s) must be 1D arrays")
         self.num_rd1_cbf = h1_test.shape[0]
@@ -194,9 +200,9 @@ class CBFConfig(ABC):
                 "No barrier functions provided."
                 + "\nYou can implement this via the h_1 and/or h_2 methods in your config class"
             )
-        h_test = jnp.concatenate([h1_test, h2_test])
-        alpha_test = self.alpha(h_test)
-        alpha_2_test = self.alpha_2(h2_test)
+        h_test = np.concatenate([h1_test, h2_test])
+        alpha_test = self.alpha(h_test, *self.init_args, **self.init_kwargs)
+        alpha_2_test = self.alpha_2(h2_test, *self.init_args, **self.init_kwargs)
         if alpha_test.shape != (self.num_cbf,):
             raise ValueError(
                 f"Invalid shape for alpha(h(z)): {alpha_test.shape}. Expected ({self.num_cbf},)"
@@ -207,15 +213,16 @@ class CBFConfig(ABC):
                 f"Invalid shape for alpha_2(h_2(z)): {alpha_2_test.shape}. Expected ({self.num_rd2_cbf},)"
                 + "\nCheck that the output of the alpha_2() function matches the number of RD2 CBFs"
             )
-        self._check_class_kappa(self.alpha, self.num_cbf)
-        self._check_class_kappa(self.alpha_2, self.num_rd2_cbf)
+        self._check_class_kappa(
+            self.alpha, self.num_cbf, *self.init_args, **self.init_kwargs
+        )
+        self._check_class_kappa(
+            self.alpha_2, self.num_rd2_cbf, *self.init_args, **self.init_kwargs
+        )
         try:
-            P_test = self.P(z_test, u_test, *self.init_args)
+            P_test = self.P(z_test, u_test, *self.init_args, **self.init_kwargs)
         except TypeError as e:
-            raise ValueError(
-                "Cannot test the P matrix; likely missing additional arguments.\n"
-                + "Please provide an initial seed for these args in the config's init_args input"
-            ) from e
+            raise ValueError("Cannot test the P matrix") from e
         if P_test.shape != (self.m, self.m):
             raise ValueError(
                 f"Invalid shape for P(z). Got {P_test.shape}, expected ({self.m}, {self.m})"
@@ -245,7 +252,7 @@ class CBFConfig(ABC):
     ## Control Affine Dynamics ##
 
     @abstractmethod
-    def f(self, z: ArrayLike) -> Array:
+    def f(self, z: ArrayLike, *args, **kwargs) -> Array:
         """The uncontrolled dynamics function. Possibly nonlinear, and locally Lipschitz
 
         i.e. the function f, such that z_dot = f(z) + g(z) u
@@ -259,7 +266,7 @@ class CBFConfig(ABC):
         pass
 
     @abstractmethod
-    def g(self, z: ArrayLike) -> Array:
+    def g(self, z: ArrayLike, *args, **kwargs) -> Array:
         """The control affine dynamics function. Locally Lipschitz.
 
         i.e. the function g, such that z_dot = f(z) + g(z) u
@@ -274,7 +281,7 @@ class CBFConfig(ABC):
 
     ## Barriers ##
 
-    def h_1(self, z: ArrayLike, *h_args) -> Array:
+    def h_1(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Relative-degree-1 barrier function(s).
 
         A (zeroing) CBF is a continuously-differentiable function h, such that for any state z in the interior of
@@ -289,15 +296,13 @@ class CBFConfig(ABC):
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function. Note: If using additional args with your
-                barrier, these must be a static shape/type, or else this will trigger a recompilation in Jax.
 
         Returns:
             Array: Barrier function(s), shape (num_rd1_barr,)
         """
         return jnp.array([])
 
-    def h_2(self, z: ArrayLike, *h_args) -> Array:
+    def h_2(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Relative-degree-2 (high-order) barrier function(s).
 
         A (zeroing) CBF is a continuously-differentiable function h, such that for any state z in the interior of
@@ -313,8 +318,6 @@ class CBFConfig(ABC):
 
         Args:
             z (ArrayLike): State, shape (n,)
-            *h_args: Optional additional arguments for the barrier function. Note: If using additional args with your
-                barrier, these must be a static shape/type, or else this will trigger a recompilation in Jax.
 
         Returns:
             Array: Barrier function(s), shape (num_rd2_barr,)
@@ -323,7 +326,7 @@ class CBFConfig(ABC):
 
     ## Additional tuning functions ##
 
-    def alpha(self, h: ArrayLike) -> Array:
+    def alpha(self, h: ArrayLike, *args, **kwargs) -> Array:
         """A class Kappa function, dictating the "gain" of the barrier function(s)
 
         For reference, a class Kappa function is a monotonically increasing function which passes through the origin.
@@ -339,7 +342,7 @@ class CBFConfig(ABC):
         """
         return h
 
-    def alpha_2(self, h_2: ArrayLike) -> Array:
+    def alpha_2(self, h_2: ArrayLike, *args, **kwargs) -> Array:
         """A second class Kappa function which dictactes the "gain" associated with the relative-degree-2
         barrier functions
 
@@ -358,7 +361,7 @@ class CBFConfig(ABC):
 
     # Objective function tuning
 
-    def P(self, z: Array, u_des: Array, *h_args) -> Array:
+    def P(self, z: Array, u_des: Array, *args, **kwargs) -> Array:
         """Quadratic term in the CBF QP objective (minimize 0.5 * x^T P x + q^T x)
 
         This defaults to 2 * I, which is the value of P when minimizing the standard CBF objective,
@@ -369,14 +372,13 @@ class CBFConfig(ABC):
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: P matrix, shape (m, m)
         """
         return 2 * jnp.eye(self.m)
 
-    def q(self, z: Array, u_des: Array, *h_args) -> Array:
+    def q(self, z: Array, u_des: Array, *args, **kwargs) -> Array:
         """Linear term in the CBF QP objective (minimize 0.5 * x^T P x + q^T x)
 
         This defaults to -2 * u_des, which is the value of q when minimizing the standard CBF objective,
@@ -387,7 +389,6 @@ class CBFConfig(ABC):
         Args:
             z (Array): State, shape (n,)
             u_des (Array): Desired control input, shape (m,)
-            *h_args: Optional additional arguments for the barrier function.
 
         Returns:
             Array: q vector, shape (m,)
@@ -397,7 +398,7 @@ class CBFConfig(ABC):
     ## Helper functions ##
 
     def _check_class_kappa(
-        self, func: Callable[[ArrayLike], ArrayLike], dim: int
+        self, func: Callable[[ArrayLike], ArrayLike], dim: int, *args, **kwargs
     ) -> None:
         """Checks that the provided function is in class Kappa
 
@@ -406,16 +407,20 @@ class CBFConfig(ABC):
             dim (int): Expected dimension of the output
         """
         assert isinstance(func, Callable)
+
+        def func_wrapper(x):
+            return func(x, *args, **kwargs)
+
         try:
             # Check that func(0) == 0
-            assert jnp.allclose(func(jnp.zeros(dim)), 0.0)
+            assert np.allclose(func_wrapper(np.zeros(dim)), 0.0)
             # Check that func is monotonically increasing
             n_test = 100
-            test_points = jnp.repeat(
-                jnp.linspace(-1e6, 1e6, n_test).reshape(n_test, 1), dim, axis=1
+            test_points = np.repeat(
+                np.linspace(-1e6, 1e6, n_test).reshape(n_test, 1), dim, axis=1
             )
-            a = jax.vmap(func, in_axes=0)(test_points)
-            assert jnp.all(a[:-1, :] < a[1:, :])
+            a = jax.vmap(func_wrapper, in_axes=0)(test_points)
+            assert np.all(a[:-1, :] < a[1:, :])
         except AssertionError as e:
             raise ValueError(
                 f"{func.__name__} does not appear to be a class Kappa function"

cbfpy/config/clf_cbf_config.py

@@ -75,9 +75,10 @@ class CLFCBFConfig(CBFConfig):
         control_relaxation_penalty (float, optional): Penalty on the control constraint slack variables in the
             relaxed QP. Defaults to 1e5. Note: only applies if relax_qp is True.
         solver_tol (float, optional): Tolerance for the QP solver. Defaults to 1e-3.
-        init_args (tuple, optional): If your barrier function relies on additional arguments other than just the state,
-            include an initial seed for these arguments here. This is to help test the output of the barrier function.
-            Defaults to ().
+        init_args (tuple, optional): If your barriers or dynamics rely on additional (non-differentiable, static shape)
+            args other than just the state, include an initial seed for these args here. Defaults to None.
+        init_kwargs (dict, optional): If your barriers or dynamics rely on additional (non-differentiable, static shape)
+            kwargs other than just the state, include an initial seed for these kwargs here. Defaults to None.
     """
 
     def __init__(
@@ -91,7 +92,8 @@ class CLFCBFConfig(CBFConfig):
         clf_relaxation_penalty: float = 1e2,
         control_relaxation_penalty: float = 1e5,
         solver_tol: float = 1e-3,
-        init_args: tuple = (),
+        init_args: Optional[tuple] = None,
+        init_kwargs: Optional[dict] = None,
     ):
         super().__init__(
             n,
@@ -103,6 +105,7 @@ class CLFCBFConfig(CBFConfig):
             control_relaxation_penalty,
             solver_tol,
             init_args,
+            init_kwargs,
         )
 
         if not (
@@ -124,9 +127,9 @@ class CLFCBFConfig(CBFConfig):
             print("WARNING: Control constraints have a lower penalty than the CLFs")
 
         # Check on CLF dimension
-        z_test = jnp.ones(self.n)
-        v1_test = self.V_1(z_test, z_test)
-        v2_test = self.V_2(z_test, z_test)
+        z_test = np.ones(self.n)
+        v1_test = self.V_1(z_test, z_test, *self.init_args, **self.init_kwargs)
+        v2_test = self.V_2(z_test, z_test, *self.init_args, **self.init_kwargs)
         if v1_test.ndim != 1 or v2_test.ndim != 1:
             raise ValueError("CLF(s) must output 1D arrays")
         self.num_rd1_clf = v1_test.shape[0]
@@ -137,9 +140,9 @@ class CLFCBFConfig(CBFConfig):
                 "No Lyanpunov functions provided."
                 + "\nYou can implement this via the V_1 and/or V_2 methods in your config class"
             )
-        v_test = jnp.concatenate([v1_test, v2_test])
-        gamma_test = self.gamma(v_test)
-        gamma_2_test = self.gamma_2(v2_test)
+        v_test = np.concatenate([v1_test, v2_test])
+        gamma_test = self.gamma(v_test, *self.init_args, **self.init_kwargs)
+        gamma_2_test = self.gamma_2(v2_test, *self.init_args, **self.init_kwargs)
         if gamma_test.shape != (self.num_clf,):
             raise ValueError(
                 f"Invalid shape for gamma(V(z)): {gamma_test.shape}. Expected ({self.num_clf},)"
@@ -150,9 +153,13 @@ class CLFCBFConfig(CBFConfig):
                 f"Invalid shape for gamma_2(V_2(z)): {gamma_2_test.shape}. Expected ({self.num_rd2_clf},)"
                 + "\nCheck that the output of the gamma_2() function matches the number of RD2 CLFs"
             )
-        self._check_class_kappa(self.gamma, self.num_clf)
-        self._check_class_kappa(self.gamma_2, self.num_rd2_clf)
-        H_test = self.H(z_test)
+        self._check_class_kappa(
+            self.gamma, self.num_clf, *self.init_args, **self.init_kwargs
+        )
+        self._check_class_kappa(
+            self.gamma_2, self.num_rd2_clf, *self.init_args, **self.init_kwargs
+        )
+        H_test = self.H(z_test, *self.init_args, **self.init_kwargs)
         if H_test.shape != (self.m, self.m):
             raise ValueError(
                 f"Invalid shape for H(z): {H_test.shape}. Expected ({self.m}, {self.m})"
@@ -187,7 +194,7 @@ class CLFCBFConfig(CBFConfig):
             )
         assert len(self.constraint_relaxation_penalties) == num_qp_constraints
 
-    def V_1(self, z: ArrayLike, z_des: ArrayLike) -> Array:
+    def V_1(self, z: ArrayLike, z_des: ArrayLike, *args, **kwargs) -> Array:
         """Relative-Degree-1 Control Lyapunov Function (CLF)
 
         A CLF is a positive-definite function which evaluates to zero at the equilibrium point, and is
@@ -210,7 +217,7 @@ class CLFCBFConfig(CBFConfig):
         return jnp.array([])
 
     # TODO: Check if the math behind this is actually valid
-    def V_2(self, z: ArrayLike, z_des: ArrayLike) -> Array:
+    def V_2(self, z: ArrayLike, z_des: ArrayLike, *args, **kwargs) -> Array:
         """Relative-Degree-2 (high-order) Control Lyapunov Function (CLF)
 
         A CLF is a positive-definite function which evaluates to zero at the equilibrium point, and is
@@ -233,7 +240,7 @@ class CLFCBFConfig(CBFConfig):
         """
         return jnp.array([])
 
-    def gamma(self, v: ArrayLike) -> Array:
+    def gamma(self, v: ArrayLike, *args, **kwargs) -> Array:
         """A class Kappa function, dictating the "gain" of the CLF
 
         For reference, a class Kappa function is a monotonically increasing function which passes through the origin.
@@ -248,7 +255,7 @@ class CLFCBFConfig(CBFConfig):
         """
         return v
 
-    def gamma_2(self, v_2: ArrayLike) -> Array:
+    def gamma_2(self, v_2: ArrayLike, *args, **kwargs) -> Array:
         """A second class Kappa function, dictating the "gain" associated with the derivative of the CLF
 
         For reference, a class Kappa function is a monotonically increasing function which passes through the origin.
@@ -263,7 +270,7 @@ class CLFCBFConfig(CBFConfig):
         """
         return v_2
 
-    def H(self, z: ArrayLike) -> Array:
+    def H(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Matrix defining the quadratic control term in the CLF objective (minimize 0.5 * u^T H u + F^T u)
 
         **Must be PSD!**
@@ -279,7 +286,7 @@ class CLFCBFConfig(CBFConfig):
         """
         return jnp.eye(self.m)
 
-    def F(self, z: ArrayLike) -> Array:
+    def F(self, z: ArrayLike, *args, **kwargs) -> Array:
         """Vector defining the linear term in the CLF objective (minimize 0.5 * u^T H u + F^T u)
 
         The default implementation is a zero vector, but this can be overridden

cbfpy/examples/drone_demo.py

@@ -43,15 +43,15 @@ class DroneConfig(CBFConfig):
             cbf_relaxation_penalty=1e6,
         )
 
-    def f(self, z):
+    def f(self, z, *args, **kwargs):
         # Assume we are directly controlling the robot's velocity
         return jnp.zeros(self.n)
 
-    def g(self, z):
+    def g(self, z, *args, **kwargs):
         # Assume we are directly controlling the robot's velocity
         return jnp.block([[jnp.eye(3)], [jnp.zeros((3, 3))]])
 
-    def h_1(self, z, z_obs):
+    def h_1(self, z, z_obs, **kwargs):
         obstacle_radius = 0.25
         robot_radius = 0.25
         padding = 0.1
@@ -78,7 +78,7 @@ class DroneConfig(CBFConfig):
         )
         return jnp.concatenate([h_obstacle_avoidance, h_box_containment])
 
-    def alpha(self, h):
+    def alpha(self, h, *args, **kwargs):
         return jnp.array([3.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]) * h
 
 

cbfpy/examples/point_robot_obstacle_demo.py

@@ -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-0.0.3.dist-info → cbfpy-0.0.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: cbfpy
-Version: 0.0.3
+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/
@@ -52,12 +52,13 @@ For API reference, see the following [documentation](https://danielpmorton.githu
 If you use CBFpy in your research, please cite the following [paper](https://arxiv.org/abs/2503.06736):
 
 ```
-@article{morton2025oscbf,
-  author = {Morton, Daniel and Pavone, Marco},
-  title = {Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions},
-  year = {2025},
-  journal = {arXiv preprint arXiv:2503.06736},
-  note = {Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, 2025},
+@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}
 }
 ```
 

{cbfpy-0.0.3.dist-info → cbfpy-0.0.4.dist-info}/RECORD

@@ -1,10 +1,10 @@
 cbfpy/__init__.py,sha256=Fq5snpGxff_id-Qlpl1f52OZWr9WrVaEpZhmWE9fRpI,366
 cbfpy/cbfs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-cbfpy/cbfs/cbf.py,sha256=lr74nIDIalkeRDRT8nDzemS9aNWxZLcL8sQaFc1mOvE,13294
-cbfpy/cbfs/clf_cbf.py,sha256=lhnQj8r1DeChuSo23Mf3dIO4Q_0MTtax87K8jR0Ur8Q,17311
+cbfpy/cbfs/cbf.py,sha256=MhdnVNk37vmIiMF1_cZoV9zBUOXUHqn4L4DmPlkO9lY,12831
+cbfpy/cbfs/clf_cbf.py,sha256=T5SWaE8kdK-i9C7PxtevytCkai3Pu8AisNa8X8rEP38,17193
 cbfpy/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-cbfpy/config/cbf_config.py,sha256=7x2AjffmhSpvDTHOY04fCUIzhtA_fcHkCTVT-XyJ0Js,18976
-cbfpy/config/clf_cbf_config.py,sha256=b7S-pGuoqtRK1ioAmBYO5L2VNd9Uow0tL2rXWMjLae4,12699
+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
@@ -13,20 +13,20 @@ cbfpy/envs/drone_env.py,sha256=tX6TLiYvweOvcWu4KIVjdJw4SPyQqwC6rsJR9NO1dp0,5761
 cbfpy/envs/point_robot_envs.py,sha256=p_UK_uwUWLyDdwvsFgVRWEI1Ngw1WqgadkMb8yjuj8Q,7877
 cbfpy/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 cbfpy/examples/adaptive_cruise_control_demo.py,sha256=Hr64pf_opkzRh-i2Xdo8ahbeG5Wbn-cSgBb7HK3QrhU,4209
-cbfpy/examples/drone_demo.py,sha256=qq3Zf9bNYnW7xeZjCl2btSHg0GN8xA8s-rrEWMqfUvI,3611
+cbfpy/examples/drone_demo.py,sha256=7hS3Ux7LsGVpIYg7kmfoeXs_goUh_0E8VG73he5ktjI,3672
 cbfpy/examples/joint_limits_demo.py,sha256=erDsImVJ-VOshlmauTk6x4cZWqfdG2M5Y0HY9C_V-6w,4533
 cbfpy/examples/point_robot_demo.py,sha256=rLHI32H76Sk-w4CTvuIo8YjgBLFZi7NLZILaGEciG9Y,2868
-cbfpy/examples/point_robot_obstacle_demo.py,sha256=09LmusMpCgA5tuwAguZa6SpZkmEBwOxFZ3TaaMaOtnA,3773
+cbfpy/examples/point_robot_obstacle_demo.py,sha256=QpOpZ5GRgWfRgAoKfuiPPgfsz2zdVEtmp9SKiDYHoAQ,3844
 cbfpy/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 cbfpy/utils/general_utils.py,sha256=TV8pk7Miysu0H3HLe9L0MrEZLMTxOIykW_h4cIrts-o,4157
 cbfpy/utils/jax_utils.py,sha256=87zT1_6OlaSw2HCdTfC-rqP8gchtUleSH6v_QlwzkYA,596
 cbfpy/utils/math_utils.py,sha256=69Wb6kAuAAG38_eW39QrZHNDYYv--5hBS8RJOFsJ0BE,637
 cbfpy/utils/visualization.py,sha256=d4bdZCEl9AUjRz-D_uNpCu4bSUkz_wOBBaTaAH9D7go,3319
-cbfpy-0.0.3.dist-info/licenses/LICENSE,sha256=VsRPtVDiLQq5oEH67g9hLJNScJhe6URhGIkCcfLjGAA,1070
+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
-cbfpy-0.0.3.dist-info/METADATA,sha256=YyrFMUYX9u3EiW8MatkLACezDLnY3CU1es4R_VMl3jA,9328
-cbfpy-0.0.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-cbfpy-0.0.3.dist-info/top_level.txt,sha256=xx7d-sX7PMBm11PwqarQZHgFO7zgCghhqCgx2LQnYXc,26
-cbfpy-0.0.3.dist-info/RECORD,,
+cbfpy-0.0.4.dist-info/METADATA,sha256=mA08rCukDXC9VaejBGczylIZR63_jE_rWfF9niudNhI,9322
+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-0.0.3.dist-info → cbfpy-0.0.4.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.9.0)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

cbfpy-0.0.4.dist-info/top_level.txt

@@ -0,0 +1,2 @@
+cbfpy
+test

cbfpy-0.0.3.dist-info/top_level.txt

@@ -1,5 +0,0 @@
-cbfpy
-dist
-docs
-site
-test