dartpy 0.1.0.post110__cp312-cp312-manylinux_2_28_x86_64.whl

dartpy-0.1.0.post110.dist-info/LICENSE

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+BSD 2-Clause License
+
+Copyright (c) 2011-2016, Humanoid Lab, Georgia Tech Research Corporation
+Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
+Copyright (c) 2011-2019, Graphics Lab, Georgia Tech Research Corporation
+Copyright (c) 2017-2019, Personal Robotics Lab, University of Washington
+Copyright (c) 2017-2019, Open Source Robotics Foundation
+Copyright (c) 2019-2024, The Movement Lab, Stanford University
+Copyright (c) 2019-2024, Jeongseok Lee
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

dartpy-0.1.0.post110.dist-info/METADATA

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+Metadata-Version: 2.1
+Name: dartpy
+Version: 0.1.0.post110
+Summary: Python API of Dynamic Animation and Robotics Toolkit.
+Home-page: https://github.com/dartsim/dart.git
+Author: Jeongseok Lee
+Author-email: jslee02@gmail.com
+License: BSD 2-Clause
+Keywords: dartsim robotics
+Classifier: Development Status :: 2 - Pre-Alpha
+Classifier: Framework :: Robot Framework
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Topic :: Scientific/Engineering
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: >=3.7
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy
+Provides-Extra: test
+Requires-Dist: pytest >=6.0 ; extra == 'test'
+
+# DART
+
+<br>
+<p align="center">
+  <img src="https://raw.githubusercontent.com/dartsim/dart/master/docs/dart_logo_377x107.jpg" alt="DART: Dynamic Animation and Robotics Toolkit">
+</p>
+
+## Documentation
+
+For more information on DART, please visit the DART documentation: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/) (WIP)
+
+## Project Status
+
+| Item                  | Status                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+| --------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Build                 | [![CI Ubuntu](https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml) [![CI macOS](https://github.com/dartsim/dart/actions/workflows/ci_macos.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_macos.yml) [![CI Windows](https://github.com/dartsim/dart/actions/workflows/ci_windows.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_windows.yml)                                                                                                                                                                                                        |
+| Doc, Coverage, Linter | [![API Documentation](https://github.com/dartsim/dart/actions/workflows/api_doc.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/api_doc.yml)  [![Documentation Status](https://readthedocs.org/projects/dart/badge/?version=latest)](https://dart.readthedocs.io/en/latest/?badge=latest) [![codecov](https://codecov.io/gh/dartsim/dart/branch/main/graph/badge.svg)](https://codecov.io/gh/dartsim/dart)   [![Codacy Badge](https://app.codacy.com/project/badge/Grade/2d95a9b951be4b73a71097670ec351e8)](https://www.codacy.com/gh/dartsim/dart/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=dartsim/dart&amp;utm_campaign=Badge_Grade) |
+| Packages              | [![Packaging status](https://repology.org/badge/vertical-allrepos/dartsim.svg)](https://repology.org/project/dartsim/versions)    [![Publish dartpy](https://github.com/dartsim/dart/actions/workflows/publish_dartpy.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/publish_dartpy.yml)                                                                                                                                                                                                                                                                                                                                                                             |
+| Maintenance           | [![Average time to resolve an issue](http://isitmaintained.com/badge/resolution/dartsim/dart.svg)](http://isitmaintained.com/project/dartsim/dart "Average time to resolve an issue") [![Percentage of issues still open](http://isitmaintained.com/badge/open/dartsim/dart.svg)](http://isitmaintained.com/project/dartsim/dart "Percentage of issues still open")                                                                                                                                                                                                                                                                                                                     |
+
+## Citation
+
+If you use DART in an academic publication, please consider citing this [JOSS Paper](https://doi.org/10.21105/joss.00500) [[BibTeX](https://gist.github.com/jslee02/998b8809e3ae1b7aef6ef04dd2ad5e27)]

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dartpy-0.1.0.post110.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: bdist_wheel (0.43.0)
+Root-Is-Purelib: false
+Tag: cp312-cp312-manylinux_2_28_x86_64
+

dartpy-0.1.0.post110.dist-info/top_level.txt

@@ -0,0 +1,2 @@
+dartpy_math
+tests

tests/integration/test_joint_force_torque.py

@@ -0,0 +1,305 @@
+import math
+
+import dartpy as dart
+import numpy as np
+import pytest
+
+
+def read_world(uri: dart.common.Uri):
+    options = dart.utils.SdfParser.Options()
+    options.mDefaultRootJointType = dart.utils.SdfParser.RootJointType.FIXED
+    world = dart.utils.SdfParser.readWorld(uri, options)
+    for i in range(world.getNumSkeletons()):
+        skel = world.getSkeleton(i)
+        for j in range(skel.getNumJoints()):
+            joint = skel.getJoint(j)
+            joint.setLimitEnforcement(True)
+    return world
+
+
+def test_static():
+    # Load world
+    world = read_world("dart://sample/sdf/test/force_torque_test.world")
+    assert world is not None
+    assert world.getNumSkeletons() == 1
+
+    # Check if the world is correctly loaded
+    model_1 = world.getSkeleton(0)
+    assert model_1 is not None
+    assert model_1.getName() == "model_1"
+    assert model_1.getNumBodyNodes() == 2
+    assert model_1.getNumJoints() == 2
+
+    world.setGravity([0, 0, -50])
+
+    # Simulate 1 step
+    world.step()
+    t = world.getTime()
+
+    # Get time step size
+    dt = world.getTimeStep()
+    assert dt > 0
+    assert t == pytest.approx(dt)
+
+    # Get joint and get force torque
+    link_1 = model_1.getBodyNode("link_1")
+    assert link_1 is not None
+    link_2 = model_1.getBodyNode("link_2")
+    assert link_2 is not None
+    joint_01 = model_1.getJoint("joint_01")
+    assert joint_01 is not None
+    joint_12 = model_1.getJoint("joint_12")
+    assert joint_12 is not None
+
+    tf = dart.math.Isometry3()
+
+    # Run 10 steps
+    for _ in range(10):
+        world.step()
+
+        # ----------------------
+        # Test joint_01 wrench
+        # ----------------------
+
+        # Reference adjustment for the difference of the joint frame conventions
+        # between Gazebo and DART
+        tf.set_identity()
+        tf.set_translation(joint_01.getTransformFromParentBodyNode().translation())
+        parent_frame01 = dart.dynamics.SimpleFrame(
+            dart.dynamics.Frame.World(), "parent_frame01", tf
+        )
+        tf.set_identity()
+        tf.set_translation(joint_01.getTransformFromChildBodyNode().translation())
+        child_frame01 = dart.dynamics.SimpleFrame(link_1, "child_frame01", tf)
+
+        parent_f01 = joint_01.getWrenchToParentBodyNode(parent_frame01)
+        assert (parent_f01 == [0, 0, 0, 0, 0, 1000]).all()
+
+        child_f01 = joint_01.getWrenchToChildBodyNode(child_frame01)
+        assert (child_f01 == -parent_f01).all()
+
+        # ----------------------
+        # Test joint_12 wrench
+        # ----------------------
+
+        # Reference adjustment for the difference of the joint frame conventions
+        # between Gazebo and DART
+        tf.set_identity()
+        tf.set_translation(joint_12.getTransformFromParentBodyNode().translation())
+        parent_frame12 = dart.dynamics.SimpleFrame(link_1, "parent_frame12", tf)
+        tf.set_identity()
+        tf.set_translation(joint_12.getTransformFromChildBodyNode().translation())
+        child_frame12 = dart.dynamics.SimpleFrame(link_2, "child_frame12", tf)
+
+        parent_f12 = joint_12.getWrenchToParentBodyNode(parent_frame12)
+        assert (parent_f12 == [0, 0, 0, 0, 0, 500]).all()
+
+        child_f12 = joint_12.getWrenchToChildBodyNode(child_frame12)
+        assert (child_f12 == -parent_f12).all()
+
+
+def test_force_torque_at_joint_limits():
+    # Load world
+    world = read_world("dart://sample/sdf/test/force_torque_test.world")
+    assert world is not None
+    assert world.getNumSkeletons() == 1
+
+    # Check if the world is correctly loaded
+    model_1 = world.getSkeleton(0)
+    assert model_1 is not None
+    assert model_1.getName() == "model_1"
+    assert model_1.getNumBodyNodes() == 2
+    assert model_1.getNumJoints() == 2
+
+    world.setGravity([0, 0, -50])
+
+    # Simulate 1 step
+    world.step()
+    t = world.getTime()
+
+    # Get time step size
+    dt = world.getTimeStep()
+    assert dt > 0
+    assert t == pytest.approx(dt)
+
+    # Get joint and get force torque
+    link_1 = model_1.getBodyNode("link_1")
+    assert link_1 is not None
+    link_2 = model_1.getBodyNode("link_2")
+    assert link_2 is not None
+    joint_01 = model_1.getJoint("joint_01")
+    assert joint_01 is not None
+    joint_12 = model_1.getJoint("joint_12")
+    assert joint_12 is not None
+
+    # Change gravity so that the top link topples over, then remeasure
+    world.setGravity([-30, 10, -50])
+
+    # Wait for dynamics to be stabilized
+    for i in range(2000):
+        world.step()
+
+    tf = dart.math.Isometry3()
+
+    # Run 5 steps
+    for _ in range(5):
+        world.step()
+
+        # ----------------------
+        # Test joint_01 wrench
+        # ----------------------
+
+        # Reference adjustment for the difference of the joint frame conventions
+        # between Gazebo and DART
+        tf.set_identity()
+        tf.set_translation(joint_01.getTransformFromParentBodyNode().translation())
+        parent_frame01 = dart.dynamics.SimpleFrame(
+            dart.dynamics.Frame.World(), "parent_frame01", tf
+        )
+        tf.set_identity()
+        tf.set_translation(joint_01.getTransformFromChildBodyNode().translation())
+        child_frame01 = dart.dynamics.SimpleFrame(link_1, "child_frame01", tf)
+
+        parent_f01 = joint_01.getWrenchToParentBodyNode(parent_frame01)
+        assert np.isclose(
+            parent_f01, [750, 0, -450, 600, -200, 1000], rtol=0.1, atol=4.5
+        ).all()
+
+        child_f01 = joint_01.getWrenchToChildBodyNode(child_frame01)
+        assert np.isclose(
+            child_f01, [-750, -450, 0, -600, 1000, 200], rtol=0.1, atol=4.5
+        ).all()
+
+        # ----------------------
+        # Test joint_12 wrench
+        # ----------------------
+
+        # Reference adjustment for the difference of the joint frame conventions
+        # between Gazebo and DART
+        tf.set_identity()
+        tf.set_translation(joint_12.getTransformFromParentBodyNode().translation())
+        parent_frame12 = dart.dynamics.SimpleFrame(link_1, "parent_frame12", tf)
+        tf.set_identity()
+        tf.set_translation(joint_12.getTransformFromChildBodyNode().translation())
+        child_frame12 = dart.dynamics.SimpleFrame(link_2, "child_frame12", tf)
+
+        parent_f12 = joint_12.getWrenchToParentBodyNode(parent_frame12)
+        assert np.isclose(
+            parent_f12, [250, 150, 0, 300, -500, -100], rtol=0.1, atol=0.1
+        ).all()
+
+        child_f12 = joint_12.getWrenchToChildBodyNode(child_frame12)
+        assert np.isclose(
+            child_f12, [-250, -150, 0, -300, 500, 100], rtol=0.1, atol=0.1
+        ).all()
+
+
+def test_force_torque_at_joint_limits_with_external_forces():
+    # Load world
+    world = read_world("dart://sample/sdf/test/force_torque_test2.world")
+    assert world is not None
+    assert world.getNumSkeletons() == 1
+
+    # Check if the world is correctly loaded
+    model_1 = world.getSkeleton(0)
+    assert model_1 is not None
+    assert model_1.getName() == "boxes"
+    assert model_1.getNumBodyNodes() == 3
+    assert model_1.getNumJoints() == 3
+    assert model_1.getNumDofs() == 2
+
+    # The first joint is fixed joint
+    assert model_1.getRootJoint().getType() == dart.dynamics.WeldJoint.getStaticType()
+
+    world.setGravity([0, 0, -50])
+
+    # Simulate 1 step
+    world.step()
+    t = world.getTime()
+
+    # Get time step size
+    dt = world.getTimeStep()
+    assert dt > 0
+    assert t == pytest.approx(dt)
+
+    # Get joint and get force torque
+    link_1 = model_1.getBodyNode("link1")
+    assert link_1 is not None
+    link_2 = model_1.getBodyNode("link2")
+    assert link_2 is not None
+    link_3 = model_1.getBodyNode("link3")
+    assert link_3 is not None
+    joint_12 = model_1.getJoint("joint1")
+    assert joint_12 is not None
+    joint_23 = model_1.getJoint("joint2")
+    assert joint_23 is not None
+
+    tf = dart.math.Isometry3()
+
+    # Run 45005 steps
+    kp1 = 5e4
+    kp2 = 1e4
+    target1 = 0
+    target2 = -0.25 * math.pi
+    steps = 4500
+    for _ in range(steps):
+        # PD control
+        j1_state = joint_12.getPosition(0)
+        j2_state = joint_23.getPosition(0)
+        p1_error = target1 - j1_state
+        p2_error = target2 - j2_state
+        effort1 = kp1 * p1_error
+        effort2 = kp2 * p2_error
+        joint_12.setForce(0, effort1)
+        joint_23.setForce(0, effort2)
+
+        world.step()
+
+    assert joint_12.getPosition(0) == pytest.approx(target1, abs=1e-1)
+    assert joint_23.getPosition(0) == pytest.approx(target2, abs=1e-1)
+
+    tol = 2
+
+    # ----------------------
+    # Test joint_12 wrench
+    # ----------------------
+
+    # Reference adjustment for the difference of the joint frame conventions
+    # between Gazebo and DART
+    tf.set_identity()
+    tf.set_translation(joint_12.getTransformFromParentBodyNode().translation())
+    parent_frame01 = dart.dynamics.SimpleFrame(link_1, "parent_frame01", tf)
+    tf.set_identity()
+    tf.set_translation(joint_12.getTransformFromChildBodyNode().translation())
+    child_frame01 = dart.dynamics.SimpleFrame(link_2, "child_frame01", tf)
+
+    parent_f01 = joint_12.getWrenchToParentBodyNode(parent_frame01)
+    assert np.isclose(parent_f01, [25, -175, 0, 0, 0, 300], rtol=0.01, atol=tol).all()
+
+    child_f01 = joint_12.getWrenchToChildBodyNode(child_frame01)
+    assert np.isclose(child_f01, [-25, 175, 0, 0, 0, -300], rtol=0.01, atol=tol).all()
+
+    # ----------------------
+    # Test joint_23 wrench
+    # ----------------------
+
+    # Reference adjustment for the difference of the joint frame conventions
+    # between Gazebo and DART
+    tf.set_identity()
+    tf.set_translation(joint_23.getTransformFromParentBodyNode().translation())
+    parent_frame12 = dart.dynamics.SimpleFrame(link_2, "parent_frame12", tf)
+    tf.set_identity()
+    tf.set_translation(joint_23.getTransformFromChildBodyNode().translation())
+    child_frame12 = dart.dynamics.SimpleFrame(link_3, "child_frame12", tf)
+
+    parent_f12 = joint_23.getWrenchToParentBodyNode(parent_frame12)
+    assert np.isclose(parent_f12, [25, 0, 0, 0, 0, 50], rtol=0.01, atol=tol).all()
+
+    child_f12 = joint_23.getWrenchToChildBodyNode(child_frame12)
+    assert np.isclose(
+        child_f12, [-17.678, 0, 17.679, -35.355, 0, -35.355], rtol=0.01, atol=tol
+    ).all()
+
+
+if __name__ == "__main__":
+    pytest.main()