Mechanics

feedbax.mechanics.MechanicsState (Module)

Type of state PyTree operated on by Mechanics instances.

Attributes:

Name	Type	Description
plant	PlantState	The state of the plant.
effector	CartesianState	The state of the end effector.
solver	PyTree	The state of the Diffrax solver.

feedbax.mechanics.Mechanics (AbstractStagedModel[MechanicsState])

Discretizes the dynamics of a plant, and iterates along with the plant statics.

Attributes:

Name	Type	Description
plant	AbstractPlant	The plant model.
dt	float	The time step duration.
solver	AbstractSolver	The Diffrax solver.
intervenors	ModelIntervenors[MechanicsState]	The intervenors associated with each stage of the model.

model_spec: OrderedDict[str, ModelStage[Self, MechanicsState]] property

Specifies the stages of the model.

__init__ (plant: AbstractPlant,dt: float,solver_type: Type[dfx.AbstractSolver] = dfx.Euler,intervenors: Optional[ArgIntervenors] = None,*,key: Optional[PRNGKeyArray] = None)

Parameters:

Name	Type	Description	Default
plant	AbstractPlant	The plant model.	required
dt	float	The time step duration.	required
solver_type	Type[AbstractSolver]	The type of Diffrax solver to use.	Euler
intervenors	Optional[ArgIntervenors]	The intervenors associated with each stage of the model.	None

init (*,key: PRNGKeyArray)

Returns an initial state for use with the Mechanics module.

dynamics_step (input: PyTree[Array],state: MechanicsState,*,key: Optional[PRNGKeyArray] = None) -> MechanicsState

Return an updated state after a single step of plant dynamics.