diff --git a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller-members.html b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller-members.html index b80943d2f3..6edf48349b 100644 --- a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller-members.html +++ b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller-members.html @@ -342,177 +342,178 @@ get_name() constSystemBase get_output_port(int port_index, bool warn_deprecated=true) constSystem< T > get_output_port() constSystem< T > - get_output_port_base(OutputPortIndex port_index) constSystemBase - get_output_port_generalized_force() constJointStiffnessController< T > - get_output_port_selection(std::variant< OutputPortSelection, OutputPortIndex > port_index) constSystem< T > - get_parent_service() constSystemBaseprotected - get_system_id() constSystemBaseprotected - get_system_scalar_converter() constSystem< T > - get_time_derivatives_cache_entry() constSystem< T > - GetDirectFeedthroughs() const finalLeafSystem< T >virtual - drake::systems::System::GetDirectFeedthroughs() const=0System< T > - GetGraphvizFragment(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystemBase - GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystem< T > - drake::systems::SystemBase::GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystemBase - GetInitializationEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > - GetInputPort(const std::string &port_name) constSystem< T > - GetInputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) constSystemBaseprotected - GetMemoryObjectName() constSystem< T > - drake::systems::SystemBase::GetMemoryObjectName() constSystemBase - GetMutableNumericParameter(Context< T > *context, int index) constLeafSystem< T >protected - GetMutableOutputVector(SystemOutput< T > *output, int port_index) constSystem< T >protected - GetMutableSubsystemContext(const System< T > &subsystem, Context< T > *context) constSystem< T > - GetMyContextFromRoot(const Context< T > &root_context) constSystem< T > - GetMyMutableContextFromRoot(Context< T > *root_context) constSystem< T > - GetNumericParameter(const Context< T > &context, int index) constLeafSystem< T >protected - GetOutputPort(const std::string &port_name) constSystem< T > - GetOutputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) constSystemBaseprotected - GetPeriodicEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > - GetPerStepEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > - GetSubsystemContext(const System< T > &subsystem, const Context< T > &context) constSystem< T > - GetSystemName() const finalSystemBase - GetSystemPathname() const finalSystemBase - GetSystemType() const finalSystemBase - GetUniquePeriodicDiscreteUpdateAttribute() constSystem< T > - GetUnsupportedScalarConversionMessage(const std::type_info &source_type, const std::type_info &destination_type) constSystemBaseprotectedvirtual - GetWitnessFunctions(const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) constSystem< T > - HasAnyDirectFeedthrough() constSystem< T > - HasDirectFeedthrough(int output_port) constSystem< T > - HasDirectFeedthrough(int input_port, int output_port) constSystem< T > - HasInputPort(const std::string &port_name) constSystem< T > - HasOutputPort(const std::string &port_name) constSystem< T > - implicit_time_derivatives_residual_size() constSystemBase - InitializeContextBase(ContextBase *context) constSystemBaseprotected - input_port_ticket(InputPortIndex index) constSystem< T > - drake::systems::SystemBase::input_port_ticket(InputPortIndex index) constSystemBase - IsDifferenceEquationSystem(double *time_period=nullptr) constSystem< T > - IsDifferentialEquationSystem() constSystem< T > - IsObviouslyNotInputDependent(DependencyTicket dependency_ticket) constSystemBaseprotected - JointStiffnessController classJointStiffnessController< T >friend - JointStiffnessController(const JointStiffnessController &)=deleteJointStiffnessController< T > - JointStiffnessController(JointStiffnessController &&)=deleteJointStiffnessController< T > - JointStiffnessController(const multibody::MultibodyPlant< T > &plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)JointStiffnessController< T > - JointStiffnessController(std::unique_ptr< multibody::MultibodyPlant< T >> plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)JointStiffnessController< T >explicit - JointStiffnessController(const JointStiffnessController< U > &other)JointStiffnessController< T >explicit - ke_ticket()System< T >static - drake::systems::SystemBase::ke_ticket()SystemBasestatic - kinematics_ticket()System< T >static - drake::systems::SystemBase::kinematics_ticket()SystemBasestatic - LeafSystem(const LeafSystem &)=deleteLeafSystem< T > - LeafSystem(LeafSystem &&)=deleteLeafSystem< T > - LeafSystem()LeafSystem< T >protected - LeafSystem(SystemScalarConverter converter)LeafSystem< T >explicitprotected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) constLeafSystem< T >protected - MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) constLeafSystem< T >protected - MapPeriodicEventsByTiming(const Context< T > *context=nullptr) constSystem< T > - MapQDotToVelocity(const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) constSystem< T > - MapQDotToVelocity(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) constSystem< T > - MapVelocityToQDot(const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) constSystem< T > - MapVelocityToQDot(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) constSystem< T > - drake::systems::System::NextInputPortName(std::variant< std::string, UseDefaultName > given_name) constSystemBaseprotected - drake::systems::System::NextOutputPortName(std::variant< std::string, UseDefaultName > given_name) constSystemBaseprotected - nothing_ticket()System< T >static - drake::systems::SystemBase::nothing_ticket()SystemBasestatic - num_abstract_parameters() constSystemBase - num_abstract_states() constSystemBase - num_cache_entries() constSystemBase - num_constraints() constSystem< T > - num_continuous_states() constSystemBase - num_discrete_state_groups() constSystemBase - num_input_ports() constSystem< T > - drake::systems::SystemBase::num_input_ports() constSystemBase - num_numeric_parameter_groups() constSystemBase - num_output_ports() constSystem< T > - drake::systems::SystemBase::num_output_ports() constSystemBase - num_total_inputs() constSystemBase - num_total_outputs() constSystemBase - numeric_parameter_ticket(NumericParameterIndex index) constSystem< T > - drake::systems::SystemBase::numeric_parameter_ticket(NumericParameterIndex index) constSystemBase - operator=(const JointStiffnessController &)=deleteJointStiffnessController< T > - operator=(JointStiffnessController &&)=deleteJointStiffnessController< T > - drake::systems::LeafSystem::operator=(const LeafSystem &)=deleteLeafSystem< T > - drake::systems::LeafSystem::operator=(LeafSystem &&)=deleteLeafSystem< T > - drake::systems::System::operator=(const System &)=deleteSystem< T > - drake::systems::System::operator=(System &&)=deleteSystem< T > - drake::systems::SystemBase::operator=(const SystemBase &)=deleteSystemBase - drake::systems::SystemBase::operator=(SystemBase &&)=deleteSystemBase - output_port_ticket(OutputPortIndex index) constSystemBase - pa_ticket()System< T >static - drake::systems::SystemBase::pa_ticket()SystemBasestatic - pc_ticket()System< T >static - drake::systems::SystemBase::pc_ticket()SystemBasestatic - pe_ticket()System< T >static - drake::systems::SystemBase::pe_ticket()SystemBasestatic - pn_ticket()System< T >static - drake::systems::SystemBase::pn_ticket()SystemBasestatic - pnc_ticket()System< T >static - drake::systems::SystemBase::pnc_ticket()SystemBasestatic - Publish(const Context< T > &context, const EventCollection< PublishEvent< T >> &events) constSystem< T > - q_ticket()System< T >static - drake::systems::SystemBase::q_ticket()SystemBasestatic - Scalar typedefSystem< T > - set_forced_discrete_update_events(std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)System< T >protected - set_forced_publish_events(std::unique_ptr< EventCollection< PublishEvent< T >>> forced)System< T >protected - set_forced_unrestricted_update_events(std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)System< T >protected - set_implicit_time_derivatives_residual_size(int n)SystemBaseprotected - set_name(const std::string &name)SystemBase - set_parent_service(SystemBase *child, const internal::SystemParentServiceInterface *parent_service)SystemBaseprotectedstatic - SetDefaultContext(Context< T > *context) constSystem< T > - SetDefaultParameters(const Context< T > &context, Parameters< T > *parameters) const overrideLeafSystem< T >virtual - SetDefaultState(const Context< T > &context, State< T > *state) const overrideLeafSystem< T >virtual - SetRandomContext(Context< T > *context, RandomGenerator *generator) constSystem< T > - SetRandomParameters(const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) constSystem< T >virtual - SetRandomState(const Context< T > &context, State< T > *state, RandomGenerator *generator) constSystem< T >virtual - System(const System &)=deleteSystem< T > - System(System &&)=deleteSystem< T > - System(SystemScalarConverter converter)System< T >explicitprotected - SystemBase(const SystemBase &)=deleteSystemBase - SystemBase(SystemBase &&)=deleteSystemBase - SystemBase()=defaultSystemBaseprotected - ThrowCantEvaluateInputPort(const char *func, InputPortIndex port_index) constSystemBaseprotected - ThrowInputPortHasWrongType(const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) constSystemBaseprotected - ThrowInputPortHasWrongType(const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type)SystemBaseprotectedstatic - ThrowInputPortIndexOutOfRange(const char *func, InputPortIndex port_index) constSystemBaseprotected - ThrowNegativePortIndex(const char *func, int port_index) constSystemBaseprotected - ThrowNotAVectorInputPort(const char *func, InputPortIndex port_index) constSystemBaseprotected - ThrowOutputPortIndexOutOfRange(const char *func, OutputPortIndex port_index) constSystemBaseprotected - ThrowValidateContextMismatch(const ContextBase &) constSystemBaseprotected - time_ticket()System< T >static - drake::systems::SystemBase::time_ticket()SystemBasestatic - ToAutoDiffXd() constSystem< T > - ToAutoDiffXd(const S< T > &from)System< T >static - ToAutoDiffXdMaybe() constSystem< T > - ToScalarType() constSystem< T > - ToScalarType(const S< T > &from)System< T >static - ToScalarTypeMaybe() constSystem< T > - ToSymbolic() constSystem< T > - ToSymbolic(const S< T > &from)System< T >static - ToSymbolicMaybe() constSystem< T > - v_ticket()System< T >static - drake::systems::SystemBase::v_ticket()SystemBasestatic - ValidateContext(const ContextBase &context) const finalSystemBase - ValidateContext(const ContextBase *context) constSystemBase - ValidateCreatedForThisSystem(const Clazz &object) constSystemBase - xa_ticket()System< T >static - drake::systems::SystemBase::xa_ticket()SystemBasestatic - xc_ticket()System< T >static - drake::systems::SystemBase::xc_ticket()SystemBasestatic - xcdot_ticket()System< T >static - drake::systems::SystemBase::xcdot_ticket()SystemBasestatic - xd_ticket()System< T >static - drake::systems::SystemBase::xd_ticket()SystemBasestatic - xd_unique_periodic_update_ticket()SystemBasestatic - z_ticket()System< T >static - drake::systems::SystemBase::z_ticket()SystemBasestatic - ~JointStiffnessController() overrideJointStiffnessController< T > - ~LeafSystem() overrideLeafSystem< T > - ~System() overrideSystem< T > - ~SystemBase() overrideSystemBase + get_output_port_actuation() constJointStiffnessController< T > + get_output_port_base(OutputPortIndex port_index) constSystemBase + get_output_port_generalized_force() constJointStiffnessController< T > + get_output_port_selection(std::variant< OutputPortSelection, OutputPortIndex > port_index) constSystem< T > + get_parent_service() constSystemBaseprotected + get_system_id() constSystemBaseprotected + get_system_scalar_converter() constSystem< T > + get_time_derivatives_cache_entry() constSystem< T > + GetDirectFeedthroughs() const finalLeafSystem< T >virtual + drake::systems::System::GetDirectFeedthroughs() const=0System< T > + GetGraphvizFragment(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystemBase + GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystem< T > + drake::systems::SystemBase::GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) constSystemBase + GetInitializationEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > + GetInputPort(const std::string &port_name) constSystem< T > + GetInputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) constSystemBaseprotected + GetMemoryObjectName() constSystem< T > + drake::systems::SystemBase::GetMemoryObjectName() constSystemBase + GetMutableNumericParameter(Context< T > *context, int index) constLeafSystem< T >protected + GetMutableOutputVector(SystemOutput< T > *output, int port_index) constSystem< T >protected + GetMutableSubsystemContext(const System< T > &subsystem, Context< T > *context) constSystem< T > + GetMyContextFromRoot(const Context< T > &root_context) constSystem< T > + GetMyMutableContextFromRoot(Context< T > *root_context) constSystem< T > + GetNumericParameter(const Context< T > &context, int index) constLeafSystem< T >protected + GetOutputPort(const std::string &port_name) constSystem< T > + GetOutputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) constSystemBaseprotected + GetPeriodicEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > + GetPerStepEvents(const Context< T > &context, CompositeEventCollection< T > *events) constSystem< T > + GetSubsystemContext(const System< T > &subsystem, const Context< T > &context) constSystem< T > + GetSystemName() const finalSystemBase + GetSystemPathname() const finalSystemBase + GetSystemType() const finalSystemBase + GetUniquePeriodicDiscreteUpdateAttribute() constSystem< T > + GetUnsupportedScalarConversionMessage(const std::type_info &source_type, const std::type_info &destination_type) constSystemBaseprotectedvirtual + GetWitnessFunctions(const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) constSystem< T > + HasAnyDirectFeedthrough() constSystem< T > + HasDirectFeedthrough(int output_port) constSystem< T > + HasDirectFeedthrough(int input_port, int output_port) constSystem< T > + HasInputPort(const std::string &port_name) constSystem< T > + HasOutputPort(const std::string &port_name) constSystem< T > + implicit_time_derivatives_residual_size() constSystemBase + InitializeContextBase(ContextBase *context) constSystemBaseprotected + input_port_ticket(InputPortIndex index) constSystem< T > + drake::systems::SystemBase::input_port_ticket(InputPortIndex index) constSystemBase + IsDifferenceEquationSystem(double *time_period=nullptr) constSystem< T > + IsDifferentialEquationSystem() constSystem< T > + IsObviouslyNotInputDependent(DependencyTicket dependency_ticket) constSystemBaseprotected + JointStiffnessController classJointStiffnessController< T >friend + JointStiffnessController(const JointStiffnessController &)=deleteJointStiffnessController< T > + JointStiffnessController(JointStiffnessController &&)=deleteJointStiffnessController< T > + JointStiffnessController(const multibody::MultibodyPlant< T > &plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)JointStiffnessController< T > + JointStiffnessController(std::unique_ptr< multibody::MultibodyPlant< T >> plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)JointStiffnessController< T >explicit + JointStiffnessController(const JointStiffnessController< U > &other)JointStiffnessController< T >explicit + ke_ticket()System< T >static + drake::systems::SystemBase::ke_ticket()SystemBasestatic + kinematics_ticket()System< T >static + drake::systems::SystemBase::kinematics_ticket()SystemBasestatic + LeafSystem(const LeafSystem &)=deleteLeafSystem< T > + LeafSystem(LeafSystem &&)=deleteLeafSystem< T > + LeafSystem()LeafSystem< T >protected + LeafSystem(SystemScalarConverter converter)LeafSystem< T >explicitprotected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) constLeafSystem< T >protected + MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) constLeafSystem< T >protected + MapPeriodicEventsByTiming(const Context< T > *context=nullptr) constSystem< T > + MapQDotToVelocity(const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) constSystem< T > + MapQDotToVelocity(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) constSystem< T > + MapVelocityToQDot(const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) constSystem< T > + MapVelocityToQDot(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) constSystem< T > + drake::systems::System::NextInputPortName(std::variant< std::string, UseDefaultName > given_name) constSystemBaseprotected + drake::systems::System::NextOutputPortName(std::variant< std::string, UseDefaultName > given_name) constSystemBaseprotected + nothing_ticket()System< T >static + drake::systems::SystemBase::nothing_ticket()SystemBasestatic + num_abstract_parameters() constSystemBase + num_abstract_states() constSystemBase + num_cache_entries() constSystemBase + num_constraints() constSystem< T > + num_continuous_states() constSystemBase + num_discrete_state_groups() constSystemBase + num_input_ports() constSystem< T > + drake::systems::SystemBase::num_input_ports() constSystemBase + num_numeric_parameter_groups() constSystemBase + num_output_ports() constSystem< T > + drake::systems::SystemBase::num_output_ports() constSystemBase + num_total_inputs() constSystemBase + num_total_outputs() constSystemBase + numeric_parameter_ticket(NumericParameterIndex index) constSystem< T > + drake::systems::SystemBase::numeric_parameter_ticket(NumericParameterIndex index) constSystemBase + operator=(const JointStiffnessController &)=deleteJointStiffnessController< T > + operator=(JointStiffnessController &&)=deleteJointStiffnessController< T > + drake::systems::LeafSystem::operator=(const LeafSystem &)=deleteLeafSystem< T > + drake::systems::LeafSystem::operator=(LeafSystem &&)=deleteLeafSystem< T > + drake::systems::System::operator=(const System &)=deleteSystem< T > + drake::systems::System::operator=(System &&)=deleteSystem< T > + drake::systems::SystemBase::operator=(const SystemBase &)=deleteSystemBase + drake::systems::SystemBase::operator=(SystemBase &&)=deleteSystemBase + output_port_ticket(OutputPortIndex index) constSystemBase + pa_ticket()System< T >static + drake::systems::SystemBase::pa_ticket()SystemBasestatic + pc_ticket()System< T >static + drake::systems::SystemBase::pc_ticket()SystemBasestatic + pe_ticket()System< T >static + drake::systems::SystemBase::pe_ticket()SystemBasestatic + pn_ticket()System< T >static + drake::systems::SystemBase::pn_ticket()SystemBasestatic + pnc_ticket()System< T >static + drake::systems::SystemBase::pnc_ticket()SystemBasestatic + Publish(const Context< T > &context, const EventCollection< PublishEvent< T >> &events) constSystem< T > + q_ticket()System< T >static + drake::systems::SystemBase::q_ticket()SystemBasestatic + Scalar typedefSystem< T > + set_forced_discrete_update_events(std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)System< T >protected + set_forced_publish_events(std::unique_ptr< EventCollection< PublishEvent< T >>> forced)System< T >protected + set_forced_unrestricted_update_events(std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)System< T >protected + set_implicit_time_derivatives_residual_size(int n)SystemBaseprotected + set_name(const std::string &name)SystemBase + set_parent_service(SystemBase *child, const internal::SystemParentServiceInterface *parent_service)SystemBaseprotectedstatic + SetDefaultContext(Context< T > *context) constSystem< T > + SetDefaultParameters(const Context< T > &context, Parameters< T > *parameters) const overrideLeafSystem< T >virtual + SetDefaultState(const Context< T > &context, State< T > *state) const overrideLeafSystem< T >virtual + SetRandomContext(Context< T > *context, RandomGenerator *generator) constSystem< T > + SetRandomParameters(const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) constSystem< T >virtual + SetRandomState(const Context< T > &context, State< T > *state, RandomGenerator *generator) constSystem< T >virtual + System(const System &)=deleteSystem< T > + System(System &&)=deleteSystem< T > + System(SystemScalarConverter converter)System< T >explicitprotected + SystemBase(const SystemBase &)=deleteSystemBase + SystemBase(SystemBase &&)=deleteSystemBase + SystemBase()=defaultSystemBaseprotected + ThrowCantEvaluateInputPort(const char *func, InputPortIndex port_index) constSystemBaseprotected + ThrowInputPortHasWrongType(const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) constSystemBaseprotected + ThrowInputPortHasWrongType(const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type)SystemBaseprotectedstatic + ThrowInputPortIndexOutOfRange(const char *func, InputPortIndex port_index) constSystemBaseprotected + ThrowNegativePortIndex(const char *func, int port_index) constSystemBaseprotected + ThrowNotAVectorInputPort(const char *func, InputPortIndex port_index) constSystemBaseprotected + ThrowOutputPortIndexOutOfRange(const char *func, OutputPortIndex port_index) constSystemBaseprotected + ThrowValidateContextMismatch(const ContextBase &) constSystemBaseprotected + time_ticket()System< T >static + drake::systems::SystemBase::time_ticket()SystemBasestatic + ToAutoDiffXd() constSystem< T > + ToAutoDiffXd(const S< T > &from)System< T >static + ToAutoDiffXdMaybe() constSystem< T > + ToScalarType() constSystem< T > + ToScalarType(const S< T > &from)System< T >static + ToScalarTypeMaybe() constSystem< T > + ToSymbolic() constSystem< T > + ToSymbolic(const S< T > &from)System< T >static + ToSymbolicMaybe() constSystem< T > + v_ticket()System< T >static + drake::systems::SystemBase::v_ticket()SystemBasestatic + ValidateContext(const ContextBase &context) const finalSystemBase + ValidateContext(const ContextBase *context) constSystemBase + ValidateCreatedForThisSystem(const Clazz &object) constSystemBase + xa_ticket()System< T >static + drake::systems::SystemBase::xa_ticket()SystemBasestatic + xc_ticket()System< T >static + drake::systems::SystemBase::xc_ticket()SystemBasestatic + xcdot_ticket()System< T >static + drake::systems::SystemBase::xcdot_ticket()SystemBasestatic + xd_ticket()System< T >static + drake::systems::SystemBase::xd_ticket()SystemBasestatic + xd_unique_periodic_update_ticket()SystemBasestatic + z_ticket()System< T >static + drake::systems::SystemBase::z_ticket()SystemBasestatic + ~JointStiffnessController() overrideJointStiffnessController< T > + ~LeafSystem() overrideLeafSystem< T > + ~System() overrideSystem< T > + ~SystemBase() overrideSystemBase diff --git a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html index 85819e74b7..24d3e09858 100644 --- a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html +++ b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html @@ -172,8 +172,8 @@

Implements a joint-space stiffness controller of the form. 

-  τ_control = −τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)
-

where Kp and Kd are the joint stiffness and damping coefficients, respectively, τ_g(q) is the vector of generalized forces due to gravity, and τ_app contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()). q_d and v_d are the desired (setpoint) values for the multibody positions and velocities, respectively. kd and kp are taken as vectors, and ⊙ represents elementwise multiplication.

+ τ_control = B⁻¹[−τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)] +

where Kp and Kd are the joint stiffness and damping coefficients, respectively, τ_g(q) is the vector of generalized forces due to gravity, and τ_app contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()). B⁻¹ is the inverse of the actuation matrix. q_d and v_d are the desired (setpoint) values for the multibody positions and velocities, respectively. kd and kp are taken as vectors, and ⊙ represents elementwise multiplication.

The goal of this controller is to produce a closed-loop dynamics that resembles a spring-damper dynamics at the joints around the setpoint: 

   M(q)v̇ + C(q,v)v + kp⊙(q - q_d) + kd⊙(v - v_d) = τ_ext,

where M(q)v̇ + C(q,v)v are the original multibody mass and Coriolis terms, and τ_ext are any external generalized forces that can arise, e.g. from contact forces.

@@ -188,7 +188,7 @@ JointStiffnessController - +
→ generalized_force
→ actuation
@@ -225,6 +225,9 @@ const OutputPort< T > & get_output_port_generalized_force () const  Returns the output port for the generalized forces implementing the control. More...
  +const OutputPort< T > & get_output_port_actuation () const + Returns the output port implementing the control in the form (and order) expected for the plant's actuation input port. More...
+  const multibody::MultibodyPlant< T > & get_multibody_plant () const  Returns a constant pointer to the MultibodyPlant used for control. More...
  @@ -1548,6 +1551,25 @@

+

◆ get_output_port_actuation()

+ +
+
+ + + + + + + +
const OutputPort<T>& get_output_port_actuation () const
+
+ +

Returns the output port implementing the control in the form (and order) expected for the plant's actuation input port.

+
@@ -1566,6 +1588,8 @@

Returns the output port for the generalized forces implementing the control.

+

(Deprecated.)

Deprecated:
Use get_output_port_actuation() instead, which multiplies the generalized force by B⁻¹ to be consumed by MultibodyPlant's actuation input port.
+ This will be removed from Drake on or after 2025-04-01.
diff --git a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.js b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.js index 11bc1611f7..d771a1833d 100644 --- a/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.js +++ b/doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.js @@ -9,6 +9,7 @@ var classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller = [ "get_input_port_desired_state", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#aa28328eb9d4bce20371ea403960122fb", null ], [ "get_input_port_estimated_state", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a2daeb6c0489e788aa3d6df8735ce9464", null ], [ "get_multibody_plant", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a1f94d1c2b9f9f4bfba53ce45e3ec917e", null ], + [ "get_output_port_actuation", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a02ffa2d9b80c4b46003312db5e69e35c", null ], [ "get_output_port_generalized_force", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#ae1296b665521a703cc08e6d98f5b6f64", null ], [ "operator=", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a60e25dc7600f5538ee43c0ae6025d162", null ], [ "operator=", "classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a4e565ffad315e3a3537ead6663db6203", null ], diff --git a/doxygen_cxx/classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html b/doxygen_cxx/classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html index ed7c928755..9b2c851200 100644 --- a/doxygen_cxx/classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html +++ b/doxygen_cxx/classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html @@ -1521,7 +1521,7 @@

(Deprecated.)

-
Deprecated:
Use default_color_render_camera().core().intrinsics() instead.
+
Deprecated:
Use default_color_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -1561,7 +1561,7 @@

(Deprecated.)

-
Deprecated:
Use default_color_render_camera() instead.
+
Deprecated:
Use default_color_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -1658,7 +1658,7 @@

(Deprecated.)

-
Deprecated:
Use default_depth_render_camera().core().intrinsics() instead.
+
Deprecated:
Use default_depth_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -1717,7 +1717,7 @@

(Deprecated.)

-
Deprecated:
Use default_depth_render_camera() instead.
+
Deprecated:
Use default_depth_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -1909,7 +1909,7 @@

(Deprecated.)

-
Deprecated:
Use default_parent_frame_id() instead.
+
Deprecated:
Use default_parent_frame_id() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -2149,7 +2149,7 @@

(Deprecated.)

-
Deprecated:
Use default_color_render_camera().core().sensor_pose_in_camera_body() instead.
+
Deprecated:
Use default_color_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -2170,7 +2170,7 @@

(Deprecated.)

-
Deprecated:
Use default_depth_render_camera().core().sensor_pose_in_camera_body() instead.
+
Deprecated:
Use default_depth_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.
@@ -2191,7 +2191,7 @@

(Deprecated.)

-
Deprecated:
Use default_X_PB() instead.
+
Deprecated:
Use default_X_PB() instead.
This will be removed from Drake on or after 2025-01-01.
diff --git a/doxygen_cxx/deprecated.html b/doxygen_cxx/deprecated.html index 00ad407932..093e4d9715 100644 --- a/doxygen_cxx/deprecated.html +++ b/doxygen_cxx/deprecated.html @@ -175,32 +175,35 @@
Member drake::symbolic::ExtractAndAppendVariablesFromExpression (const symbolic::Expression &e, VectorX< Variable > *vars, std::unordered_map< symbolic::Variable::Id, int > *map_var_to_index)
Use the overloaded function with std::vector<Variable> instead of VectorX<Variable>
This will be removed from Drake on or after 2024-05-01.
+
Member JointStiffnessController< T >::get_output_port_generalized_force () const
+
Use get_output_port_actuation() instead, which multiplies the generalized force by B⁻¹ to be consumed by MultibodyPlant's actuation input port.
+ This will be removed from Drake on or after 2025-04-01.
Member Mesh::filename () const
Meshes can be defined from a file path or in memory data. Use Mesh::source() to determine if a filename is available.
This will be removed from Drake on or after 2025-04-01.
Member RgbdSensor::color_camera_info () const
-
Use default_color_render_camera().core().intrinsics() instead.
+
Use default_color_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::color_render_camera () const
-
Use default_color_render_camera() instead.
+
Use default_color_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::depth_camera_info () const
-
Use default_depth_render_camera().core().intrinsics() instead.
+
Use default_depth_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::depth_render_camera () const
-
Use default_depth_render_camera() instead.
+
Use default_depth_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::parent_frame_id () const
-
Use default_parent_frame_id() instead.
+
Use default_parent_frame_id() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::X_BC () const
-
Use default_color_render_camera().core().sensor_pose_in_camera_body() instead.
+
Use default_color_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::X_BD () const
-
Use default_depth_render_camera().core().sensor_pose_in_camera_body() instead.
+
Use default_depth_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.
Member RgbdSensor::X_PB () const
-
Use default_X_PB() instead.
+
Use default_X_PB() instead.
This will be removed from Drake on or after 2025-01-01.
diff --git a/doxygen_cxx/functions_func_g.html b/doxygen_cxx/functions_func_g.html index 0702b90538..24da721e00 100644 --- a/doxygen_cxx/functions_func_g.html +++ b/doxygen_cxx/functions_func_g.html @@ -1487,6 +1487,9 @@

- g -

    , System< T > , TimeVaryingAffineSystem< T > +
  • get_output_port_actuation() +: JointStiffnessController< T > +
  • get_output_port_base() : SystemBase
    • @@ -1786,9 +1789,9 @@

    - g -

      : SolverOptions
    • get_state() -: AcrobotPlant< T > +: AcrobotPlant< T > , PendulumPlant< T > -, Rod2D< T > +, Rod2D< T > , Context< T >
    • get_state_derivatives() @@ -2029,7 +2032,7 @@

      - g -

        , AbstractValues , BasicVector< T > , CacheEntryValue -, DiscreteValues< T > +, DiscreteValues< T > , FixedInputPortValue , Value< T > @@ -2070,7 +2073,7 @@

        - g -

          : JacoStatusReceiver
        • get_Vx() -: ZmpPlanner +: ZmpPlanner
        • get_Vxx() : ZmpPlanner @@ -2124,7 +2127,7 @@

          - g -

            : MultibodyPlant< T >
          • GetActuatorNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
          • GetAllAddedCollisionShapes() : CollisionChecker @@ -2166,7 +2169,7 @@

            - g -

              : RigidTransform< T >
            • GetAtIndex() -: VectorBase< T > +: VectorBase< T >
            • GetAutoRenaming() : Parser @@ -2187,7 +2190,7 @@

              - g -

                : MultibodyPlant< T >
              • GetBodyByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
              • GetBodyFrameIdIfExists() : MultibodyPlant< T > @@ -2322,7 +2325,7 @@

                - g -

                  : Joint< T >
                • GetDefaultPositions() -: MultibodyPlant< T > +: MultibodyPlant< T >
                • GetDegree() : Polynomial< T > @@ -2439,7 +2442,7 @@

                  - g -

                    : LinearBushingRollPitchYaw< T >
                  • GetFrameByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                  • GetFrameGroup() : GeometryState< T > @@ -2546,7 +2549,7 @@

                    - g -

                      : LcmSubscriberSystem
                    • GetJointActuatorByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                    • GetJointActuatorIndices() : MultibodyPlant< T > @@ -2555,7 +2558,7 @@

                      - g -

                        : MultibodyPlant< T >
                      • GetJointIndices() -: MultibodyPlant< T > +: MultibodyPlant< T >
                      • GetKnownUpToDate() : CacheEntry @@ -2642,7 +2645,7 @@

                        - g -

                          , System< T >
                        • GetMutableSubsystemState() -: Diagram< T > +: Diagram< T >
                        • GetMutableSystems() : DiagramBuilder< T > @@ -2664,8 +2667,8 @@

                          - g -

                            : System< T >
                          • GetName() -: GeometryState< T > -, SceneGraphInspector< T > +: GeometryState< T > +, SceneGraphInspector< T >
                          • GetNewVariable() : MixedIntegerBranchAndBound @@ -2726,7 +2729,7 @@

                            - g -

                            • GetOwningSourceName() : GeometryState< T > -, SceneGraphInspector< T > +, SceneGraphInspector< T >
                            • GetPackageNames() : PackageMap @@ -2802,7 +2805,7 @@

                              - g -

                                : FixedOffsetFrame< T >
                              • GetPoseInWorld() -: QueryObject< T > +: QueryObject< T >
                              • GetPosePair() : Joint< T > @@ -2816,13 +2819,13 @@

                                - g -

                                • GetPositions() : FemState< T > , Joint< T > -, MultibodyPlant< T > +, MultibodyPlant< T >
                                • GetPositionsAndVelocities() : MultibodyPlant< T >
                                • GetPositionsFromArray() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                • GetPositionUpperLimits() : MultibodyPlant< T > @@ -2867,13 +2870,13 @@

                                  - g -

                                    , QueryObject< T >
                                  • GetRendererTypeName() -: SceneGraph< T > +: SceneGraph< T >
                                  • GetRenderLabelOrThrow() : RenderEngine
                                  • GetRigidBodyByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                  • GetRodConfig() : Rod2D< T > @@ -2882,7 +2885,7 @@

                                    - g -

                                      : Rod2D< T >
                                    • GetSampleTimes() -: MultipleShooting +: MultipleShooting
                                    • getSegmentPolynomialDegree() : PiecewisePolynomial< T > @@ -2927,14 +2930,14 @@

                                      - g -

                                        , CspaceFreePolytope::SeparatingPlaneLagrangians , CspaceFreePolytope::SeparationCertificate , GraphOfConvexSets::Vertex -, MathematicalProgramResult +, MathematicalProgramResult , MixedIntegerBranchAndBound , PleidesSystem , RobertsonSystem< T > , StiffDoubleMassSpringSystem< T >
                                      • GetSolutionCost() -: GraphOfConvexSets::Edge +: GraphOfConvexSets::Edge , GraphOfConvexSets::Vertex
                                      • GetSolutionPath() @@ -2971,7 +2974,7 @@

                                        - g -

                                          : RobotModel< T >
                                        • GetStateNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                        • GetStateSamples() : MultipleShooting @@ -3078,10 +3081,10 @@

                                          - g -

                                          • GetVelocities() : FemState< T > , Joint< T > -, MultibodyPlant< T > +, MultibodyPlant< T >
                                          • GetVelocitiesFromArray() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                          • GetVelocity() : PiecewisePose< T > @@ -3090,7 +3093,7 @@

                                            - g -

                                              : MultibodyPlant< T >
                                            • GetVelocityNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                            • GetVelocityUpperLimits() : MultibodyPlant< T > @@ -3129,7 +3132,7 @@

                                              - g -

                                                : GcsTrajectoryOptimization
                                              • GraphOfConvexSets() -: GraphOfConvexSets +: GraphOfConvexSets
                                              • gravity() : AcrobotParams< T > @@ -3147,31 +3150,31 @@

                                                - g -

                                                diff --git a/doxygen_cxx/functions_func_l.html b/doxygen_cxx/functions_func_l.html index 5efaaeeadd..89eb1df801 100644 --- a/doxygen_cxx/functions_func_l.html +++ b/doxygen_cxx/functions_func_l.html @@ -409,17 +409,17 @@

                                                - l -

                                                  : CspaceFreePolytopeBase
                                                • Load() -: ImageIo +: ImageIo
                                                • LoadMetadata() -: ImageIo +: ImageIo
                                                • Lock() : Joint< T > , RigidBody< T >
                                                • LogisticSystem() -: LogisticSystem< T > +: LogisticSystem< T >
                                                • loop_mode() : MeshcatAnimation @@ -438,7 +438,7 @@

                                                  - l -

                                                  diff --git a/doxygen_cxx/functions_func_m.html b/doxygen_cxx/functions_func_m.html index 04cf51c88d..f81af1edec 100644 --- a/doxygen_cxx/functions_func_m.html +++ b/doxygen_cxx/functions_func_m.html @@ -728,7 +728,7 @@

                                                  - m -

                                                    : MixedIntegerBranchAndBound
                                                  • MixedIntegerBranchAndBoundNode() -: MixedIntegerBranchAndBoundNode +: MixedIntegerBranchAndBoundNode
                                                  • MixedIntegerRotationConstraintGenerator() : MixedIntegerRotationConstraintGenerator @@ -922,10 +922,10 @@

                                                    - m -

                                                    diff --git a/doxygen_cxx/functions_func_r.html b/doxygen_cxx/functions_func_r.html index 85e29f910e..c57288c1c1 100644 --- a/doxygen_cxx/functions_func_r.html +++ b/doxygen_cxx/functions_func_r.html @@ -731,7 +731,7 @@

                                                    - r -

                                                      : Rotation::Rpy
                                                    • RpyFloatingJoint() -: RpyFloatingJoint< T > +: RpyFloatingJoint< T >
                                                    • Run() : JointSliders< T > @@ -744,13 +744,13 @@

                                                      - r -

                                                      diff --git a/doxygen_cxx/functions_func_s.html b/doxygen_cxx/functions_func_s.html index c2d9adf6bb..316ab6fea2 100644 --- a/doxygen_cxx/functions_func_s.html +++ b/doxygen_cxx/functions_func_s.html @@ -2215,7 +2215,7 @@

                                                      - s -

                                                        : SpatialMomentum< T >
                                                      • SpatialVector() -: SpatialVector< SV, T > +: SpatialVector< SV, T >
                                                      • SpatialVelocity() : SpatialVelocity< T > @@ -2291,10 +2291,10 @@

                                                        - s -

                                                          , MeshcatVisualizer< T >
                                                        • state() -: MultipleShooting +: MultipleShooting
                                                        • State() -: State< T > +: State< T >
                                                        • state_output() : Rod2D< T > @@ -2352,7 +2352,7 @@

                                                          - s -

                                                            : MultibodyPlant< T >
                                                          • StiffDoubleMassSpringSystem() -: StiffDoubleMassSpringSystem< T > +: StiffDoubleMassSpringSystem< T >
                                                          • stiffness() : LinearSpringDamper< T > @@ -2546,7 +2546,7 @@

                                                            - s -

                                                              : CompassGaitContinuousState< T >
                                                            • SymbolicVectorSystem() -: SymbolicVectorSystem< T > +: SymbolicVectorSystem< T >
                                                            • system() : EventStatus @@ -2566,31 +2566,31 @@

                                                              - s -

                                                              diff --git a/doxygen_cxx/functions_g.html b/doxygen_cxx/functions_g.html index 86fd80a0ab..ac2f7ae1bf 100644 --- a/doxygen_cxx/functions_g.html +++ b/doxygen_cxx/functions_g.html @@ -1535,6 +1535,9 @@

                                                              - g -

                                                                , System< T > , TimeVaryingAffineSystem< T > +
                                                              • get_output_port_actuation() +: JointStiffnessController< T > +
                                                              • get_output_port_base() : SystemBase
                                                                • @@ -2077,7 +2080,7 @@

                                                                - g -

                                                                  , AbstractValues , BasicVector< T > , CacheEntryValue -, DiscreteValues< T > +, DiscreteValues< T > , FixedInputPortValue , Value< T > @@ -2172,7 +2175,7 @@

                                                                  - g -

                                                                    : MultibodyPlant< T >
                                                                  • GetActuatorNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                  • GetAllAddedCollisionShapes() : CollisionChecker @@ -2214,7 +2217,7 @@

                                                                    - g -

                                                                      : RigidTransform< T >
                                                                    • GetAtIndex() -: VectorBase< T > +: VectorBase< T >
                                                                    • GetAutoRenaming() : Parser @@ -2223,7 +2226,7 @@

                                                                      - g -

                                                                        : MultibodyPlant< T >
                                                                      • GetBiases() -: MultilayerPerceptron< T > +: MultilayerPerceptron< T >
                                                                      • GetBindingVariableValues() : MathematicalProgram @@ -2235,7 +2238,7 @@

                                                                        - g -

                                                                          : MultibodyPlant< T >
                                                                        • GetBodyByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                        • GetBodyFrameIdIfExists() : MultibodyPlant< T > @@ -2402,7 +2405,7 @@

                                                                          - g -

                                                                            : DeformableModel< T >
                                                                          • GetDowncastSubsystemByName() -: Diagram< T > +: Diagram< T > , DiagramBuilder< T >
                                                                          • GetDrivenMeshConfigurationsInWorld() @@ -2487,7 +2490,7 @@

                                                                            - g -

                                                                              : LinearBushingRollPitchYaw< T >
                                                                            • GetFrameByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                            • GetFrameGroup() : GeometryState< T > @@ -2573,7 +2576,7 @@

                                                                              - g -

                                                                              • GetInitialGuess() : MaxCliqueSolverViaMip -, MathematicalProgram +, MathematicalProgram
                                                                              • GetInitializationEvents() : System< T > @@ -2594,7 +2597,7 @@

                                                                                - g -

                                                                                  : LcmSubscriberSystem
                                                                                • GetJointActuatorByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                • GetJointActuatorIndices() : MultibodyPlant< T > @@ -2603,7 +2606,7 @@

                                                                                  - g -

                                                                                    : MultibodyPlant< T >
                                                                                  • GetJointIndices() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                  • GetKnownUpToDate() : CacheEntry @@ -2713,7 +2716,7 @@

                                                                                    - g -

                                                                                    • GetName() : GeometryState< T > -, SceneGraphInspector< T > +, SceneGraphInspector< T >
                                                                                    • GetNewVariable() : MixedIntegerBranchAndBound @@ -2774,7 +2777,7 @@

                                                                                      - g -

                                                                                      • GetOwningSourceName() : GeometryState< T > -, SceneGraphInspector< T > +, SceneGraphInspector< T >
                                                                                      • GetPackageNames() : PackageMap @@ -2789,7 +2792,7 @@

                                                                                        - g -

                                                                                          : Meshcat
                                                                                        • GetPaddingBetween() -: CollisionChecker +: CollisionChecker
                                                                                        • GetPaddingMatrix() : CollisionChecker @@ -2859,18 +2862,18 @@

                                                                                          - g -

                                                                                            : MultibodyPlant< T >
                                                                                          • GetPositionNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                          • GetPositions() : FemState< T > , Joint< T > -, MultibodyPlant< T > +, MultibodyPlant< T >
                                                                                          • GetPositionsAndVelocities() : MultibodyPlant< T >
                                                                                          • GetPositionsFromArray() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                          • GetPositionUpperLimits() : MultibodyPlant< T > @@ -2921,7 +2924,7 @@

                                                                                            - g -

                                                                                              : RenderEngine
                                                                                            • GetRigidBodyByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                            • GetRodConfig() : Rod2D< T > @@ -2976,7 +2979,7 @@

                                                                                              - g -

                                                                                                , CspaceFreePolytope::SeparationCertificate , GraphOfConvexSets::Vertex , MathematicalProgramResult -, MixedIntegerBranchAndBound +, MixedIntegerBranchAndBound , PleidesSystem , RobertsonSystem< T > , StiffDoubleMassSpringSystem< T > @@ -3019,7 +3022,7 @@

                                                                                                - g -

                                                                                                  : RobotModel< T >
                                                                                                • GetStateNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                • GetStateSamples() : MultipleShooting @@ -3034,7 +3037,7 @@

                                                                                                  - g -

                                                                                                    : MixedIntegerBranchAndBound
                                                                                                  • GetSuboptimalSolution() -: MathematicalProgramResult +: MathematicalProgramResult
                                                                                                  • GetSubsystemByName() : Diagram< T > @@ -3126,10 +3129,10 @@

                                                                                                    - g -

                                                                                                    • GetVelocities() : FemState< T > , Joint< T > -, MultibodyPlant< T > +, MultibodyPlant< T >
                                                                                                    • GetVelocitiesFromArray() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                    • GetVelocity() : PiecewisePose< T > @@ -3147,7 +3150,7 @@

                                                                                                      - g -

                                                                                                        : MultibodyPlant< T >
                                                                                                      • GetWeights() -: MultilayerPerceptron< T > +: MultilayerPerceptron< T >
                                                                                                      • GetWitnessFunctions() : System< T > @@ -3168,7 +3171,7 @@

                                                                                                        - g -

                                                                                                          : RollPitchYaw< T >
                                                                                                        • GlobalInverseKinematics() -: GlobalInverseKinematics +: GlobalInverseKinematics
                                                                                                        • gltf_extensions : RenderEngineVtkParams @@ -3184,7 +3187,7 @@

                                                                                                          - g -

                                                                                                          • GraphOfConvexSets : GraphOfConvexSets::Edge -, GraphOfConvexSets +, GraphOfConvexSets , GraphOfConvexSets::Vertex
                                                                                                          • gravity() @@ -3203,19 +3206,19 @@

                                                                                                            - g -

                                                                                                              , Accelerometer< T >
                                                                                                            • GravityForceField() -: GravityForceField< T > +: GravityForceField< T >
                                                                                                            • GripperBrickHelper() : GripperBrickHelper< T >
                                                                                                            • GripperCommandDecoder() -: GripperCommandDecoder +: GripperCommandDecoder
                                                                                                            • GripperCommandEncoder() : GripperCommandEncoder
                                                                                                            • GripperStatusDecoder() -: GripperStatusDecoder +: GripperStatusDecoder
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                                                                                                              - g -

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                                                                                                              - i -

                                                                                                                , RimlessWheelParams< T > , Rod2dStateVector< T > , BouncingBallVector< T > -, GraphOfConvexSets +, GraphOfConvexSets , SchunkWsgTrajectoryGeneratorStateVector< T > , RollPitchYaw< T > , RotationMatrix< T > diff --git a/doxygen_cxx/functions_l.html b/doxygen_cxx/functions_l.html index aec3b40785..d99afc1866 100644 --- a/doxygen_cxx/functions_l.html +++ b/doxygen_cxx/functions_l.html @@ -452,7 +452,7 @@

                                                                                                                - l -

                                                                                                                  : ImageIo
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                                                                                                                  - l -

                                                                                                                    : MathematicalProgram
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                                                                                                                    - l -

                                                                                                                      , SystemConstraint< T >
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                                                                                                                      - m -

                                                                                                                        , DeterministicVector< Size > , Distribution , DistributionVector +, Gaussian
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                                                                                                                      • Mean() -: Gaussian +: GaussianVector< Size >
                                                                                                                      • mean : GaussianVector< Size >
                                                                                                                      • Mean() -: GaussianVector< Size > -, Transform +: Transform , Uniform , UniformDiscrete , UniformVector< Size > @@ -707,7 +707,7 @@

                                                                                                                        - m -

                                                                                                                          , MonomialBasisElement
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                                                                                                                          - m -

                                                                                                                            : MixedIntegerBranchAndBound
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                                                                                                                            - m -

                                                                                                                              : MultilayerPerceptron< T >
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                                                                                                                              - o -

                                                                                                                                : OutputPort< T >
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                                                                                                                                - r -

                                                                                                                                  , Trajectory< T >
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                                                                                                                                  - r -

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                                                                                                                                  - s -

                                                                                                                                    , BasicVector< T > , VectorBase< T > -
                                                                                                                                  • severity() -: EventStatus -
                                                                                                                                  • Severity : EventStatus
                                                                                                                                    • +
                                                                                                                                  • severity() +: EventStatus +
                                                                                                                                  • SForPlane : CspaceFreePolytopeBase
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                                                                                                                                    - s -

                                                                                                                                      , PackageMap::RemoteParams
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                                                                                                                                      - s -

                                                                                                                                        : GeometryInstance
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                                                                                                                                        - s -

                                                                                                                                          : SpatialVelocityConstraint
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                                                                                                                                          - s -

                                                                                                                                          • state : MultibodyPlant< T >::OutputPortIndices::Instance -, MultipleShooting +, MultipleShooting
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                                                                                                                                            - s -

                                                                                                                                              , Value< T >
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                                                                                                                                            • StaticFrictionConeConstraint() : StaticFrictionConeConstraint @@ -2582,7 +2582,7 @@

                                                                                                                                              - s -

                                                                                                                                                : IntegratorBase< T >
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                                                                                                                                                - s -

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                                                                                                                                                  - s -

                                                                                                                                                  • Substitute() : Polynomial< T > -, Expression +, Expression , ExpressionAbs , ExpressionAcos , ExpressionAdd @@ -2783,10 +2783,10 @@

                                                                                                                                                    - s -

                                                                                                                                                      : DependencyTracker
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                                                                                                                                                    • SurfaceTriangle() -: SurfaceTriangle +: SurfaceTriangle
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                                                                                                                                                        , SimulatorStatus
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                                                                                                                                                        - s -

                                                                                                                                                          : SystemConstraintAdapter
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                                                                                                                                                        • SystemConstraint() -: SystemConstraint< T > +: SystemConstraint< T >
                                                                                                                                                        • SystemConstraintAdapter() -: SystemConstraintAdapter +: SystemConstraintAdapter
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                                                                                                                                                            : SystemConstraintWrapper
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                                                                                                                                                              G

                                                                                                                                                            • (pydrake.systems.framework.System_[Expression] method)
                                                                                                                                                            • +
                                                                                                                                                          • get_output_port_actuation() (pydrake.systems.controllers.JointStiffnessController method) +
                                                                                                                                                          • get_output_port_control() (pydrake.systems.controllers.InverseDynamicsController method)
                                                                                                                                                            • +
                                                                                                                                                          • GetActuationFromArray() (pydrake.multibody.plant.MultibodyPlant method) + +
                                                                                                                                                          • GetActuatorNames() (pydrake.multibody.plant.MultibodyPlant method) diff --git a/pydrake/objects.inv b/pydrake/objects.inv index 2fddad7ad0..0406c70833 100644 Binary files a/pydrake/objects.inv and b/pydrake/objects.inv differ diff --git a/pydrake/pydrake.multibody.plant.html b/pydrake/pydrake.multibody.plant.html index d29e401ec8..94afb523be 100644 --- a/pydrake/pydrake.multibody.plant.html +++ b/pydrake/pydrake.multibody.plant.html @@ -5003,6 +5003,32 @@

+
+
+GetActuationFromArray(self: pydrake.multibody.plant.MultibodyPlant, model_instance: pydrake.multibody.tree.ModelInstanceIndex, u: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]
+

Returns a vector of actuation values for model_instance from a +vector u of actuation values for the entire plant model. Refer to +mbp_actuation “Actuation” for further details.

+
+
Parameter u:

Actuation values for the entire model. The actuation value in +u for a particular actuator must be found at offset +JointActuator::input_start().

+
+
+
+
Returns
+

Actuation values for model_instance, ordered by monotonically +increasing JointActuatorIndex.

+
+
Raises
+
    +

  • RuntimeError if u is not of size –

    • +

  • MultibodyPlant::num_actuated_dofs() –

    • +
+
+
+
+
GetActuatorNames(*args, **kwargs)
@@ -10717,6 +10743,32 @@

+
+
+GetActuationFromArray(self: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], model_instance: pydrake.multibody.tree.ModelInstanceIndex, u: numpy.ndarray[object[m, 1]]) → numpy.ndarray[object[m, 1]]
+

Returns a vector of actuation values for model_instance from a +vector u of actuation values for the entire plant model. Refer to +mbp_actuation “Actuation” for further details.

+
+
Parameter u:

Actuation values for the entire model. The actuation value in +u for a particular actuator must be found at offset +JointActuator::input_start().

+
+
+
+
Returns
+

Actuation values for model_instance, ordered by monotonically +increasing JointActuatorIndex.

+
+
Raises
+
    +

  • RuntimeError if u is not of size –

    • +

  • MultibodyPlant::num_actuated_dofs() –

    • +
+
+
+
+
GetActuatorNames(*args, **kwargs)
@@ -16387,6 +16439,32 @@

+
+
+GetActuationFromArray(self: pydrake.multibody.plant.MultibodyPlant_[Expression], model_instance: pydrake.multibody.tree.ModelInstanceIndex, u: numpy.ndarray[object[m, 1]]) → numpy.ndarray[object[m, 1]]
+

Returns a vector of actuation values for model_instance from a +vector u of actuation values for the entire plant model. Refer to +mbp_actuation “Actuation” for further details.

+
+
Parameter u:

Actuation values for the entire model. The actuation value in +u for a particular actuator must be found at offset +JointActuator::input_start().

+
+
+
+
Returns
+

Actuation values for model_instance, ordered by monotonically +increasing JointActuatorIndex.

+
+
Raises
+
    +

  • RuntimeError if u is not of size –

    • +

  • MultibodyPlant::num_actuated_dofs() –

    • +
+
+
+
+
GetActuatorNames(*args, **kwargs)
diff --git a/pydrake/pydrake.systems.controllers.html b/pydrake/pydrake.systems.controllers.html index cd13550661..ca088fbc80 100644 --- a/pydrake/pydrake.systems.controllers.html +++ b/pydrake/pydrake.systems.controllers.html @@ -782,7 +782,7 @@ class pydrake.systems.controllers.JointStiffnessController

Bases: pydrake.systems.framework.LeafSystem

Implements a joint-space stiffness controller of the form

-
Click to expand C++ code...
τ_control = −τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)
+
Click to expand C++ code...
τ_control = B⁻¹[−τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)]
 

 

 
where Kp and Kd are the joint stiffness and damping
@@ -790,9 +790,10 @@
 forces due to gravity, and τ_app contains applied forces from
 force elements added to the multibody model (this can include damping,
 springs, etc. See MultibodyPlant::CalcForceElementsContribution()).
-q_d and v_d are the desired (setpoint) values for the
-multibody positions and velocities, respectively. kd and kp
-are taken as vectors, and ⊙ represents elementwise multiplication.

+B⁻¹ is the inverse of the actuation matrix. q_d and v_d are
+the desired (setpoint) values for the multibody positions and
+velocities, respectively. kd and kp are taken as vectors, and
+⊙ represents elementwise multiplication.

 
The goal of this controller is to produce a closed-loop dynamics that
 resembles a spring-damper dynamics at the joints around the setpoint:

 
Click to expand C++ code...
M(q)v̇ + C(q,v)v + kp⊙(q - q_d) + kd⊙(v - v_d) = τ_ext,
@@ -804,7 +805,7 @@
 
The controller currently requires that plant.num_positions() ==
 plant.num_velocities() == plant.num_actuated_dofs() and that
 plant.IsVelocityEqualToQDot() is true.

-
estimated_state→
desired_state→
JointStiffnessController
→ generalized_force
Note that the joint impedance control as implemented on Kuka’s iiwa
+
estimated_state→
desired_state→
JointStiffnessController
→ actuation
Note that the joint impedance control as implemented on Kuka’s iiwa
 and Franka’ Panda is best modeled as a stiffness controller (unless
 one were to model the actual elastic joints and rotor-inertia
 shaping). See https://manipulation.csail.mit.edu/force.html for more
@@ -856,11 +857,25 @@
 
Returns a constant pointer to the MultibodyPlant used for control.
+
+
+get_output_port_actuation(self: pydrake.systems.controllers.JointStiffnessController) → pydrake.systems.framework.OutputPort
+

Returns the output port implementing the control in the form (and +order) expected for the plant’s actuation input port.

+
+
get_output_port_generalized_force(self: pydrake.systems.controllers.JointStiffnessController) → pydrake.systems.framework.OutputPort

Returns the output port for the generalized forces implementing the -control.

+control. */ (Deprecated.)

+
+
Deprecated:

Use get_output_port_actuation() instead, which multiplies the +generalized force by B⁻¹ to be consumed by MultibodyPlant’s +actuation input port. This will be removed from Drake on or after +2025-04-01.

+
+

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f_seg:63,get_numeric_paramet:54,get_observed_system_input_input_port:53,get_observed_system_output_input_port:53,get_optimal_cost:46,get_or_init:8,get_orientation_trajectori:63,get_output_port:54,get_output_port_control:51,get_output_port_generalized_forc:51,get_output_port_loc:54,get_output_port_w_out:58,get_output_port_w_out_dens:58,get_output_ports_s:58,get_output_valu:58,get_param_canon:7,get_param_nam:7,get_param_set:8,get_paramet:[15,34,54],get_port_selector_input_port:58,get_position_commanded_input_port:25,get_position_commanded_output_port:25,get_position_input_port:25,get_position_measured_input_port:25,get_position_measured_output_port:25,get_position_output_port:[15,25],get_position_trajectori:63,get_pow:47,get_print_file_nam:46,get_print_to_consol:46,get_product:42,get_qi:44,get_quaternion:42,get_query_output_port:[20,37,40,57],get_r:44,get_reaction_forces_output_port:40,get_recording_as_anim:59,get_requested_minimum_step_s:50,get_rot:42,get_sap_near_rigid_threshold:40,get_scene_graph:15,get_segment_index:63,get_segment_tim:63,get_smallest_adapted_step_size_taken:50,get_solution_result:46,get_solver_detail:46,get_solver_id:46,get_source_configuration_port:20,get_source_id:40,get_source_pose_port:[20,40],get_source_valu:58,get_sparse_a:46,get_spatial_force_output_port:40,get_spatial_forces_output_port:40,get_standalone_reproduction_file_nam:46,get_stat:[15,54],get_state_input_port:[25,51],get_state_output_port:[15,25,40,51],get_status_input_port:25,get_stretch_factor:50,get_suboptimal_object:46,get_system:[15,50,54],get_target_accuraci:50,get_target_realtime_r:50,get_throw_on_minimum_step_size_viol:50,get_tim:[50,54],get_time_const:58,get_time_constants_vector:58,get_time_derivatives_cache_entri:54,get_time_input_port:25,get_time_measured_input_port:25,get_time_measured_output_port:25,get_time_output_port:25,get_time_step:34,get_torque_commanded_input_port:25,get_torque_commanded_output_port:25,get_torque_external_input_port:25,get_torque_external_output_port:25,get_torque_input_port:25,get_torque_measured_input_port:25,get_torque_measured_output_port:25,get_transl:42,get_translation_r:42,get_translational_veloc:42,get_trigger_typ:54,get_typ:47,get_unit_inertia:42,get_valu:[13,20,22,40,42,54],get_vector:54,get_vector_data:54,get_velocity_estimated_input_port:25,get_velocity_estimated_output_port:25,get_vx:44,get_vxx:44,get_wind_velocity_input_port:40,get_working_minimum_step_s:50,get_x:29,get_x_val:46,get_xdt:29,get_xdtdt:29,getacceler:63,getaccelerationlowerlimit:40,getaccelerationslowerlimit:40,getaccelerationupperlimit:40,getactuatedjointindic:40,getactuationfromarrai:40,getactuatornam:40,getalladdedcollisionshap:44,getallbusnam:55,getallconstraint:46,getallcost:46,getallframeid:20,getallgeometryid:20,getalllinearconstraint:46,getallsourceid:20,getasisometri:26,getasisometry3:26,getasmatrix34:26,getasmatrix4:26,getatindex:54,getautorenam:39,getavailablesolv:46,getbias:58,getbindingvariablevalu:46,getbodieskinematicallyaffectedbi:40,getbodiesweldedto:40,getbodybynam:40,getbodyframeidifexist:40,getbodyframeidorthrow:40,getbodyfromframeid:40,getbodyid:40,getbodyindic:40,getbuttonclick:20,getcoeffici:45,getcollisioncandid:[20,34,38],getcollisionfiltergroup:39,getcollisiongeometriesforbodi:40,getcolorrendercamera:62,getconfigurationsinworld:20,getconstraint:22,getconstraintactivestatu:40,getconstraintid:40,getcontactwrenchsolut:38,getcontinuousrevolutejointindic:44,getconvexhul:20,getcost:22,getdamp:42,getdampingvector:42,getdefaultcontactsurfacerepresent:40,getdefaultfreebodypos:40,getdefaultpos:42,getdefaultposepair:42,getdefaultposit:40,getdegre:[45,63],getdensea:46,getdepthrendercamera:62,getdeterministicvalu:12,getdirectfeedthrough:[40,54],getdiscretestateindex:40,getdowncastsubsystembynam:54,getdrakepath:[0,3],getdualsolut:46,getedgesbetweensubgraph:44,geteffortlowerlimit:40,geteffortupperlimit:40,getelementbound:54,getendtim:63,getexpress:63,getfilteredcollisionmatrix:44,getfixedoffsetposeinbodi:42,getfixedposeinbodyfram:42,getfixedrotationmatrixinbodi:42,getfixedrotationmatrixinbodyfram:42,getfloatingbasebodi:40,getforcedampingconst:42,getforceinworld:42,getforcestiffnessconst:42,getframebynam:40,getframegroup:20,getframeid:20,getframeindic:40,getfreebodypos:40,getfreevari:[22,47],getfulldescript:54,getgamepad:20,getgeometri:20,getgeometryid:[20,40],getgeometryidbynam:20,getgraphvizfrag:54,getgraphvizstr:[22,44,54],getgroupnam:20,getgroupproperti:20,getiiwaposit:15,getiiwaveloc:15,getillustrationproperti:20,getinfeasibleconstraint:46,getinfeasibleconstraintnam:46,getinitialguess:[44,46],getinitializationev:54,getinputport:54,getinputportloc:54,getinputsampl:44,getintegrationschem:50,getjointactuatorbynam:40,getjointactuatorindic:40,getjointbynam:40,getjointindic:40,getknownuptod:54,getlargestpad:44,getlinearconstraint:46,getlog:58,getlogg:3,getmaximumabsolutediffer:26,getmaximumabsolutetranslationdiffer:26,getmemoryobjectnam:54,getminimalrepresent:22,getmodelinstancebynam:40,getmodelinstancenam:40,getmutableabstractvalueorthrow:54,getmutabledata:54,getmutabledowncastsubsystembynam:54,getmutablejointbynam:40,getmutablelog:58,getmutableparamet:58,getmutableposit:40,getmutablepositionsandveloc:40,getmutablesubsystembynam:54,getmutablesubsystemcontext:[34,54],getmutablesubsystemst:54,getmutablesystem:54,getmutablevalueorthrow:54,getmutableveloc:40,getmycontextfromroot:[44,50,54],getmymutablecontextfromroot:[34,54],getnam:20,getnominalfilteredcollisionmatrix:44,getnumactiveconnect:20,getnumberofcoeffici:45,getnumberofthread:44,getoneposit:42,getoneveloc:42,getopt:46,getoptimalcost:46,getoutputport:54,getowningsourcenam:20,getpackagenam:39,getpaddingbetween:44,getpaddingmatrix:44,getparamet:58,getparentframeid:62,getparentpl:42,getpath:39,getperceptionproperti:20,getperiodicev:54,getperstepev:54,getpolynomi:63,getpolynomialmatrix:63,getpos:[42,63],getposeinfram:20,getposeinpar:20,getposeinparentfram:42,getposeinworld:20,getposit:[34,37,40,44],getpositionlowerlimit:[34,40],getpositionnam:40,getpositionsandveloc:40,getpositionsfromarrai:40,getpositionupperlimit:[34,40],getprogramtyp:46,getproperti:[20,40],getpropertiesingroup:20,getpropertyordefault:20,getproximityproperti:[20,40],getqueryobject:44,getrealtimer:20,getreferenceposit:40,getrenderertypenam:[20,62],getrenderlabelorthrow:20,getrigidbodybynam:40,getsampletim:44,getschunkwsgopenposit:25,getscopedframebynam:39,getscopedframebynamemayb:39,getsegmentpolynomialdegre:63,getsequentialvariableatindex:44,getsequentialvariablesampl:44,getshap:20,getslidernam:20,getslidervalu:20,getsolut:[22,34,46],getsolutioncost:22,getsolutionpath:22,getsolutionphixu:22,getsolutionphixv:22,getsolveropt:[44,46],getspatialinertiainbodyfram:40,getstarttim:63,getstatenam:40,getstatesampl:44,getstaticcameraposesinworld:15,getsubgraph:44,getsuboptimalcost:46,getsuboptimalsolut:46,getsubsystembynam:[40,54],getsubsystemcontext:54,getsystem:54,getsystemnam:54,getsystempathnam:54,getsystemtyp:54,getter:[15,20,34,38,44,46,47,58],gettopologygraphvizstr:40,gettorquedampingconst:42,gettorquestiffnessconst:42,gettrackedcamerapos:20,getuniquefreebasebodyorthrow:40,getuniqueperiodicdiscreteupdateattribut:54,geturl:20,getvalueorthrow:[20,54],getvari:[22,47],getvariablesc:46,getvariablevector:47,getveloc:[40,63],getvelocitiesfromarrai:40,getvelocitylowerlimit:40,getvelocitynam:40,getvelocityslowerlimit:40,getvelocityupperlimit:40,getvisualgeometriesforbodi:40,getweight:58,getwitnessfunct:54,getwsgposit:15,getwsgveloc:15,getx_pb:62,getzeroconfigur:44,gif:65,gil:3,gill:46,gimbal:[26,42],github:[15,20,46,58],gitlab:6,give:[20,22,26,40,42,46,50,54,57,58],given:[2,3,6,8,12,13,14,15,20,22,23,24,25,26,35,37,38,39,40,41,42,43,44,45,46,47,50,51,54,55,57,58,61,62,63,65],gk:40,glass:20,glbopt:46,glide:40,global:[3,15,20,34,39,40,44,46],globalinversekinemat:34,glossari:62,glprogram:20,gltf:[20,62],gltf_extens:20,gltfextens:20,glx:20,go:[20,23,34,36,40,42,44,46,51],goal:[20,22,43,50,51],goalreach:50,goe:[22,40,47],golden:35,goldstein:42,good:[20,34,44,47,54,63,65],googl:20,got:[44,50],govern:[3,15,24,40,44,50,54,63],gp:46,gpu:[20,58],grad_w:20,grad_w_in:20,grade:47,gradient:[2,19,20,23,26,34,40,44,46,50,51,58],gradient_matrix:2,gradient_sparsity_pattern:46,grai:[20,40,46,51,58],grainger:42,gram:[42,46,47],gram_low:47,gram_nam:46,gramian:46,grammar:[24,47],grant:[20,42],granular:54,graph:[20,22,40,44,52,54,62],graph_of_convex_set:44,graphic:[20,26,51],graphofconvexset:[22,44],graphofconvexsetsopt:[22,44],graphviz:[22,40,44,52,54],graphvizfrag:54,graphvizfragmentparam:54,grasp:[40,44],gratuit:54,gravit:[15,40],graviti:[15,40,42,44,51],gravity_field:40,gravity_vector:42,grayscal:65,grb_license_fil:46,grbcomputeii:46,grbwrite:46,great:20,greater:[3,20,22,26,32,34,40,43,44,46,50,58],greatest:[26,44],greedi:44,greedili:44,green:[20,40,54,62,65],gregori:[34,46],grei:[54,62],grid:[20,38,43],gridpoint:38,grip:[25,40],grip_forc:25,gripper:[15,20,25,39,40],gripper_model:39,gripper_model_inst:40,ground:[15,20],group:[15,20,22,39,40,43,44,46,54],group_index:54,group_nam:[20,44],grow:[22,44],gt:[26,47],guarante:[20,22,23,26,34,36,40,41,42,44,46,47,50,54,61,62,63],guard:50,guess:[22,34,44,46],gui:20,guid:[20,22,40,44,46],guidanc:[20,40,44],guidelin:[20,23],gurobi:[22,44,46],gurobi_num_thread:46,gurobisolv:46,gurobisolverdetail:[13,46],gvm:63,gx:20,gym:[0,15],gymnasium:23,gyrat:42,gyroscop:[40,42,51],gztar:39,h3:50,h5:44,h:[15,20,22,26,34,35,38,40,42,44,46,47,50,58,62],h_floor:50,h_max:44,h_min:[44,50],h_msp:35,h_msp_e:35,h_wc:38,ha:[2,3,15,20,22,25,26,32,33,34,35,37,38,39,40,42,43,44,45,46,47,50,51,53,54,55,57,58,60,62,63,64,65],had:[20,46,54],hairer:50,hal9000:20,half:[15,20,22,34,38,40,42,47,50,51,54,58,63],half_angl:47,halfspac:[20,22,40,42],halfwai:42,hamiltanoian:26,hamiltonian:38,han:[32,40],hand:[20,26,33,34,38,40,42,44,46,47,53,54,63],hand_model_nam:25,handl:[20,22,24,25,26,40,41,42,44,46,47,50,54,55,57,65],handler:[9,24,46,50,54,55,58],handlerfunct:[24,55],handlesubscript:[24,55],hang:20,happen:[20,22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ortUpperLimits"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetFloatingBaseBodies","GetFloatingBaseBodies"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetFrameByName","GetFrameByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetFrameIndices","GetFrameIndices"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetFreeBodyPose","GetFreeBodyPose"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetJointActuatorByName","GetJointActuatorByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetJointActuatorIndices","GetJointActuatorIndices"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetJointByName","GetJointByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetJointIndices","GetJointIndices"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetModelInstanceByName","GetModelInstanceByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetModelInstanceName","GetModelInstanceName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetMutableJointByName","GetMutableJointByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositionLowerLimits","GetPositionLowerLimits"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositionNames","GetPositionNames"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositionUpperLimits","GetPositionUpperLimits"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositions","GetPositions"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositionsAndVelocities","GetPositionsAndVelocities"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetPositionsFromArray","GetPositionsFromArray"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetRigidBodyByName","GetRigidBodyByName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetStateNames","GetStateNames"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetTopologyGraphvizString","GetTopologyGraphvizString"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetUniqueFreeBaseBodyOrThrow","GetUniqueFreeBaseBodyOrThrow"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVelocities","GetVelocities"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVelocitiesFromArray","GetVelocitiesFromArray"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVelocityLowerLimits","GetVelocityLowerLimits"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVelocityNames","GetVelocityNames"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVelocityUpperLimits","GetVelocityUpperLimits"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.GetVisualGeometriesForBody","GetVisualGeometriesForBody"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasBodyNamed","HasBodyNamed"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasFrameNamed","HasFrameNamed"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasJointActuatorNamed","HasJointActuatorNamed"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasJointNamed","HasJointNamed"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasModelInstanceNamed","HasModelInstanceNamed"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.HasUniqueFreeBaseBody","HasUniqueFreeBaseBody"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.IsAnchored","IsAnchored"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.IsVelocityEqualToQDot","IsVelocityEqualToQDot"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MakeActuationMatrix","MakeActuationMatrix"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MakeActuationMatrixPseudoinverse","MakeActuationMatrixPseudoinverse"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MakeActuatorSelectorMatrix","MakeActuatorSelectorMatrix"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MakeStateSelectorMatrix","MakeStateSelectorMatrix"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MapQDotToVelocity","MapQDotToVelocity"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.MapVelocityToQDot","MapVelocityToQDot"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.NumBodiesWithName","NumBodiesWithName"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.RegisterAsSourceForSceneGraph","RegisterAsSourceForSceneGraph"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.RegisterCollisionGeometry","RegisterCollisionGeometry"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.RegisterVisualGeometry","RegisterVisualGeometry"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.RemoveConstraint","RemoveConstraint"],[40,2,1,"pydrake.multibody.plant.MultibodyPlant_-Expression-.RemoveJoint","RemoveJoint"],[40,2,1,"pyd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cspaceseparatingplan:[13,22],cspaceseparatingplane_:[13,22],ct:58,ctor:47,ctrl:50,cube:[20,42],cubic:[44,63],cubichermit:63,cubicshapepreserv:63,cubicwithcontinuoussecondderiv:63,cull:[20,44],cumul:20,cuong:38,cupboard:15,curat:[20,37],curl:20,curl_global_ack_eintr:20,curl_global_al:20,curl_global_cleanup:20,curl_global_init:20,current:[8,15,20,22,25,26,34,36,37,38,39,40,42,43,44,46,47,50,51,53,54,58,62,65],current_object:46,current_st:50,current_tim:50,curv:[22,26,42,44,63],curvatur:[20,38],custom:[20,24,54,62,65],cut:[40,46,54],cutoff:58,cv2:65,cv:40,cvxgrp:46,cwiseproduct:44,cx:[20,22,26,46,47,53,62],cy:[20,26,47,62],cycl:[15,54],cylind:[20,22,37,40,42],cylindr:[20,42],cz:[20,26,62],d1:46,d2:46,d3:46,d:[20,22,25,26,34,40,42,43,44,46,51,54,58,62,65],d_influenc:34,d_init:22,dae:50,dahleh:26,dai:[22,26,34,46],damp:[15,20,29,32,40,42,51],damper:[29,42,51],damping_ratio:42,dampingmodel:32,dangl:13,dare:26,dark:20,darker:65,dash:22,dashpot:42,data1:20,data2:20,data:[3,14,15,20,22,24,33,34,37,39,40,42,43,44,46,47,50,54,55,58,62,63,65],data_s:24,dataclass:14,date:[8,9,20,40,46,47,54],datum:54,david:44,db:58,dd:[8,9],ddot:[15,44],deactiv:22,dead:47,deadzon:20,deal:[9,20,22,40],debug:[1,15,20,22,23,25,26,39,40,42,44,46,51,54,62],debug_mathematical_program:46,debugg:54,decad:58,decai:42,decay_ratio:42,decid:[47,54],decis:[22,34,38,44,46,47,63],decision_vari:[22,46,47],decision_variable_index:46,decision_variable_mat:46,decision_variable_new_valu:46,decision_variables_new_valu:46,declar:[3,13,15,20,37,39,40,42,44,46,47,50,51,54,55,58,59,62],declare_forced_ev:54,declare_initialization_ev:[20,37,54],declare_p:54,declare_periodic_ev:54,declareabstractinputport:54,declareabstractoutputport:[20,54],declareabstractparamet:54,declareabstractst:54,declarecacheentri:54,declarecontinuousst:54,declarediscretest:54,declareforceddiscreteupdateev:54,declareforcedpublishev:[50,54],declareforcedunrestrictedupdateev:54,declareimageinputport:62,declareimplicittimederivativesresiduals:54,declareinequalityconstraint:54,declareinitializationdiscreteupdateev:54,declareinitializationev:54,declareinitializationpublishev:[50,54],declareinitializationunrestrictedupdateev:54,declareinputport:[54,58],declareleafoutputport_feedthrough:54,declarenumericparamet:54,declareoutputport:54,declareperiodicdiscreteupdateev:54,declareperiodicev:54,declareperiodicpublishev:54,declareperiodicunrestrictedupdateev:54,declareperstepdiscreteupdateev:54,declareperstepev:54,declarepersteppublishev:[50,54,55,58],declareperstepunrestrictedupdateev:54,declarestateoutputport:54,declarevectorinputport:54,declarevectoroutputport:54,decod:24,decompos:[26,44,46,47,62],decomposeaffineexpress:47,decomposel2normexpress:[46,47],decomposelinearexpress:47,decomposelumpedparamet:47,decomposepositivequadraticform:[26,46],decomposepsdmatrixintoxtransposetimesx:26,decomposequadraticpolynomi:47,decomposit:[22,26,46,47],decor:[8,9,61],decoupl:44,decreas:[3,40,42,44,46],decrement:[37,42,54,65],decrement_keycod:[20,37,65],deduc:3,deduct:26,deem:[20,22,26],deep:[20,22,40,54],deepcopi:50,deepli:20,deepnot:[20,39],def:[8,9,46,61],defattributesusingseri:14,default_angular_damp:42,default_clear_color:[20,62],default_color:20,default_color_render_camera:62,default_com:42,default_damp:42,default_damping_vector:42,default_depth_render_camera:62,default_diffus:20,default_force_limit:25,default_free_body_pos:39,default_gear_ratio:42,default_group_nam:20,default_illustration_color:65,default_input:58,default_joint_posit:39,default_mass:42,default_model_inst:[40,42],default_paramet:30,default_parent_frame_id:62,default_posit:42,default_positions_:42,default_proximity_color:65,default_proximity_properti:20,default_reflected_inertia:42,default_render_label:20,default_rgb:56,default_rot:42,default_rotational_inertia:42,default_rotor_inertia:42,default_scalar:54,default_se:3,default_spatial_inertia:42,default_transl:42,default_translational_damp:42,default_unit_inertia:42,default_valu:[20,44],default_x_pb:62,defaultproximityproperti:[20,40,65],defeat:54,defer:[3,20,24],defer_initi:24,defin:[3,7,8,12,20,22,23,24,25,26,30,33,34,35,39,40,42,43,44,46,47,50,51,53,54,55,58,61,62,63,65],definit:[20,22,26,35,39,40,42,43,46,47,50,51,53,54,58,62],deform:[20,32,35,40,42,54],deformable_body_configur:40,deformable_model:40,deformablebodyconfig:[32,40],deformablebodyconfig_:32,deformablebodyid:40,deformablemodel:40,deg:[12,40,42,46],degener:20,degrad:46,degre:[3,12,15,20,26,38,40,42,44,45,46,47,58,62,63],deit:[22,44,63],deits14:22,delai:[54,55,58,62],delaunai:22,delay_time_step:58,delayed_u:58,deleg:[54,61,65],delet:[3,20,24,37,40,50,54,58,65],delete_on_initialization_ev:[20,37,65],deleteaddedcontrol:20,deletebutton:20,deleterecord:20,deleteslid:20,delimit:[20,42,54,63],deliv:54,delp:[40,50],delta:44,demand:[20,22,65],demo:[37,65],demonstr:[40,42],demultiplex:58,demultiplexer_:58,deni:20,denomin:[20,22,47],denot:[3,12,20,22,26,34,35,40,42,44,50,58],dens:[40,43,46,50],densiti:[3,15,32,35,36,39,40,42,58],depend:[1,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