sim.contact_solve.SapContactSolveResult

class sim.contact_solve.SapContactSolveResult(v_env: array, v_flat: array, cost: array, previous_cost: array, grad: array, hessian: array, constraint_impulse: array, dynamics_impulse: array, contact_gamma: array, contact_g: array, contact_vc: array, contact_y: array, contact_rt: array, contact_rn: array, contact_cost: array, contact_mode: array, pd_active: array, pd_y: array, pd_gamma: array, pd_hdiag: array, pd_cost: array, pd_kp_eff: array, pd_kd_eff: array, limit_lower_active: array, limit_upper_active: array, limit_lower_gamma: array, limit_upper_gamma: array, limit_grad: array, limit_hdiag: array, limit_cost: array, first_dv: array, alpha: array, newton_iterations_env: array, line_search_iterations_env: array, newton_active: array, converged_env: array, optimality_reached_env: array, cost_reached_env: array, iterations: int, line_search_iterations: int, converged: bool)

Bases: object

Views into buffers owned by SapContactSolve.

__init__(v_env: array, v_flat: array, cost: array, previous_cost: array, grad: array, hessian: array, constraint_impulse: array, dynamics_impulse: array, contact_gamma: array, contact_g: array, contact_vc: array, contact_y: array, contact_rt: array, contact_rn: array, contact_cost: array, contact_mode: array, pd_active: array, pd_y: array, pd_gamma: array, pd_hdiag: array, pd_cost: array, pd_kp_eff: array, pd_kd_eff: array, limit_lower_active: array, limit_upper_active: array, limit_lower_gamma: array, limit_upper_gamma: array, limit_grad: array, limit_hdiag: array, limit_cost: array, first_dv: array, alpha: array, newton_iterations_env: array, line_search_iterations_env: array, newton_active: array, converged_env: array, optimality_reached_env: array, cost_reached_env: array, iterations: int, line_search_iterations: int, converged: bool) → None

Methods

__init__(v_env, v_flat, cost, previous_cost, ...)

Attributes

v_env
v_flat
cost
previous_cost
grad
hessian
constraint_impulse
dynamics_impulse
contact_gamma
contact_g
contact_vc
contact_y
contact_rt
contact_rn
contact_cost
contact_mode
pd_active
pd_y
pd_gamma
pd_hdiag
pd_cost
pd_kp_eff
pd_kd_eff
limit_lower_active
limit_upper_active
limit_lower_gamma
limit_upper_gamma
limit_grad
limit_hdiag
limit_cost
first_dv
alpha
newton_iterations_env
line_search_iterations_env
newton_active
converged_env
optimality_reached_env
cost_reached_env
iterations
line_search_iterations
converged