# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from collections.abc import Sequence
from dataclasses import MISSING
from typing import TYPE_CHECKING
from isaaclab.utils import configclass
if TYPE_CHECKING:
from .operational_space import NewtonOperationalSpaceController
[docs]
@configclass
class NewtonOperationalSpaceControllerCfg:
"""Configuration for :class:`NewtonOperationalSpaceController`.
The fields map one-to-one onto :class:`newton.controllers.ControllerOperationalSpaceModelFree`, whose
defaults they mirror, and Newton validates the combination at construction. Per-axis values are a scalar or
a ``(x, y, z, roll, pitch, yaw)`` tuple expressed in the operational frame. A gain or frame left at ``None``
is read live from :meth:`~NewtonOperationalSpaceController.compute`.
Motion and null-space gains are in [1/s²] and [1/s] with :attr:`use_inertia_decoupling`, otherwise in
force per unit error.
"""
class_type: type[NewtonOperationalSpaceController] | str = (
"{DIR}.operational_space:NewtonOperationalSpaceController"
)
"""The associated controller class."""
motion_stiffness: float | tuple[float, float, float, float, float, float] | None = MISSING
"""Task-space pose-error gain Kp."""
motion_damping: float | tuple[float, float, float, float, float, float] | None = MISSING
"""Task-space velocity-error gain Kd."""
operational_frame_pose: tuple[float, ...] | None = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)
"""Pose ``(x, y, z, qx, qy, qz, qw)`` [m, unitless] of the frame that gains and targets are expressed in.
Defaults to the frame of the other inputs.
"""
use_inertia_decoupling: bool = True
"""Whether to decouple the task dynamics with the task-space inertia. Requires at least six joints."""
use_partial_inertia_decoupling: bool = False
"""Whether to ignore coupling between translational and rotational inertia when decoupling."""
use_gravity_compensation: bool = True
"""Whether to add the gravity generalized forces to the output."""
use_wrench_feedforward: bool = False
"""Whether to command the desired wrench directly on the wrench-selected axes."""
use_wrench_feedback: bool = False
"""Whether to correct the wrench command with the measured-wrench error."""
motion_selection_axes: tuple[float, float, float, float, float, float] | None = None
"""Motion-controlled axes. Only used with wrench control; defaults to all axes."""
wrench_selection_axes: tuple[float, float, float, float, float, float] | None = None
"""Wrench-controlled axes. Required with wrench control."""
wrench_stiffness: float | tuple[float, float, float, float, float, float] | None = None
"""Dimensionless wrench-error gain. Only used with :attr:`use_wrench_feedback`."""
linear_selection_frame: tuple[float, float, float, float] | None = (0.0, 0.0, 0.0, 1.0)
"""Orientation ``(qx, qy, qz, qw)`` of the frame for the linear selection axes, in the operational frame."""
angular_selection_frame: tuple[float, float, float, float] | None = (0.0, 0.0, 0.0, 1.0)
"""Orientation ``(qx, qy, qz, qw)`` of the frame for the angular selection axes, in the operational frame."""
use_null_space_control: bool = False
"""Whether to track a joint posture target in the task null space. Requires more than six joints."""
null_space_stiffness: float | Sequence[float] | None = None
"""Posture position-error gain, scalar or per joint. Only used with :attr:`use_null_space_control`."""
null_space_damping: float | Sequence[float] | None = None
"""Posture velocity-error gain, scalar or per joint. Only used with :attr:`use_null_space_control`."""
