Metadata-Version: 2.4
Name: ub-clean-test
Version: 0.58.4
Summary: 机器人控制框架
Author: pengyeqin
Author-email: xxbj433@qq.com
Description-Content-Type: text/markdown
Requires-Dist: numpy>=1.21.0
Requires-Dist: scipy>=1.7.0
Dynamic: author
Dynamic: author-email
Dynamic: description
Dynamic: description-content-type
Dynamic: requires-dist
Dynamic: summary

```markdown
# ub-clean-test

[中文版](#chinese) | [English](#english)

---

## <a id="chinese"></a>中文版

一个模块化的机器人控制框架。

### 功能
- **基础控制**：PID、LQR、自适应控制
- **运动学**：逆运动学（速度级、位置级）
- **轨迹规划**：五次多项式平滑运动
- **路径规划**：RRT 快速扩展随机树
- **状态估计**：卡尔曼滤波
- **强化学习**：PPO 近端策略优化
- **自适应控制可视化**：（0.11.0 新增） 动态展示参数调整过程
- **线性倒立摆 (LIPM)**：双足机器人步态规划基础 (0.12.0 新增)
- **零力矩点 (ZMP)**：双足机器人稳定性判断 (0.13.0 新增)
- **模型预测控制 (MPC)**：步态预测与优化控制 (0.14.0 新增)
- **全身控制 (WBC)**：多任务协调（走路 + 上肢动作）(0.15.0 新增)
- **视觉-语言-动作 (VLA)**：听懂简单指令 (0.16.0 新增)
- **视觉感知 (Vision)**：检测物体颜色和位置 (0.17.0 新增)
- **任务规划 (Task Planning)**：听懂→看懂→行动 (0.18.1 新增)
- **经验记忆 (Experience Memory)**：记住成功经验，下次秒执行 (0.19.0 新增)
- **自动调参 (Auto-Tuning)**：自己找最优控制参数 (0.20.0 新增)
- **状态预测 (State Prediction)**：预判未来轨迹，提前避险 (0.21.0 新增)
- **安全规则库 (Safety Rules)**：定义机器人不能做的事 (0.22.0 新增)
- **自检系统 (Self-Diagnosis)**：检查自身状态，知道能不能干活 (0.23.0 新增)
- **故障恢复 (Fault Recovery)**：检测故障并尝试自动修复 (0.24.0 新增)
- **因果推理 (Causal Reasoning)**：理解“为什么”，做出更聪明的决策 (0.25.0 新增)
- **长期记忆 (Long-Term Memory)**：记住重要事件，重启也不丢 (0.26.2 新增)
- **意图识别 (Intent Recognition)**：猜别人想做什么 (0.27.0 新增)
- **好奇机制 (Curiosity)**：主动探索未知 (0.28.0 新增)
- **模仿学习 (Imitation Learning)**：看人做一遍就会 (0.29.0 新增)
- **自我反思 (Self-Reflection)**：回顾过去，总结教训 (0.30.0 新增)
- **时序推理 (Temporal Reasoning)**：理解顺序、估计耗时、安排时序 (0.31.0 新增)
- **空间推理 (Spatial Reasoning)**：理解方位、相对位置、空间关系 (0.32.0 新增)
- **情感识别 (Emotion Recognition)**：听懂情绪，调整回应 (0.33.0 新增)
- **情感表达 (Emotional Expression)**：根据情绪调整输出 (0.34.0 新增)
- **个性化记忆 (Personalized Memory)**：记住不同用户的信息和偏好 (0.35.0 新增)
- **人格调节 (Personality Tuning)**：调整机器人性格 (0.36.0 新增)
- **对话管理 (Dialogue Management)**：记住上下文，主动聊天 (0.37.0 新增)
- **元学习 (Meta Learning)**：学会如何学习，自我优化 (0.38.0 新增)
- **可解释性 (Explainability)**：解释决策原因 (0.39.0 新增)
- **主动学习 (Active Learning)**：不确定就问，主动学习 (0.40.1 新增)
- **组合推理 (Compositional Reasoning)**：理解多步、条件、并行、否定指令 (0.41.6 新增)
- **空间布局推理 (Spatial Layout Reasoning)**：理解房间布局 (0.42.94 新增)
- **时间感知 (Time Perception)**：理解时间概念 (0.43.0 新增)
- **距离感知 (Distance Perception)**：理解距离概念 (0.44.0 新增)
- **速度感知 (Speed Perception)**：理解速度概念 (0.45.3 新增)
- **重量感知 (Weight Perception)**：理解重量概念 (0.46.0 新增)
- **温度感知 (Temperature Perception)**：理解温度概念 (0.47.3 新增)
- **亮度感知 (Brightness Perception)**：理解亮度概念 (0.48.1 新增)
- **颜色感知 (Color Perception)**：理解颜色意义和偏好 (0.49.0 新增)
- **声音感知 (Sound Perception)**：理解声音概念 (0.50.3 新增)
- **触觉感知 (Touch Perception)**：理解触觉概念 (0.51.6 新增)
- **嗅觉感知 (Smell Perception)**：理解气味概念 (0.52.0 新增)
- **味觉感知 (Taste Perception)**：理解味道概念 (0.53.1 新增)
- **情感理解 (Emotion Understanding)**：理解情绪背后的原因 (0.54.0 新增)
- **意图理解 (Intent Understanding)**：理解隐含需求和意图 (0.55.0 新增)
- **幽默理解 (Humor Understanding)**：理解笑话和幽默 (0.56.1 新增)
- **比喻理解 (Metaphor Understanding)**：理解比喻、成语、隐喻、夸张 (0.57.0 新增)
- **逻辑推理 (Logical Reasoning)**：三段论、条件推理、逆向推理、链式推理（0.58.4 新增）



### 安装
```

pip install ub-clean-test

```

### 快速开始
```python
from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()
```

### 示例
- `demo_trajectory.py`：轨迹规划演示
- `demo_rrt.py`：RRT 路径规划演示
- `demo_ppo.py`：PPO 强化学习演示
- `demo_kalman.py`：卡尔曼滤波演示
- `demo_adaptive.py`：自适应控制演示（0.11.0 新增）
- `demo_lipm.py`：线性倒立摆演示 (0.12.0 新增)
- `demo_zmp.py`：ZMP 稳定性演示 (0.13.0 新增)
- `demo_mpc.py`：MPC 控制演示 (0.14.0 新增)
- `demo_wbc.py`：全身控制演示 (0.15.0 新增)
- `demo_vla.py`：VLA 演示 (0.16.0 新增)
- `demo_vision.py`：视觉感知演示 (0.17.0 新增)
- `demo_task.py`：任务规划演示 (0.18.1 新增)
- `demo_experience.py`：经验记忆演示 (0.19.0 新增)
- `demo_autotune.py`：自动调参演示 (0.20.0 新增)
- `demo_predict.py`：状态预测演示 (0.21.0 新增)
- `demo_safety.py`：安全规则演示 (0.22.0 新增)
- `demo_self_diagnosis.py`：自检系统演示 (0.23.0 新增)
- `demo_fault_recovery.py`：故障恢复演示 (0.24.0 新增)
- `demo_causal.py`：因果推理演示 (0.25.0 新增)
- `demo_long_term.py`：长期记忆演示 (0.26.2 新增)
- `demo_intent.py`：意图识别演示 (0.27.0 新增)
- `demo_curiosity.py`：好奇机制演示 (0.28.0 新增)
- `demo_imitation.py`：模仿学习演示 (0.29.0 新增)
- `demo_reflection.py`：自我反思演示 (0.30.0 新增)
- `demo_temporal.py`：时序推理演示 (0.31.0 新增)
- `demo_spatial.py`：空间推理演示 (0.32.0 新增)
- `demo_emotion.py`：情感识别演示 (0.33.0 新增)
- `demo_expression.py`：情感表达演示 (0.34.0 新增)
- `demo_personalized.py`：个性化记忆演示 (0.35.0 新增)
- `demo_personality.py`：人格调节演示 (0.36.0 新增)
- `demo_dialogue.py`：对话管理演示 (0.37.0 新增)
- `demo_meta.py`：元学习演示 (0.38.0 新增)
- `demo_explain.py`：可解释性演示 (0.39.0 新增)
- `demo_active.py`：主动学习演示 (0.40.1 新增)
- `demo_compositional.py`：组合推理演示 (0.41.6 新增)
- `demo_layout.py`：空间布局推理演示 (0.42.94 新增)
- `demo_time.py`：时间感知演示 (0.43.0 新增)
- `demo_distance.py`：距离感知演示 (0.44.0 新增)
- `demo_speed.py`：速度感知演示 (0.45.3 新增)
- `demo_weight.py`：重量感知演示 (0.46.0 新增)
- `demo_temperature.py`：温度感知演示 (0.47.3 新增)
- `demo_brightness.py`：亮度感知演示 (0.48.1 新增)
- `demo_color.py`：颜色感知演示 (0.49.0 新增)
- `demo_sound.py`：声音感知演示 (0.50.3 新增)
- `demo_touch.py`：触觉感知演示 (0.51.6 新增)
- `demo_smell.py`：嗅觉感知演示 (0.52.0 新增)
- `demo_taste.py`：味觉感知演示 (0.53.1 新增)
- `demo_emotion_understand.py`：情感理解演示 (0.54.0 新增)
- `demo_intent_understand.py`：意图理解演示 (0.55.0 新增)
- `demo_humor.py`：幽默理解演示 (0.56.1 新增)
- `demo_metaphor.py`：比喻理解演示 (0.57.0 新增)
- **demo_reasoning.py**：逻辑推理演示（0.58.4 新增）

---

<a id="english"></a>English Version

A modular robot control framework.

### Features
- **Control**: PID, LQR, adaptive control
- **Kinematics**: Forward/Inverse kinematics
- **Trajectory Planning**: Quintic polynomial
- **Path Planning**: RRT (Rapidly-exploring Random Tree)
- **State Estimation**: Kalman filter
- **Reinforcement Learning**: PPO (Proximal Policy Optimization)
- **Adaptive Control Visualization**: (new in 0.11.0) Dynamic visualization of gain adaptation
- **Linear Inverted Pendulum Model (LIPM)**: Foundation for bipedal robot gait planning (new in 0.12.0)
- **Zero Moment Point (ZMP)**: Bipedal robot stability criterion (new in 0.13.0)
- **Model Predictive Control (MPC)**: Gait prediction and optimization (new in 0.14.0)
- **Whole Body Control (WBC)**: Multi-task coordination (walk + arm) (new in 0.15.0)
- **Visual-Language-Action (VLA)**: Understand simple commands (new in 0.16.0)
- **Vision Perception**: Detect object color and position (new in 0.17.0)
- **Task Planning**: Understand → See → Act (new in 0.18.1)
- **Experience Memory**: Remember successful tasks, execute instantly next time (new in 0.19.0)
- **Auto-Tuning**: Find optimal control parameters automatically (new in 0.20.0)
- **State Prediction**: Predict future trajectory, avoid danger in advance (new in 0.21.0)
- **Safety Rules**: Define what the robot cannot do (new in 0.22.0)
- **Self-Diagnosis**: Check own status, know if ready to work (new in 0.23.0)
- **Fault Recovery**: Detect faults and try to recover automatically (new in 0.24.0)
- **Causal Reasoning**: Understand "why", make smarter decisions (new in 0.25.0)
- **Long-Term Memory**: Remember important events, survive restart (new in 0.26.2)
- **Intent Recognition**: Guess what others want to do (new in 0.27.0)
- **Curiosity Module**: Actively explore the unknown (new in 0.28.0)
- **Imitation Learning**: Learn from demonstration (new in 0.29.0)
- **Self-Reflection**: Review past, learn lessons (new in 0.30.0)
- **Temporal Reasoning**: Understand order, estimate time, schedule tasks (new in 0.31.0)
- **Spatial Reasoning**: Understand directions, relative positions, spatial relations (new in 0.32.0)
- **Emotion Recognition**: Understand emotions, adjust responses (new in 0.33.0)
- **Emotional Expression**: Adjust output based on emotion (new in 0.34.0)
- **Personalized Memory**: Remember different users' info and preferences (new in 0.35.0)
- **Personality Tuning**: Adjust robot personality (new in 0.36.0)
- **Dialogue Management**: Remember context, chat proactively (new in 0.37.0)
- **Meta Learning**: Learn how to learn, self-optimize (new in 0.38.0)
- **Explainability**: Explain decision reasons (new in 0.39.0)
- **Active Learning**: Ask when uncertain, learn proactively (new in 0.40.1)
- **Compositional Reasoning**: Understand multi-step, conditional, parallel, negative commands (new in 0.41.6)
- **Spatial Layout Reasoning**: Understand room layout (new in 0.42.94)
- **Time Perception**: Understand time concepts (new in 0.43.0)
- **Distance Perception**: Understand distance concepts (new in 0.44.0)
- **Speed Perception**: Understand speed concepts (new in 0.45.3)
- **Weight Perception**: Understand weight concepts (new in 0.46.0)
- **Temperature Perception**: Understand temperature concepts (new in 0.47.3)
- **Brightness Perception**: Understand brightness concepts (new in 0.48.1)
- **Color Perception**: Understand color meaning and preferences (new in 0.49.0)
- **Sound Perception**: Understand sound concepts (new in 0.50.3)
- **Touch Perception**: Understand touch concepts (new in 0.51.6)
- **Smell Perception**: Understand smell concepts (new in 0.52.0)
- **Taste Perception**: Understand taste concepts (new in 0.53.1)
- **Emotion Understanding**: Understand reasons behind emotions (new in 0.54.0)
- `demo_intent_understand.py`: Intent understanding demo (new in 0.55.0)
- **Humor Understanding**: Understand jokes and humor (new in 0.56.1)
- **Metaphor Understanding**: Understand metaphors, idioms, hyperbole (new in 0.57.0)
- **Logical Reasoning**：Syllogism, if-then reasoning, reverse reasoning, chain reasoning（new in 0.58.4）


Installation

```
pip install ub-clean-test
```

Quick Start

```python
from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()
```

Modules

· core/: Core algorithms (Kalman filter, PID, etc.)
· planning/: Path planning (A*, RRT)
· learning/: Reinforcement learning (PPO)

### Examples
- `demo_trajectory.py`: Trajectory planning demo
- `demo_rrt.py`: RRT path planning demo
- `demo_ppo.py`: PPO reinforcement learning demo
- `demo_kalman.py`: Kalman filter demo
- `demo_adaptive.py`: Adaptive control demo (new in 0.11.0)
- `demo_lipm.py`: Linear Inverted Pendulum demo (new in 0.12.0)
- `demo_zmp.py`: ZMP stability demo (new in 0.13.0)
- `demo_mpc.py`: MPC control demo (new in 0.14.0)
- `demo_wbc.py`: Whole Body Control demo (new in 0.15.0)
- `demo_vla.py`: VLA demo (new in 0.16.0)
- `demo_vision.py`: Vision perception demo (new in 0.17.0)
- `demo_task.py`: Task planning demo (new in 0.18.1)
- `demo_experience.py`: Experience memory demo (new in 0.19.0)
- `demo_autotune.py`: Auto-tuning demo (new in 0.20.0)
- `demo_predict.py`: State prediction demo (new in 0.21.0)
- `demo_safety.py`: Safety rules demo (new in 0.22.0)
- `demo_self_diagnosis.py`: Self-diagnosis demo (new in 0.23.0)
- `demo_fault_recovery.py`: Fault recovery demo (new in 0.24.0)
- `demo_causal.py`: Causal reasoning demo (new in 0.25.0)
- `demo_long_term.py`: Long-term memory demo (new in 0.26.2)
- `demo_intent.py`: Intent recognition demo (new in 0.27.0)
- `demo_curiosity.py`: Curiosity module demo (new in 0.28.0)
- `demo_imitation.py`: Imitation learning demo (new in 0.29.0)
- `demo_reflection.py`: Self-reflection demo (new in 0.30.0)
- `demo_temporal.py`: Temporal reasoning demo (new in 0.31.0)
- `demo_spatial.py`: Spatial reasoning demo (new in 0.32.0)
- `demo_emotion.py`: Emotion recognition demo (new in 0.33.0)
- `demo_expression.py`: Emotional expression demo (new in 0.34.0)
- `demo_personalized.py`: Personalized memory demo (new in 0.35.0)
- `demo_personality.py`: Personality tuning demo (new in 0.36.0)
- `demo_dialogue.py`: Dialogue management demo (new in 0.37.0)
- `demo_meta.py`: Meta learning demo (new in 0.38.0)
- `demo_explain.py`: Explainability demo (new in 0.39.0)
- `demo_active.py`: Active learning demo (new in 0.40.1)
- `demo_compositional.py`: Compositional reasoning demo (new in 0.41.6)
- `demo_layout.py`: Spatial layout reasoning demo (new in 0.42.94)
- `demo_time.py`: Time perception demo (new in 0.43.0)
- `demo_distance.py`: Distance perception demo (new in 0.44.0)
- `demo_speed.py`: Speed perception demo (new in 0.45.3)
- `demo_weight.py`: Weight perception demo (new in 0.46.0)
- `demo_temperature.py`: Temperature perception demo (new in 0.47.3)
- `demo_brightness.py`: Brightness perception demo (new in 0.48.1)
- `demo_color.py`: Color perception demo (new in 0.49.0)
- `demo_sound.py`: Sound perception demo (new in 0.50.3)
- `demo_touch.py`: Touch perception demo (new in 0.51.6)
- `demo_smell.py`: Smell perception demo (new in 0.52.0)
- `demo_taste.py`: Taste perception demo (new in 0.53.1)
- `demo_emotion_understand.py`: Emotion understanding demo (new in 0.54.0)
- `demo_intent_understand.py`: Intent understanding demo (new in 0.55.0)
- `demo_humor.py`: Humor understanding demo (new in 0.56.1)
- `demo_metaphor.py`: Metaphor understanding demo (new in 0.57.0)
- **demo_reasoning.py**：Logical reasoning demo（new in 0.58.4）
