placo 0.4.5__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.4.6__0-cp310-cp310-manylinux_2_35_x86_64.whl

cmeel.prefix/lib/python3.10/site-packages/placo.pyi

@@ -1113,6 +1113,23 @@ class DynamicsGearTask:
   ) -> None:
     ...
 
+  def add_gear(
+    self: DynamicsGearTask,
+    target: str, # std::string
+    source: str, # std::string
+    ratio: float, # double
+
+  ) -> None:
+    """Adds a gear constraint, you can add multiple source for the same target, they will be summed. 
+        
+
+    :param target: target joint 
+
+    :param source: source joint 
+
+    :param ratio: ratio"""
+    ...
+
   b: numpy.ndarray # Eigen::MatrixXd
   """b vector in Ax = b, where x is the accelerations 
         """
@@ -2057,6 +2074,18 @@ class DynamicsSolver:
   ) -> Contact:
     ...
 
+  gravity_only: bool # bool
+  """Use gravity only (no coriolis, no centrifugal) 
+        """
+
+  def mask_fbase(
+    self: DynamicsSolver,
+    masked: bool, # bool
+
+  ) -> None:
+    """Decides if the floating base should be masked."""
+    ...
+
   optimize_contact_forces: bool # bool
   """If true, the solver will try to optimize the contact forces by removing variables. 
         """
@@ -2137,6 +2166,7 @@ class DynamicsSolver:
 
   def solve(
     self: DynamicsSolver,
+    integrate: bool = False, # bool
 
   ) -> DynamicsSolverResult:
     ...
@@ -2810,6 +2840,23 @@ class GearTask:
     """see KinematicsSolver::add_gear_task"""
     ...
 
+  def add_gear(
+    self: GearTask,
+    target: str, # std::string
+    source: str, # std::string
+    ratio: float, # double
+
+  ) -> None:
+    """Adds a gear constraint, you can add multiple source for the same target, they will be summed. 
+        
+
+    :param target: target joint 
+
+    :param source: source joint 
+
+    :param ratio: ratio"""
+    ...
+
   b: numpy.ndarray # Eigen::MatrixXd
   """Vector b in the task Ax = b, where x are the joint delta positions. 
         """
@@ -3443,6 +3490,14 @@ class HumanoidRobot:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gravity(
+    self: HumanoidRobot,
+    gravity: numpy.ndarray, # Eigen::Vector3d
+
+  ) -> None:
+    """Sets the gravity vector."""
+    ...
+
   def set_joint(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -5660,6 +5715,14 @@ class RobotWrapper:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gravity(
+    self: RobotWrapper,
+    gravity: numpy.ndarray, # Eigen::Vector3d
+
+  ) -> None:
+    """Sets the gravity vector."""
+    ...
+
   def set_joint(
     self: RobotWrapper,
     name: str, # const std::string &

{placo-0.4.5.dist-info → placo-0.4.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.4.5
+Version: 0.4.6
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.4.5.dist-info → placo-0.4.6.dist-info}/RECORD

@@ -1,14 +1,14 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=SA39xaY6XsnDSh-nnGkbZZmfS6HQHoA0-t-_jc1tKZA,2393592
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=C0EpOn-C1H-F8_4j2AYldJo4OheP27ooWgNeeXMeTRo,144147
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=B5XSflarQi8u_nlCP-6jKS5ohoHAUB_ZRkDWwoZciu0,8966048
+cmeel.prefix/lib/liblibplaco.so,sha256=i1DP7aiiT29V20AUkzUUI-IiYj1NgDERwpjYsQcr8PU,2403184
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=HB_5dNRYuAvHO4ZvSAP1PmAAa1bCVNPUrCXj--Cd34w,145439
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=15wzTZ9yEayIoUDEREcmAA9weYF1KMuhlf646dJQXdM,9388056
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=hCcU3oQSzb2Si6P9V6n9oEtgigy6N4vjUn_f-bEHfs8,7344
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/__init__.cpython-310.pyc,sha256=tJrTajdA7hNO9tZkE1oN49rU-61lCNUED-mQXdAvzAs,261
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/tf.cpython-310.pyc,sha256=APWQ5-zKgbEcMnkv6Hxgj_Q46jpnuOyL9YbSrj6Z5Vw,204
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=0cG3me-2-43HytnSQYn-yhKHE2ccRQryeBPiU7Ux4-g,6430
-placo-0.4.5.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.4.5.dist-info/METADATA,sha256=eYRhmmySAk_f42M8j6kEChUrpURLAqhCty7_Ej0LReE,873
-placo-0.4.5.dist-info/WHEEL,sha256=8W7mo9EVXKwUW3PeHvgN2Bfs-uWcwwHZwDuI-r6aJW4,115
-placo-0.4.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.4.5.dist-info/RECORD,,
+placo-0.4.6.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.4.6.dist-info/METADATA,sha256=yAG6oo3mH3S0qLneOybQ-qfsPMUuHPYTI_bEUOF0gZc,873
+placo-0.4.6.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
+placo-0.4.6.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.4.6.dist-info/RECORD,,

{placo-0.4.5.dist-info → placo-0.4.6.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: cmeel 0.53.2
+Generator: cmeel 0.53.3
 Root-Is-Purelib: false
 Tag: cp310-cp310-manylinux_2_35_x86_64
 Build: 0