placo 0.4.6__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.4.7__0-cp310-cp310-manylinux_2_35_x86_64.whl

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

@@ -29,6 +29,7 @@ DynamicsRelativePositionTask = typing.NewType("DynamicsRelativePositionTask", No
 DynamicsSolver = typing.NewType("DynamicsSolver", None)
 DynamicsSolverResult = typing.NewType("DynamicsSolverResult", None)
 DynamicsTask = typing.NewType("DynamicsTask", None)
+DynamicsTorqueTask = typing.NewType("DynamicsTorqueTask", None)
 Exception = typing.NewType("Exception", None)
 Expression = typing.NewType("Expression", None)
 ExternalWrenchContact = typing.NewType("ExternalWrenchContact", None)
@@ -48,6 +49,7 @@ IntegratorTrajectory = typing.NewType("IntegratorTrajectory", None)
 JointsTask = typing.NewType("JointsTask", None)
 KinematicsConstraint = typing.NewType("KinematicsConstraint", None)
 KinematicsSolver = typing.NewType("KinematicsSolver", None)
+KineticEnergyRegularizationTask = typing.NewType("KineticEnergyRegularizationTask", None)
 LIPM = typing.NewType("LIPM", None)
 LIPMTrajectory = typing.NewType("LIPMTrajectory", None)
 OrientationTask = typing.NewType("OrientationTask", None)
@@ -1796,8 +1798,6 @@ class DynamicsSolver:
     """Adds a joints task. 
         
 
-    :param target: target joints values 
-
     :return: joints task"""
     ...
 
@@ -1994,6 +1994,16 @@ class DynamicsSolver:
     :return: task contact"""
     ...
 
+  def add_torque_task(
+    self: DynamicsSolver,
+
+  ) -> DynamicsTorqueTask:
+    """Adds a torque task. 
+        
+
+    :return: torque task"""
+    ...
+
   def add_unilateral_point_contact(
     self: DynamicsSolver,
     position_task: DynamicsPositionTask, # placo::dynamics::PositionTask
@@ -2086,10 +2096,6 @@ class DynamicsSolver:
     """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. 
-        """
-
   problem: Problem # placo::problem::Problem
   """Instance of the problem. 
         """
@@ -2153,17 +2159,6 @@ class DynamicsSolver:
     :param kd: kd gain if the joint is a spring (0 by default)"""
     ...
 
-  def set_static(
-    self: DynamicsSolver,
-    is_static: bool, # bool
-
-  ) -> None:
-    """Sets the robot as static, this will impose the joint accelerations to be zero. 
-        
-
-    :param is_static: whether the robot should be static"""
-    ...
-
   def solve(
     self: DynamicsSolver,
     integrate: bool = False, # bool
@@ -2253,6 +2248,81 @@ class DynamicsTask:
         """
 
 
+class DynamicsTorqueTask:
+  A: numpy.ndarray # Eigen::MatrixXd
+  """A matrix in Ax = b, where x is the accelerations. 
+        """
+
+  def __init__(
+    arg1: object,
+
+  ) -> None:
+    ...
+
+  b: numpy.ndarray # Eigen::MatrixXd
+  """b vector in Ax = b, where x is the accelerations 
+        """
+
+  def configure(
+    self: DynamicsTorqueTask,
+    name: str, # std::string
+    priority: any, # placo::kinematics::ConeConstraint::Priority
+    weight: float = 1.0, # double
+
+  ) -> None:
+    """Configures the object. 
+        
+
+    :param name: task name 
+
+    :param priority: task priority (hard, soft or scaled) 
+
+    :param weight: task weight"""
+    ...
+
+  critically_damped: bool # bool
+  """If this is true, kd will be computed from kp to have a critically damped system. 
+        """
+
+  derror: numpy.ndarray # Eigen::MatrixXd
+  """Current velocity error vector. 
+        """
+
+  error: numpy.ndarray # Eigen::MatrixXd
+  """Current error vector. 
+        """
+
+  kd: float # double
+  """D gain for position control. 
+        """
+
+  kp: float # double
+  """K gain for position control. 
+        """
+
+  name: str # std::string
+  """Object name. 
+        """
+
+  priority: any # placo::kinematics::ConeConstraint::Priority
+  """Object priority. 
+        """
+
+  def set_torque(
+    self: DynamicsTorqueTask,
+    joint: str, # std::string
+    torque: float, # double
+
+  ) -> None:
+    """Sets the target for a given joint. 
+        
+
+    :param joint: joint name 
+
+    :param torque: target torque"""
+    ...
+
+
 class Exception:
   def __init__(
     arg1: object,
@@ -3363,6 +3433,30 @@ class HumanoidRobot:
   ) -> HumanoidRobot_Side:
     ...
 
+  def get_torques(
+    self: HumanoidRobot,
+    acc_a: numpy.ndarray, # Eigen::VectorXd
+    contact_forces: numpy.ndarray, # Eigen::VectorXd
+
+  ) -> numpy.ndarray:
+    """Compute the torques of the motors from the contact forces. 
+        
+
+    :param acc_a: Accelerations of the actuated DoFs 
+
+    :param contact_forces: Contact forces from the feet (forces are supposed normal to the ground) 
+
+    :return: Torques of the motors"""
+    ...
+
+  def get_torques_dict(
+    arg1: HumanoidRobot,
+    arg2: numpy.ndarray,
+    arg3: numpy.ndarray,
+
+  ) -> dict:
+    ...
+
   def integrate(
     self: HumanoidRobot,
     dt: float, # double
@@ -4180,6 +4274,19 @@ class KinematicsSolver:
     :return: joints task"""
     ...
 
+  def add_kinetic_energy_regularization_task(
+    self: KinematicsSolver,
+    magnitude: float = 1e-6, # double
+
+  ) -> KineticEnergyRegularizationTask:
+    """Adds a kinetic energy regularization task for a given magnitude. 
+        
+
+    :param magnitude: regularization magnitude 
+
+    :return: regularization task"""
+    ...
+
   def add_orientation_task(
     self: KinematicsSolver,
     frame: str, # std::string
@@ -4431,6 +4538,74 @@ class KinematicsSolver:
     ...
 
 
+class KineticEnergyRegularizationTask:
+  A: numpy.ndarray # Eigen::MatrixXd
+  """Matrix A in the task Ax = b, where x are the joint delta positions. 
+        """
+
+  def __init__(
+    arg1: object,
+
+  ) -> None:
+    ...
+
+  b: numpy.ndarray # Eigen::MatrixXd
+  """Vector b in the task Ax = b, where x are the joint delta positions. 
+        """
+
+  def configure(
+    self: KineticEnergyRegularizationTask,
+    name: str, # std::string
+    priority: any, # placo::kinematics::ConeConstraint::Priority
+    weight: float = 1.0, # double
+
+  ) -> None:
+    """Configures the object. 
+        
+
+    :param name: task name 
+
+    :param priority: task priority (hard, soft or scaled) 
+
+    :param weight: task weight"""
+    ...
+
+  def error(
+    self: KineticEnergyRegularizationTask,
+
+  ) -> numpy.ndarray:
+    """Task errors (vector) 
+        
+
+    :return: task errors"""
+    ...
+
+  def error_norm(
+    self: KineticEnergyRegularizationTask,
+
+  ) -> float:
+    """The task error norm. 
+        
+
+    :return: task error norm"""
+    ...
+
+  name: str # std::string
+  """Object name. 
+        """
+
+  priority: any # placo::kinematics::ConeConstraint::Priority
+  """Object priority. 
+        """
+
+  def update(
+    self: KineticEnergyRegularizationTask,
+
+  ) -> None:
+    """Update the task A and b matrices from the robot state and targets."""
+    ...
+
+
 class LIPM:
   """LIPM is an helper that can be used to build problem involving LIPM dynamics. The decision variables introduced here are jerks, which is piecewise constant. 
     """
@@ -7027,4 +7202,4 @@ def wrap_angle(
   ...
 
 
-__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsReactionRatioConstraint', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'ExternalWrenchContact', 'PointContact', 'PuppetContact', 'Relative6DContact', 'RelativePointContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Prioritized'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WalkPatternGenerator', 'WalkTasks', 'WalkTrajectory']}
+__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsReactionRatioConstraint', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'PointContact', 'PuppetContact', 'Relative6DContact', 'RelativePointContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Prioritized'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WalkPatternGenerator', 'WalkTasks', 'WalkTrajectory']}

{placo-0.4.6.dist-info → placo-0.4.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.4.6
+Version: 0.4.7
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.4.6.dist-info → placo-0.4.7.dist-info}/RECORD

@@ -1,14 +1,14 @@
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 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
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+placo-0.4.7.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.4.7.dist-info/METADATA,sha256=UQtbpEGfUnJFhRUcW60Q_Tz5u5Tq6fu77bnQv9rf5mA,873
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