placo 0.4.9__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.5.1__0-cp310-cp310-manylinux_2_35_x86_64.whl

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

@@ -52,6 +52,7 @@ KinematicsSolver = typing.NewType("KinematicsSolver", None)
 KineticEnergyRegularizationTask = typing.NewType("KineticEnergyRegularizationTask", None)
 LIPM = typing.NewType("LIPM", None)
 LIPMTrajectory = typing.NewType("LIPMTrajectory", None)
+ManipulabilityTask = typing.NewType("ManipulabilityTask", None)
 OrientationTask = typing.NewType("OrientationTask", None)
 PointContact = typing.NewType("PointContact", None)
 PolygonConstraint = typing.NewType("PolygonConstraint", None)
@@ -2206,6 +2207,10 @@ class DynamicsSolver:
   ) -> DynamicsSolverResult:
     ...
 
+  torque_cost: float # double
+  """Cost for torque regularization. 
+        """
+
 
 class DynamicsSolverResult:
   def __init__(
@@ -2220,6 +2225,8 @@ class DynamicsSolverResult:
 
   tau: numpy.ndarray # Eigen::VectorXd
 
+  tau_contacts: numpy.ndarray # Eigen::VectorXd
+
   def tau_dict(
     arg1: DynamicsSolverResult,
     arg2: RobotWrapper,
@@ -3256,6 +3263,13 @@ class HumanoidRobot:
     """Gets the CoM position in the world."""
     ...
 
+  def compute_hessians(
+    self: HumanoidRobot,
+
+  ) -> None:
+    """Compute kinematics hessians."""
+    ...
+
   def dcm(
     self: HumanoidRobot,
     com_velocity: numpy.ndarray, # Eigen::Vector2d
@@ -3406,6 +3420,15 @@ class HumanoidRobot:
     :return: Center of mass velocity"""
     ...
 
+  def get_frame_hessian(
+    self: HumanoidRobot,
+    frame: any, # pinocchio::FrameIndex
+    joint_v_index: int, # int
+
+  ) -> numpy.ndarray:
+    """Get the component for the hessian of a given frame for a given joint."""
+    ...
+
   def get_joint(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -4351,6 +4374,23 @@ class KinematicsSolver:
     :return: regularization task"""
     ...
 
+  def add_manipulability_task(
+    self: KinematicsSolver,
+    frame: str, # std::string
+    type: str = "both", # std::string
+    lambda_: float = 1.0, # double
+
+  ) -> ManipulabilityTask:
+    """Adds a manipulability regularization task for a given magnitude. 
+        
+
+    :param frame: the reference frame 
+
+    :param type: type (position, orientation or both) 
+
+    :return: manipulability task"""
+    ...
+
   def add_orientation_task(
     self: KinematicsSolver,
     frame: str, # std::string
@@ -4383,6 +4423,17 @@ class KinematicsSolver:
     :return: position task"""
     ...
 
+  def add_q_noise(
+    self: KinematicsSolver,
+    noise: float = 1e-5, # double
+
+  ) -> None:
+    """Adds some noise on the configuration of the robot (q) 
+        
+
+    :param noise: noise level, expressed in ratio of the joint limits"""
+    ...
+
   def add_regularization_task(
     self: KinematicsSolver,
     magnitude: float = 1e-6, # double
@@ -4532,10 +4583,6 @@ class KinematicsSolver:
     """Decides if the floating base should be masked."""
     ...
 
-  noise: float # double
-  """Some configuration noise added before solving. 
-        """
-
   problem: Problem # placo::problem::Problem
   """The underlying QP problem. 
         """
@@ -4816,6 +4863,89 @@ class LIPMTrajectory:
     ...
 
 
+class ManipulabilityTask:
+  A: numpy.ndarray # Eigen::MatrixXd
+  """Matrix A in the task Ax = b, where x are the joint delta positions. 
+        """
+
+  def __init__(
+    self: ManipulabilityTask,
+    frame_index: any, # pinocchio::FrameIndex
+    type: any, # placo::kinematics::ManipulabilityTask::Type
+    lambda: float = 1.0, # double
+
+  ) -> any:
+    ...
+
+  b: numpy.ndarray # Eigen::MatrixXd
+  """Vector b in the task Ax = b, where x are the joint delta positions. 
+        """
+
+  def configure(
+    self: ManipulabilityTask,
+    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: ManipulabilityTask,
+
+  ) -> numpy.ndarray:
+    """Task errors (vector) 
+        
+
+    :return: task errors"""
+    ...
+
+  def error_norm(
+    self: ManipulabilityTask,
+
+  ) -> float:
+    """The task error norm. 
+        
+
+    :return: task error norm"""
+    ...
+
+  lambda: float # double
+  """Importance of the hessian regularization. 
+        """
+
+  manipulability: bool # bool
+  """The last computed manipulability value. 
+        """
+
+  minimize: bool # bool
+  """Should the manipulability be minimized (can be useful to find singularities) 
+        """
+
+  name: str # std::string
+  """Object name. 
+        """
+
+  priority: any # placo::kinematics::ConeConstraint::Priority
+  """Object priority. 
+        """
+
+  def update(
+    self: ManipulabilityTask,
+
+  ) -> None:
+    """Update the task A and b matrices from the robot state and targets."""
+    ...
+
+
 class OrientationTask:
   A: numpy.ndarray # Eigen::MatrixXd
   """Matrix A in the task Ax = b, where x are the joint delta positions. 
@@ -5692,6 +5822,13 @@ class RobotWrapper:
     """Gets the CoM position in the world."""
     ...
 
+  def compute_hessians(
+    self: RobotWrapper,
+
+  ) -> None:
+    """Compute kinematics hessians."""
+    ...
+
   def distances(
     self: RobotWrapper,
 
@@ -5785,6 +5922,15 @@ class RobotWrapper:
     :return: transformation"""
     ...
 
+  def get_frame_hessian(
+    self: RobotWrapper,
+    frame: any, # pinocchio::FrameIndex
+    joint_v_index: int, # int
+
+  ) -> numpy.ndarray:
+    """Get the component for the hessian of a given frame for a given joint."""
+    ...
+
   def get_joint(
     self: RobotWrapper,
     name: str, # const std::string &
@@ -7302,4 +7448,4 @@ def wrap_angle(
   ...
 
 
-__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']}
+__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', 'ManipulabilityTask', '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-0.4.9.dist-info → placo-0.5.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.4.9
+Version: 0.5.1
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.4.9.dist-info → placo-0.5.1.dist-info}/RECORD

@@ -1,14 +1,14 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=vKJUOLVjcBLHr4RaHBPyYuz7KNJKR1EUEudk4y-Wtzc,2551848
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=ZIMhSVrx42hF0DpkSWu_DtN97zfgf5lJbO7sMm8ZEsY,152214
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=GWEKAny3sedHSou8koGufCBHuZoWlQsdhba6ovAfgMU,7484904
+cmeel.prefix/lib/liblibplaco.so,sha256=kYmavGX_1qQcl5M9nvkiHiVRQfzK1-tPB-UqtE3Ieqo,2604920
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=r1m--2ext_65PTn2nwXZbVbP6Cv9jIWLjhP41soY7cI,155413
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=FkGMrGgSlnMRXlqC5emhGClhCBGLZlWtK3WELuKgOWk,7593632
 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=EOXNjYKiOSE2F4vbEXoFJ4UBbGBUvC5v4ANjYL3IUVo,7440
 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=LfGZpJjLlNUzlyCCMYOFItu5T9N9wnyrpqXsNKP3g38,6480
-placo-0.4.9.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.4.9.dist-info/METADATA,sha256=gJ5bE3IK0Fn0J26MkRMuQ2IIe4g-TL1DzAGhiv7HjTU,873
-placo-0.4.9.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
-placo-0.4.9.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.4.9.dist-info/RECORD,,
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=csu-iQsBSz2cD40662EShITueJ9_KY5jhSLqDlItRew,6485
+placo-0.5.1.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.5.1.dist-info/METADATA,sha256=9wlYzbI_O7Mdw6gQspfCckk3yj1v9o2fY_CJPHeiJOk,873
+placo-0.5.1.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
+placo-0.5.1.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.5.1.dist-info/RECORD,,