placo 0.5.1__tar.gz → 0.5.4__tar.gz

{placo-0.5.1 → placo-0.5.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.5.1
+Version: 0.5.4
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.5.1 → placo-0.5.4}/bindings/expose-kinematics.cpp

@@ -222,7 +222,7 @@ void exposeKinematics()
 
   class__<ManipulabilityTask, bases<Task>>("ManipulabilityTask",
                                            init<RobotWrapper::FrameIndex, ManipulabilityTask::Type, double>())
-      .def_readwrite("lambda", &ManipulabilityTask::lambda)
+      .def_readwrite("lambda_", &ManipulabilityTask::lambda)
       .def_readwrite("minimize", &ManipulabilityTask::minimize)
       .def_readonly("manipulability", &ManipulabilityTask::manipulability);
 

{placo-0.5.1 → placo-0.5.4}/placo.pyi

@@ -4872,7 +4872,7 @@ class ManipulabilityTask:
     self: ManipulabilityTask,
     frame_index: any, # pinocchio::FrameIndex
     type: any, # placo::kinematics::ManipulabilityTask::Type
-    lambda: float = 1.0, # double
+    lambda_: float = 1.0, # double
 
   ) -> any:
     ...
@@ -4918,11 +4918,9 @@ class ManipulabilityTask:
     :return: task error norm"""
     ...
 
-  lambda: float # double
-  """Importance of the hessian regularization. 
-        """
+  lambda_: any
 
-  manipulability: bool # bool
+  manipulability: float # double
   """The last computed manipulability value. 
         """
 

{placo-0.5.1 → placo-0.5.4}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.8"
-version = "0.5.1"
+version = "0.5.4"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.5.1 → placo-0.5.4}/src/placo/kinematics/manipulability_task.cpp

@@ -30,7 +30,7 @@ void ManipulabilityTask::update()
   Eigen::MatrixXd J_unmasked = solver->robot.frame_jacobian(frame_index, pinocchio::LOCAL);
   Eigen::MatrixXd J = mask_matrix(J_unmasked);
   Eigen::MatrixXd JJT_inv = (J * J.transpose()).inverse();
-  double manipulability = sqrt(fmax(0., (J * J.transpose()).determinant()));
+  manipulability = sqrt(fmax(0., (J * J.transpose()).determinant()));
   solver->robot.compute_hessians();
 
   Eigen::VectorXd manipulability_gradient(solver->N - 6);

{placo-0.5.1 → placo-0.5.4}/src/placo/kinematics/manipulability_task.h

@@ -14,7 +14,7 @@ struct ManipulabilityTask : public Task
     BOTH = 2
   };
 
-  ManipulabilityTask(model::RobotWrapper::FrameIndex frame_index, Type type, double lambda = 1.0);
+  ManipulabilityTask(model::RobotWrapper::FrameIndex frame_index, Type type, double lambda_ = 1.0);
 
   virtual void update();
   virtual std::string type_name();
@@ -45,6 +45,6 @@ struct ManipulabilityTask : public Task
   /**
    * @brief The last computed manipulability value
    */
-  bool manipulability = 0.;
+  double manipulability = 0.;
 };
 }  // namespace placo::kinematics