placo 0.5.5__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.5.9__0-cp310-cp310-manylinux_2_35_x86_64.whl

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

@@ -22,7 +22,6 @@ DynamicsGearTask = typing.NewType("DynamicsGearTask", None)
 DynamicsJointsTask = typing.NewType("DynamicsJointsTask", None)
 DynamicsOrientationTask = typing.NewType("DynamicsOrientationTask", None)
 DynamicsPositionTask = typing.NewType("DynamicsPositionTask", None)
-DynamicsReactionRatioConstraint = typing.NewType("DynamicsReactionRatioConstraint", None)
 DynamicsRelativeFrameTask = typing.NewType("DynamicsRelativeFrameTask", None)
 DynamicsRelativeOrientationTask = typing.NewType("DynamicsRelativeOrientationTask", None)
 DynamicsRelativePositionTask = typing.NewType("DynamicsRelativePositionTask", None)
@@ -63,10 +62,8 @@ ProblemConstraint = typing.NewType("ProblemConstraint", None)
 PuppetContact = typing.NewType("PuppetContact", None)
 QPError = typing.NewType("QPError", None)
 RegularizationTask = typing.NewType("RegularizationTask", None)
-Relative6DContact = typing.NewType("Relative6DContact", None)
 RelativeFrameTask = typing.NewType("RelativeFrameTask", None)
 RelativeOrientationTask = typing.NewType("RelativeOrientationTask", None)
-RelativePointContact = typing.NewType("RelativePointContact", None)
 RelativePositionTask = typing.NewType("RelativePositionTask", None)
 RobotWrapper = typing.NewType("RobotWrapper", None)
 RobotWrapper_State = typing.NewType("RobotWrapper_State", None)
@@ -266,7 +263,7 @@ class AxisesMask:
   """Used to mask some task axises. 
     """
   R_custom_world: numpy.ndarray # Eigen::Matrix3d
-  """ROtation from world to custom rotation (provided by the user) 
+  """Rotation from world to custom rotation (provided by the user) 
         """
 
   R_local_world: numpy.ndarray # Eigen::Matrix3d
@@ -718,6 +715,19 @@ class CubicSpline:
   ) -> any:
     ...
 
+  def acc(
+    self: CubicSpline,
+    x: float, # double
+
+  ) -> float:
+    """Retrieve acceleration at a given time. 
+        
+
+    :param t: time 
+
+    :return: acceleration"""
+    ...
+
   def add_point(
     self: CubicSpline,
     t: float, # double
@@ -786,6 +796,19 @@ class CubicSpline3D:
   ) -> None:
     ...
 
+  def acc(
+    self: CubicSpline3D,
+    t: float, # double
+
+  ) -> numpy.ndarray:
+    """Returns the spline accleeration at time t. 
+        
+
+    :param t: time 
+
+    :return: acceleration (3D vector)"""
+    ...
+
   def add_point(
     self: CubicSpline3D,
     t: float, # double
@@ -1002,10 +1025,6 @@ class DynamicsCoMTask:
     :param weight: task weight"""
     ...
 
-  critically_damped: bool # bool
-  """If this is true, kd will be computed from kp to have a critically damped system. 
-        """
-
   ddtarget_world: numpy.ndarray # Eigen::Vector3d
   """Target acceleration in the world. 
         """
@@ -1023,7 +1042,7 @@ class DynamicsCoMTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1170,10 +1189,6 @@ class DynamicsGearTask:
     :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. 
         """
@@ -1183,7 +1198,7 @@ class DynamicsGearTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1248,10 +1263,6 @@ class DynamicsJointsTask:
     :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. 
         """
@@ -1261,7 +1272,7 @@ class DynamicsJointsTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1349,10 +1360,6 @@ class DynamicsOrientationTask:
     :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. 
         """
@@ -1366,7 +1373,7 @@ class DynamicsOrientationTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1424,8 +1431,8 @@ class DynamicsPositionTask:
     :param weight: task weight"""
     ...
 
-  critically_damped: bool # bool
-  """If this is true, kd will be computed from kp to have a critically damped system. 
+  ddtarget_world: numpy.ndarray # Eigen::Vector3d
+  """Target acceleration in the world. 
         """
 
   derror: numpy.ndarray # Eigen::MatrixXd
@@ -1445,7 +1452,7 @@ class DynamicsPositionTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1469,45 +1476,6 @@ class DynamicsPositionTask:
         """
 
 
-class DynamicsReactionRatioConstraint:
-  def __init__(
-    arg1: object,
-    arg2: Contact,
-    arg3: float,
-
-  ) -> None:
-    ...
-
-  def configure(
-    self: DynamicsReactionRatioConstraint,
-    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"""
-    ...
-
-  name: str # std::string
-  """Object name. 
-        """
-
-  priority: any # placo::kinematics::ConeConstraint::Priority
-  """Object priority. 
-        """
-
-  reaction_ratio: float # double
-  """Reaction ratio to be enforced. 
-        """
-
-
 class DynamicsRelativeFrameTask:
   T_a_b: any
 
@@ -1591,10 +1559,6 @@ class DynamicsRelativeOrientationTask:
     :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. 
         """
@@ -1608,7 +1572,7 @@ class DynamicsRelativeOrientationTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1667,12 +1631,8 @@ class DynamicsRelativePositionTask:
     :param weight: task weight"""
     ...
 
-  critically_damped: bool # bool
-  """If this is true, kd will be computed from kp to have a critically damped system. 
-        """
-
   ddtarget: numpy.ndarray # Eigen::Vector3d
-  """Target relative velocity. 
+  """Target relative acceleration. 
         """
 
   derror: numpy.ndarray # Eigen::MatrixXd
@@ -1688,7 +1648,7 @@ class DynamicsRelativePositionTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1759,6 +1719,7 @@ class DynamicsSolver:
   def add_external_wrench_contact(
     self: DynamicsSolver,
     frame_name: str, # std::string
+    reference: str = "world", # std::string
 
   ) -> ExternalWrenchContact:
     """Adds an external wrench. 
@@ -1766,6 +1727,8 @@ class DynamicsSolver:
 
     :param frame_name: frame 
 
+    :param reference: reference frame (world or local) 
+
     :return: external wrench contact"""
     ...
 
@@ -1886,35 +1849,6 @@ class DynamicsSolver:
     :return: puppet contact"""
     ...
 
-  def add_reaction_ratio_constraint(
-    self: DynamicsSolver,
-    contact: Contact, # placo::dynamics::Contact
-    reaction_ratio: float, # double
-
-  ) -> DynamicsReactionRatioConstraint:
-    """Adds a constraint enforce reaction ratio. 
-        
-
-    :param contact: contact 
-
-    :param reaction_ratio: reaction ratio to enforce 
-
-    :return: reaction ratio constraint"""
-    ...
-
-  def add_relative_fixed_contact(
-    self: DynamicsSolver,
-    frame_task: DynamicsRelativeFrameTask, # placo::dynamics::RelativeFrameTask
-
-  ) -> Relative6DContact:
-    """Adds a relative fixed contact, can be used for fixed closed loops. 
-        
-
-    :param frame_task: the associated relative frame task 
-
-    :return: relative fixed contact"""
-    ...
-
   def add_relative_frame_task(
     self: DynamicsSolver,
     frame_a_name: str, # std::string
@@ -1953,19 +1887,6 @@ class DynamicsSolver:
     :return: relative orientation task"""
     ...
 
-  def add_relative_point_contact(
-    self: DynamicsSolver,
-    position_task: DynamicsRelativePositionTask, # placo::dynamics::RelativePositionTask
-
-  ) -> RelativePointContact:
-    """Adds a relative point contact, which can be typically used for internal forces like loop-closing. 
-        
-
-    :param position_task: associated relative position task 
-
-    :return: relative point contact"""
-    ...
-
   def add_relative_position_task(
     self: DynamicsSolver,
     frame_a_name: str, # std::string
@@ -2047,6 +1968,10 @@ class DynamicsSolver:
   ) -> int:
     ...
 
+  damping: float # double
+  """Global damping that is added to all the joints. 
+        """
+
   dt: float # double
   """Solver dt (seconds) 
         """
@@ -2090,10 +2015,6 @@ class DynamicsSolver:
     """Enables the velocity vs torque inequalities."""
     ...
 
-  friction: float # double
-  """Global friction that is added to all the joints. 
-        """
-
   def get_contact(
     arg1: DynamicsSolver,
     arg2: int,
@@ -2117,10 +2038,6 @@ class DynamicsSolver:
   """Instance of the problem. 
         """
 
-  qdd_safe: float # double
-  """The value of qdd safe. 
-        """
-
   def remove_constraint(
     self: DynamicsSolver,
     constraint: DynamicsConstraint, # placo::dynamics::Constraint
@@ -2154,50 +2071,56 @@ class DynamicsSolver:
     :param task: frame task"""
     ...
 
-  def reset_joint(
+  robot: RobotWrapper # placo::model::RobotWrapper
+
+  def set_kd(
     self: DynamicsSolver,
-    joint_name: str, # const std::string &
+    kd: float, # double
 
   ) -> None:
-    """Resets a given joint so that its torque is no longer overriden. 
+    """Set the kp for all tasks. 
         
 
-    :param joint_name: the joint"""
+    :param kpd:"""
     ...
 
-  robot: RobotWrapper # placo::model::RobotWrapper
-
-  def set_passive(
+  def set_kp(
     self: DynamicsSolver,
-    joint_name: str, # const std::string &
-    kp: float = 0., # double
-    kd: float = 0., # double
+    kp: float, # double
 
   ) -> None:
-    """Sets a DoF as passive, the corresponding tau will be fixed in the equation of motion it can be purely passive joint or a spring-like behaviour. 
+    """Set the kp for all tasks. 
         
 
-    :param joint_name: the joint 
+    :param kp:"""
+    ...
+
+  def set_qdd_safe(
+    self: DynamicsSolver,
+    joint: str, # std::string
+    qdd: float, # double
 
-    :param is_passive: true if the should the joint be passive 
+  ) -> None:
+    """Sets the "safe" Qdd acceptable for a given joint (used by joint limits) 
+        
 
-    :param kp: kp gain if the joint is a spring (0 by default) 
+    :param joint: 
 
-    :param kd: kd gain if the joint is a spring (0 by default)"""
+    :param qdd:"""
     ...
 
-  def set_tau(
+  def set_torque_limit(
     self: DynamicsSolver,
-    joint_name: str, # const std::string &
-    tau: float, # double
+    joint: str, # std::string
+    limit: float, # double
 
   ) -> None:
-    """Sets a custom torque to be applied by a given joint. 
+    """Sets the allowed torque limit by the solver for a given joint. This will not affect the robot's model effort limit. When computing the velocity vs torque limit, the robot's model effort will still be used. You can see this limit as a continuous limit allowable for the robot, while the robot's model limit is the maximum possible torque. 
         
 
-    :param joint_name: the joint 
+    :param joint: 
 
-    :param tau: torque"""
+    :param limit:"""
     ...
 
   def solve(
@@ -2208,7 +2131,7 @@ class DynamicsSolver:
     ...
 
   torque_cost: float # double
-  """Cost for torque regularization. 
+  """Cost for torque regularization (1e-3 by default) 
         """
 
 
@@ -2266,10 +2189,6 @@ class DynamicsTask:
     :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. 
         """
@@ -2279,7 +2198,7 @@ class DynamicsTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -2327,10 +2246,6 @@ class DynamicsTorqueTask:
     :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. 
         """
@@ -2340,7 +2255,7 @@ class DynamicsTorqueTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -2355,10 +2270,23 @@ class DynamicsTorqueTask:
   """Object priority. 
         """
 
+  def reset_torque(
+    self: DynamicsTorqueTask,
+    joint: str, # std::string
+
+  ) -> None:
+    """Removes a joint from this task. 
+        
+
+    :param joint: joint namle"""
+    ...
+
   def set_torque(
     self: DynamicsTorqueTask,
     joint: str, # std::string
     torque: float, # double
+    kp: float = 0.0, # double
+    kd: float = 0.0, # double
 
   ) -> None:
     """Sets the target for a given joint. 
@@ -2366,7 +2294,11 @@ class DynamicsTorqueTask:
 
     :param joint: joint name 
 
-    :param torque: target torque"""
+    :param torque: target torque 
+
+    :param kp: proportional gain (optional) 
+
+    :param kd: derivative gain (optional)"""
     ...
 
 
@@ -2535,6 +2467,7 @@ class ExternalWrenchContact:
   def __init__(
     self: ExternalWrenchContact,
     frame_index: any, # pinocchio::FrameIndex
+    reference: any, # pinocchio::ReferenceFrame
 
   ) -> any:
     """see DynamicsSolver::add_external_wrench_contact"""
@@ -3232,6 +3165,24 @@ class HumanoidRobot:
   ) -> any:
     ...
 
+  def add_q_noise(
+    self: HumanoidRobot,
+    noise: float, # double
+
+  ) -> None:
+    """Adds some noise to the configuration."""
+    ...
+
+  def centroidal_map(
+    self: HumanoidRobot,
+
+  ) -> numpy.ndarray:
+    """Centroidal map. 
+        
+
+    :return: jacobian (6 x n matrix)"""
+    ...
+
   collision_model: any # pinocchio::GeometryModel
   """Pinocchio collision model. 
         """
@@ -4423,17 +4374,6 @@ 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
@@ -5028,6 +4968,10 @@ class OrientationTask:
 
 
 class PointContact:
+  R_world_surface: numpy.ndarray # Eigen::Matrix3d
+  """rotation matrix expressing the surface frame in the world frame (for unilateral contact) 
+        """
+
   def __init__(
     self: PointContact,
     position_task: DynamicsPositionTask, # placo::dynamics::PositionTask
@@ -5486,36 +5430,6 @@ class RegularizationTask:
     ...
 
 
-class Relative6DContact:
-  def __init__(
-    self: Relative6DContact,
-    frame_task: DynamicsRelativeFrameTask, # placo::dynamics::RelativeFrameTask
-
-  ) -> any:
-    """see DynamicsSolver::add_relative_fixed_contact"""
-    ...
-
-  active: bool # bool
-  """true if the contact is active (ignored by the solver else, this allow to enable/disable a contact without removing it from the solver) 
-        """
-
-  mu: float # double
-  """Coefficient of friction (if relevant) 
-        """
-
-  weight_forces: float # double
-  """Weight of forces for the optimization (if relevant) 
-        """
-
-  weight_moments: float # double
-  """Weight of moments for optimization (if relevant) 
-        """
-
-  wrench: numpy.ndarray # Eigen::VectorXd
-  """Wrench populated after the DynamicsSolver::solve call. 
-        """
-
-
 class RelativeFrameTask:
   T_a_b: any
 
@@ -5651,36 +5565,6 @@ class RelativeOrientationTask:
     ...
 
 
-class RelativePointContact:
-  def __init__(
-    self: RelativePointContact,
-    position_task: DynamicsRelativePositionTask, # placo::dynamics::RelativePositionTask
-
-  ) -> any:
-    """see DynamicsSolver::add_relative_point_contact"""
-    ...
-
-  active: bool # bool
-  """true if the contact is active (ignored by the solver else, this allow to enable/disable a contact without removing it from the solver) 
-        """
-
-  mu: float # double
-  """Coefficient of friction (if relevant) 
-        """
-
-  weight_forces: float # double
-  """Weight of forces for the optimization (if relevant) 
-        """
-
-  weight_moments: float # double
-  """Weight of moments for optimization (if relevant) 
-        """
-
-  wrench: numpy.ndarray # Eigen::VectorXd
-  """Wrench populated after the DynamicsSolver::solve call. 
-        """
-
-
 class RelativePositionTask:
   A: numpy.ndarray # Eigen::MatrixXd
   """Matrix A in the task Ax = b, where x are the joint delta positions. 
@@ -5789,6 +5673,24 @@ class RobotWrapper:
     :param urdf_content: if it is not empty, it will be used as the URDF content instead of loading it from the file"""
     ...
 
+  def add_q_noise(
+    self: RobotWrapper,
+    noise: float, # double
+
+  ) -> None:
+    """Adds some noise to the configuration."""
+    ...
+
+  def centroidal_map(
+    self: RobotWrapper,
+
+  ) -> numpy.ndarray:
+    """Centroidal map. 
+        
+
+    :return: jacobian (6 x n matrix)"""
+    ...
+
   collision_model: any # pinocchio::GeometryModel
   """Pinocchio collision model. 
         """
@@ -7154,12 +7056,6 @@ def frame_yaw(
   ...
 
 
-def getNumpyType(
-
-) -> any:
-  ...
-
-
 def get_classes_registry(
 
 ) -> any:
@@ -7213,6 +7109,15 @@ class map_string_double:
     ...
 
 
+def optimal_transformation(
+  points_in_A: numpy.ndarray, # Eigen::MatrixXd
+  points_in_B: numpy.ndarray, # Eigen::MatrixXd
+
+) -> numpy.ndarray:
+  """Finds the optimal transformation T_a_b that minimizes the sum of squared distances between the (same) points with coordinates expressed in A and B. Points are stacked in lines (columns are x, y and z) in the matrices."""
+  ...
+
+
 def rotation_from_axis(
   axis: str, # std::string
   vector: numpy.ndarray, # Eigen::Vector3d
@@ -7236,13 +7141,6 @@ def seed(
   ...
 
 
-def setNumpyType(
-  numpy_type: object,
-
-) -> None:
-  ...
-
-
 def sharedMemory(
   value: bool,
 
@@ -7250,18 +7148,6 @@ def sharedMemory(
   ...
 
 
-def switchToNumpyArray(
-
-) -> any:
-  ...
-
-
-def switchToNumpyMatrix(
-
-) -> any:
-  ...
-
-
 class vector_Collision:
   def __init__(
     arg1: object,
@@ -7446,4 +7332,4 @@ 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', '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']}
+__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'PointContact', 'PuppetContact', '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']}

cmeel.prefix/lib/python3.10/site-packages/placo_utils/view.py

@@ -0,0 +1,37 @@
+import argparse
+import placo
+import time
+from placo_utils.visualization import *
+
+arg_parser = argparse.ArgumentParser()
+arg_parser.add_argument("path", help="Path to the URDF")
+arg_parser.add_argument("--frames", help="Frame to display", nargs="+")
+arg_parser.add_argument("--animate", help="Animate the robot", action="store_true")
+args = arg_parser.parse_args()
+
+robot = placo.RobotWrapper(args.path, placo.Flags.ignore_collisions)
+robot.update_kinematics()
+
+print("Joint names:")
+print(list(robot.joint_names()))
+
+print("Frame names:")
+print(list(robot.frame_names()))
+
+viz = robot_viz(robot)
+t = 0
+
+while True:
+    viz.display(robot.state.q)
+
+    if args.frames:
+        for frame in args.frames:
+            robot_frame_viz(robot, frame)
+
+    if args.animate:
+        for joint in robot.joint_names():
+            robot.set_joint(joint, np.sin(t))
+            robot.update_kinematics()
+
+    t += 0.01
+    time.sleep(0.01)

cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py

@@ -238,7 +238,12 @@ def contacts_viz(solver: placo.DynamicsSolver, ratio=0.1, radius=0.005):
             frame_name = frames[contact.position_task().frame_index]
             T_world_frame = robot.get_T_world_frame(frame_name)
             wrench = T_world_frame[:3, :3] @ contact.wrench[:3]
-            origin = T_world_frame[:3, 3] + T_world_frame[:3, :3] @ contact.zmp()
+
+            if np.linalg.norm(wrench) < 1e-6:
+                origin = T_world_frame[:3, 3]
+            else:
+                origin = T_world_frame[:3, 3] + T_world_frame[:3, :3] @ contact.zmp()
+            
             arrow_viz(
                 f"contact_{k}",
                 origin,

{placo-0.5.5.dist-info → placo-0.5.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.5.5
+Version: 0.5.9
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

placo-0.5.9.dist-info/RECORD

@@ -0,0 +1,15 @@
+cmeel.prefix/lib/liblibplaco.so,sha256=WWlXmXnUsCLqaf6U3l-sshqLSDTUQhif2YLhVzArT6M,2610192
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=P04z_rb8U1RALIkaH-Woy9o_-hRWMXi63T4udnIAcKk,152347
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=bTI_xH7yermgFU59QPhKHV4B18XVib9wa4pTgW3ifDw,7502000
+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/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=1qoD-9wa7t-A3gCI54UJcKJfEQs9wmgeHe29J__H4Ao,7568
+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=cRGElId-CuT5RIhbvnUArQV34lmiSNbpF0FbpvgAqis,6543
+placo-0.5.9.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.5.9.dist-info/METADATA,sha256=DBZEU9k-p_sKts--vczx6MGjuV1DpmxFHGo0O7-CRiE,875
+placo-0.5.9.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
+placo-0.5.9.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.5.9.dist-info/RECORD,,

placo-0.5.5.dist-info/RECORD

@@ -1,14 +0,0 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=gsPFTpY695yX8CwqX1lL3phEVnRhrpXbRlQxo9l-Rjw,2604920
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=ZlxhV1VATKxbobDkPmuk45_iHK11uEeof-9usUK3Wsk,155347
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=e5sJ8vV644INewGJ4movKPNSijHg9nFW8OkSDj_ocTQ,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=csu-iQsBSz2cD40662EShITueJ9_KY5jhSLqDlItRew,6485
-placo-0.5.5.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.5.5.dist-info/METADATA,sha256=oNpPzg8Ni3d_jxrf5_QBdDg6bsL-9vdbLpCIKk3sjSk,875
-placo-0.5.5.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
-placo-0.5.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.5.5.dist-info/RECORD,,