placo 0.5.6__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.6.0__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)
@@ -52,6 +51,7 @@ KinematicsSolver = typing.NewType("KinematicsSolver", None)
 KineticEnergyRegularizationTask = typing.NewType("KineticEnergyRegularizationTask", None)
 LIPM = typing.NewType("LIPM", None)
 LIPMTrajectory = typing.NewType("LIPMTrajectory", None)
+LineContact = typing.NewType("LineContact", None)
 ManipulabilityTask = typing.NewType("ManipulabilityTask", None)
 OrientationTask = typing.NewType("OrientationTask", None)
 PointContact = typing.NewType("PointContact", None)
@@ -63,10 +63,8 @@ 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)
@@ -638,6 +636,10 @@ class Contact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -691,6 +693,10 @@ class Contact6D:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   width: float # double
   """Rectangular contact width along local y-axis. 
         """
@@ -718,6 +724,19 @@ 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 +805,19 @@ 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 +1034,6 @@ 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 +1051,7 @@ 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 +1198,6 @@ 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 +1207,7 @@ 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 +1272,6 @@ 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. 
         """
@@ -1260,8 +1280,21 @@ class DynamicsJointsTask:
   """Current error vector. 
         """
 
+  def get_joint(
+    self: DynamicsJointsTask,
+    joint: str, # std::string
+
+  ) -> float:
+    """Returns the current target position of a joint. 
+        
+
+    :param joint: joint name 
+
+    :return: current target position"""
+    ...
+
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -1349,10 +1382,6 @@ 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 +1395,7 @@ 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 +1453,8 @@ 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 +1474,7 @@ 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 +1498,6 @@ 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 +1581,6 @@ 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 +1594,7 @@ 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 +1653,8 @@ 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 +1670,7 @@ 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 +1741,7 @@ 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 +1749,8 @@ class DynamicsSolver:
 
     :param frame_name: frame 
 
+    :param reference: reference frame (world or local) 
+
     :return: external wrench contact"""
     ...
 
@@ -1818,6 +1803,19 @@ class DynamicsSolver:
     :return: joints task"""
     ...
 
+  def add_line_contact(
+    self: DynamicsSolver,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+
+  ) -> LineContact:
+    """Adds a fixed line contact. 
+        
+
+    :param frame_task: associated frame task 
+
+    :return: line contact"""
+    ...
+
   def add_orientation_task(
     self: DynamicsSolver,
     frame_name: str, # std::string
@@ -1886,35 +1884,6 @@ 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 +1922,6 @@ 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
@@ -2021,6 +1977,19 @@ class DynamicsSolver:
     :return: torque task"""
     ...
 
+  def add_unilateral_line_contact(
+    self: DynamicsSolver,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+
+  ) -> LineContact:
+    """Adds a unilateral line contact, which is unilateral in the sense of the local body z-axis. 
+        
+
+    :param frame_task: associated frame task 
+
+    :return: unilateral line contact"""
+    ...
+
   def add_unilateral_point_contact(
     self: DynamicsSolver,
     position_task: DynamicsPositionTask, # placo::dynamics::PositionTask
@@ -2117,10 +2086,6 @@ 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
@@ -2178,6 +2143,34 @@ class DynamicsSolver:
     :param kp:"""
     ...
 
+  def set_qdd_safe(
+    self: DynamicsSolver,
+    joint: str, # std::string
+    qdd: float, # double
+
+  ) -> None:
+    """Sets the "safe" Qdd acceptable for a given joint (used by joint limits) 
+        
+
+    :param joint: 
+
+    :param qdd:"""
+    ...
+
+  def set_torque_limit(
+    self: DynamicsSolver,
+    joint: str, # std::string
+    limit: float, # double
+
+  ) -> None:
+    """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: 
+
+    :param limit:"""
+    ...
+
   def solve(
     self: DynamicsSolver,
     integrate: bool = False, # bool
@@ -2186,7 +2179,7 @@ class DynamicsSolver:
     ...
 
   torque_cost: float # double
-  """Cost for torque regularization. 
+  """Cost for torque regularization (1e-3 by default) 
         """
 
 
@@ -2244,10 +2237,6 @@ 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. 
         """
@@ -2257,7 +2246,7 @@ class DynamicsTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -2305,10 +2294,6 @@ 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. 
         """
@@ -2318,7 +2303,7 @@ class DynamicsTorqueTask:
         """
 
   kd: float # double
-  """D gain for position control. 
+  """D gain for position control (if negative, will be critically damped) 
         """
 
   kp: float # double
@@ -2430,6 +2415,16 @@ class Expression:
     :return: expression"""
     ...
 
+  def is_constant(
+    self: Expression,
+
+  ) -> bool:
+    """checks if the expression is constant (doesn't depend on decision variables) 
+        
+
+    :return: true if the expression is constant"""
+    ...
+
   def is_scalar(
     self: Expression,
 
@@ -2440,26 +2435,26 @@ class Expression:
     :return: true if the expression is a scalar"""
     ...
 
-  def mean(
+  def left_multiply(
     self: Expression,
+    M: numpy.ndarray, # const Eigen::MatrixXd
 
   ) -> Expression:
-    """Reduces a multi-rows expression to the mean of its items. 
+    """Multiply an expression on the left by a given matrix M. 
         
 
+    :param M: matrix 
+
     :return: expression"""
     ...
 
-  def multiply(
+  def mean(
     self: Expression,
-    M: numpy.ndarray, # const Eigen::MatrixXd
 
   ) -> Expression:
-    """Multiply an expression on the left by a given matrix M. 
+    """Reduces a multi-rows expression to the mean of its items. 
         
 
-    :param M: matrix 
-
     :return: expression"""
     ...
 
@@ -2530,6 +2525,7 @@ class ExternalWrenchContact:
   def __init__(
     self: ExternalWrenchContact,
     frame_index: any, # pinocchio::FrameIndex
+    reference: any, # pinocchio::ReferenceFrame
 
   ) -> any:
     """see DynamicsSolver::add_external_wrench_contact"""
@@ -2555,6 +2551,10 @@ class ExternalWrenchContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -3227,6 +3227,14 @@ class HumanoidRobot:
   ) -> any:
     ...
 
+  def add_q_noise(
+    self: HumanoidRobot,
+    noise: float, # double
+
+  ) -> None:
+    """Adds some noise to the configuration."""
+    ...
+
   def centroidal_map(
     self: HumanoidRobot,
 
@@ -3676,6 +3684,15 @@ class HumanoidRobot:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gear_ratio(
+    self: HumanoidRobot,
+    joint_name: str, # const std::string &
+    rotor_gear_ratio: float, # double
+
+  ) -> None:
+    """Updates the rotor gear ratio (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_gravity(
     self: HumanoidRobot,
     gravity: numpy.ndarray, # Eigen::Vector3d
@@ -3743,6 +3760,15 @@ class HumanoidRobot:
     :param value: joint velocity"""
     ...
 
+  def set_rotor_inertia(
+    self: HumanoidRobot,
+    joint_name: str, # const std::string &
+    rotor_inertia: float, # double
+
+  ) -> None:
+    """Updates the rotor inertia (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_torque_limit(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -4129,6 +4155,19 @@ class JointsTask:
     :return: task error norm"""
     ...
 
+  def get_joint(
+    self: JointsTask,
+    joint: str, # std::string
+
+  ) -> float:
+    """Returns the target value of a joint. 
+        
+
+    :param joint: joint 
+
+    :return: target value"""
+    ...
+
   name: str # std::string
   """Object name. 
         """
@@ -4428,17 +4467,6 @@ 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
@@ -4868,6 +4896,77 @@ class LIPMTrajectory:
     ...
 
 
+class LineContact:
+  R_world_surface: numpy.ndarray # Eigen::Matrix3d
+  """rotation matrix expressing the surface frame in the world frame (for unilateral contact) 
+        """
+
+  def __init__(
+    self: LineContact,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+    unilateral: bool, # bool
+
+  ) -> any:
+    """see DynamicsSolver::add_fixed_planar_contact and DynamicsSolver::add_unilateral_planar_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) 
+        """
+
+  length: float # double
+  """Rectangular contact length along local x-axis. 
+        """
+
+  mu: float # double
+  """Coefficient of friction (if relevant) 
+        """
+
+  def orientation_task(
+    self: LineContact,
+
+  ) -> DynamicsOrientationTask:
+    """Associated orientation task."""
+    ...
+
+  def position_task(
+    self: LineContact,
+
+  ) -> DynamicsPositionTask:
+    """Associated position task."""
+    ...
+
+  unilateral: bool # bool
+  """true for unilateral contact with the ground 
+        """
+
+  weight_forces: float # double
+  """Weight of forces for the optimization (if relevant) 
+        """
+
+  weight_moments: float # double
+  """Weight of moments for optimization (if relevant) 
+        """
+
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
+  wrench: numpy.ndarray # Eigen::VectorXd
+  """Wrench populated after the DynamicsSolver::solve call. 
+        """
+
+  def zmp(
+    self: LineContact,
+
+  ) -> numpy.ndarray:
+    """Returns the contact ZMP in the local frame. 
+        
+
+    :return: zmp"""
+    ...
+
+
 class ManipulabilityTask:
   A: numpy.ndarray # Eigen::MatrixXd
   """Matrix A in the task Ax = b, where x are the joint delta positions. 
@@ -5033,6 +5132,10 @@ 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
@@ -5069,6 +5172,10 @@ class PointContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -5313,6 +5420,10 @@ class Problem:
   """Number of problem variables that need to be solved. 
         """
 
+  regularization: float # double
+  """Default internal regularization. 
+        """
+
   rewrite_equalities: bool # bool
   """If set to true, a QR factorization will be performed on the equality constraints, and the QP will be called with free variables only. 
         """
@@ -5336,6 +5447,10 @@ class Problem:
   """If set to true, some sparsity optimizations will be performed when building the problem Hessian. This optimization is generally not useful for small problems. 
         """
 
+  x: numpy.ndarray # Eigen::VectorXd
+  """Computed result. 
+        """
+
 
 class ProblemConstraint:
   """Represents a constraint to be enforced by a Problem. 
@@ -5401,6 +5516,10 @@ class PuppetContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -5491,36 +5610,6 @@ 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
 
@@ -5656,36 +5745,6 @@ 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. 
@@ -5794,6 +5853,14 @@ 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,
 
@@ -6145,6 +6212,15 @@ class RobotWrapper:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gear_ratio(
+    self: RobotWrapper,
+    joint_name: str, # const std::string &
+    rotor_gear_ratio: float, # double
+
+  ) -> None:
+    """Updates the rotor gear ratio (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_gravity(
     self: RobotWrapper,
     gravity: numpy.ndarray, # Eigen::Vector3d
@@ -6212,6 +6288,15 @@ class RobotWrapper:
     :param value: joint velocity"""
     ...
 
+  def set_rotor_inertia(
+    self: RobotWrapper,
+    joint_name: str, # const std::string &
+    rotor_inertia: float, # double
+
+  ) -> None:
+    """Updates the rotor inertia (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_torque_limit(
     self: RobotWrapper,
     name: str, # const std::string &
@@ -6736,6 +6821,10 @@ class TaskContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -7169,12 +7258,6 @@ def frame_yaw(
   ...
 
 
-def getNumpyType(
-
-) -> any:
-  ...
-
-
 def get_classes_registry(
 
 ) -> any:
@@ -7233,7 +7316,7 @@ def optimal_transformation(
   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 in A and T_a_b * points in B Points are stacked in lines (columns are x, y and z) in the matrices."""
+  """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."""
   ...
 
 
@@ -7260,13 +7343,6 @@ def seed(
   ...
 
 
-def setNumpyType(
-  numpy_type: object,
-
-) -> None:
-  ...
-
-
 def sharedMemory(
   value: bool,
 
@@ -7274,18 +7350,6 @@ def sharedMemory(
   ...
 
 
-def switchToNumpyArray(
-
-) -> any:
-  ...
-
-
-def switchToNumpyMatrix(
-
-) -> any:
-  ...
-
-
 class vector_Collision:
   def __init__(
     arg1: object,
@@ -7470,4 +7534,4 @@ 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', 'LineContact', '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,
@@ -246,6 +251,23 @@ def contacts_viz(solver: placo.DynamicsSolver, ratio=0.1, radius=0.005):
                 color=0x00FFAA,
                 radius=radius,
             )
+        elif isinstance(contact, placo.LineContact):
+            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]
+
+            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,
+                origin + wrench * ratio,
+                color=0xFF33AA,
+                radius=radius,
+            )
         elif isinstance(contact, placo.ExternalWrenchContact):
             frame_name = frames[contact.frame_index]
             T_world_frame = robot.get_T_world_frame(frame_name)

placo-0.6.0.dist-info/METADATA

@@ -0,0 +1,57 @@
+Metadata-Version: 2.1
+Name: placo
+Version: 0.6.0
+Summary: PlaCo: Rhoban Planning and Control
+Requires-Python: >= 3.8
+License-Expression: MIT
+License-File: LICENSE
+Author-email: Rhoban team <team@rhoban.com>
+Project-URL: Changelog, https://github.com/rhoban/placo/blob/main/CHANGELOG.md
+Home-page: https://placo.readthedocs.io/en/latest/
+Project-URL: Repository, https://github.com/rhoban/placo.git
+Requires-Dist: cmeel
+Requires-Dist: eiquadprog >= 1.2.6, < 2
+Requires-Dist: pin >= 2.6.18, < 3
+Requires-Dist: rhoban-cmeel-jsoncpp
+Requires-Dist: meshcat
+Requires-Dist: numpy<2
+Requires-Dist: ischedule
+Provides-Extra: build
+Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"
+Requires-Dist: cmeel-urdfdom[build] ; extra == "build"
+Description-Content-Type: text/markdown
+
+# PlaCo
+
+PlaCo is Rhoban's planning and control library.
+Its main features are:
+
+* Task-space Inverse Kinematics with constraints,
+* Task-space Inverse Dynamics with constraints,
+* QP problem formulation,
+* Built on the top of [pinocchio](https://github.com/stack-of-tasks/pinocchio)
+* Written in C++ with Python bindings
+
+[![Megabot demo](https://github.com/Rhoban/placo-examples/blob/master/kinematics/videos/quadruped_targets.gif?raw=true)](https://github.com/Rhoban/placo-examples/blob/master/kinematics/videos/quadruped_targets.mp4?raw=true)
+
+*Inverse Kinematics Example: a quadruped robot hitting targets with a leg while keeping its three legs on the ground*
+
+[source code (quadruped_targets.py)](https://github.com/Rhoban/placo-examples/blob/master/kinematics/quadruped_targets.py) / [more kinematics examples](https://placo.readthedocs.io/en/latest/kinematics/examples_gallery.html)
+
+[![Megabot demo](https://github.com/Rhoban/placo-examples/blob/master/dynamics/videos/megabot.gif?raw=true)](https://github.com/Rhoban/placo-examples/blob/master/dynamics/videos/megabot.mp4?raw=true)
+
+*Inverse Dynamics Example: a quadruped with many loop closure joints*
+
+[source code (megabot.py)](https://github.com/Rhoban/placo-examples/blob/master/dynamics/megabot.py) / [more dynamics examples](https://placo.readthedocs.io/en/latest/dynamics/examples_gallery.html)
+
+## Installing
+
+PlaCo is available from [pip](https://placo.readthedocs.io/en/latest/basics/installation_pip.html),
+or can be [built from sources](https://placo.readthedocs.io/en/latest/basics/installation_source.html).
+
+## Documentation
+
+Here is the [official documentation](https://placo.readthedocs.io/en/latest/)
+
+You can also find many examples in the [placo-examples](https://github.com/rhoban/placo-examples)
+repository.

placo-0.6.0.dist-info/RECORD

@@ -0,0 +1,15 @@
+cmeel.prefix/lib/liblibplaco.so,sha256=7BNsWrxXq_APe8CVkc8Bkl8imlqKAG1V93nPEHGPaqU,2616096
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=HJCwhAyosdLE5Qx1XzowfYE2mb3STniQ9CmznKEFtKU,157034
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+placo-0.6.0.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
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+placo-0.6.0.dist-info/RECORD,,

placo-0.5.6.dist-info/METADATA

@@ -1,26 +0,0 @@
-Metadata-Version: 2.1
-Name: placo
-Version: 0.5.6
-Summary: PlaCo: Rhoban Planning and Control
-Requires-Python: >= 3.8
-License-Expression: MIT
-License-File: LICENSE
-Author-email: Rhoban team <team@rhoban.com>
-Project-URL: Changelog, https://github.com/rhoban/placo/blob/main/CHANGELOG.md
-Home-page: https://placo.readthedocs.io/en/latest/
-Project-URL: Repository, https://github.com/rhoban/placo.git
-Requires-Dist: cmeel
-Requires-Dist: eiquadprog >= 1.2.6, < 2
-Requires-Dist: pin >= 2.6.18, < 3
-Requires-Dist: rhoban-cmeel-jsoncpp
-Requires-Dist: meshcat
-Requires-Dist: numpy<2
-Requires-Dist: ischedule
-Provides-Extra: build
-Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"
-Requires-Dist: cmeel-urdfdom[build] ; extra == "build"
-Description-Content-Type: text/markdown
-
-# Rhoban Planning and Control (placo)
-
-* [Documentation](https://placo.readthedocs.io/en/latest/)

placo-0.5.6.dist-info/RECORD

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