placo 0.8.0__0-cp39-cp39-macosx_11_0_arm64.whl → 0.8.5__0-cp39-cp39-macosx_11_0_arm64.whl

cmeel.prefix/lib/python3.9/site-packages/placo.pyi

@@ -3455,6 +3455,13 @@ None( (placo.Footstep)arg1) -> object :
   ) -> bool:
     ...
 
+  def set_frame_xy(
+    arg1: Footstep,
+    arg2: float,
+    arg3: float,
+  ) -> None:
+    ...
+
   side: any
   """
   
@@ -4218,7 +4225,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x103031770>
+    :return: <Element 'para' at 0x106ee6b30>
     """
     ...
 
@@ -4251,7 +4258,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x103037db0>
+    :return: <Element 'para' at 0x106eee9f0>
     """
     ...
 
@@ -4265,7 +4272,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x10303a360>
+    :return: <Element 'para' at 0x106ef0130>
     """
     ...
 
@@ -4577,7 +4584,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x1030310e0>
+    :return: <Element 'para' at 0x106ee64a0>
     """
     ...
 
@@ -7477,7 +7484,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x102f110e0>
+    :return: <Element 'para' at 0x106dc5450>
     """
     ...
 
@@ -7491,7 +7498,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x102f11bd0>
+    :return: <Element 'para' at 0x106dc5f40>
     """
     ...
 
@@ -7505,7 +7512,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x102f1c680>
+    :return: <Element 'para' at 0x106dcf9f0>
     """
     ...
 
@@ -7746,7 +7753,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x102f0e950>
+    :return: <Element 'para' at 0x106dc2cc0>
     """
     ...
 
@@ -8849,6 +8856,15 @@ None( (placo.WPGTrajectory)arg1) -> int :
         int {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
   """
 
+  parts: any
+  """
+  
+None( (placo.WPGTrajectory)arg1) -> object :
+
+    C++ signature :
+        std::__1::vector<placo::humanoid::WalkPatternGenerator::TrajectoryPart, std::__1::allocator<placo::humanoid::WalkPatternGenerator::TrajectoryPart>> {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
+  """
+
   def print_parts_timings(
     self,
   ) -> None:
@@ -8967,13 +8983,13 @@ class WalkPatternGenerator:
     """
     Computes the best ZMP in the support polygon to move de DCM from world_dcm_start to world_dcm_end in duration.
     
-    :param numpy.ndarray world_dcm_start: The initial DCM position in world frame 
+    :param numpy.ndarray world_dcm_start: Initial DCM position in world frame 
     
-    :param numpy.ndarray world_dcm_end: The desired final DCM position in world frame 
+    :param numpy.ndarray world_dcm_end: Desired final DCM position in world frame 
     
-    :param float duration: The duration 
+    :param float duration: Duration 
     
-    :param Support support: The support
+    :param Support support: Support
     """
     ...
 
@@ -9019,6 +9035,15 @@ class WalkPatternGenerator:
     """
     ...
 
+  soft: any
+  """
+  
+None( (placo.WalkPatternGenerator)arg1) -> bool :
+
+    C++ signature :
+        bool {lvalue} None(placo::humanoid::WalkPatternGenerator {lvalue})
+  """
+
   def support_default_duration(
     self,
     support: Support, # placo::humanoid::FootstepsPlanner::Support
@@ -9035,16 +9060,19 @@ class WalkPatternGenerator:
     self,
     t: float, # double
     supports: list[Support], # std::vector<placo::humanoid::FootstepsPlanner::Support>
+    world_target_zmp: numpy.ndarray, # Eigen::Vector2d
     world_measured_dcm: numpy.ndarray, # Eigen::Vector2d
   ) -> list[Support]:
     """
     Updates the supports to ensure DCM viability by adjusting the duration and the target of the current swing trajectory.
     
-    :param float t: The current time 
+    :param float t: Current time 
+    
+    :param list[Support] supports: Planned supports 
     
-    :param list[Support] supports: The planned supports 
+    :param numpy.ndarray world_target_zmp: Target ZMP for the flying foot in world frame 
     
-    :param numpy.ndarray world_measured_dcm: The measured DCM in world frame
+    :param numpy.ndarray world_measured_dcm: Measured DCM in world frame
     """
     ...
 

{placo-0.8.0.dist-info → placo-0.8.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.8.0
+Version: 0.8.5
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.8.5.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.dylib,sha256=xTAHuHPqN-LjTd7DcM9hdQeghLbw2qHSeM495_Td9JU,1378560
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=jFxqcmOsN-_Xfv4N3otKIEpYE3ulhdPROLEc-vXoxQo,196922
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=a13Ti45nH9cjCyaMlUJG_P9PtQic0zgsZd4uBc5AFZw,6569128
+cmeel.prefix/lib/python3.9/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
+cmeel.prefix/lib/python3.9/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
+cmeel.prefix/lib/python3.9/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.9/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
+placo-0.8.5.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.8.5.dist-info/METADATA,sha256=HNrzvV3CcCIuRqajooexMCv413M_uDa7GDNiOTnOEIM,2620
+placo-0.8.5.dist-info/WHEEL,sha256=L4i5x-b2_mmN301N-Fm2blmgWxGr90rVrliWtA2YuAU,109
+placo-0.8.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.8.5.dist-info/RECORD,,

placo-0.8.0.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.dylib,sha256=FlctNJ0yBcIRMtE1DYsiQxc0fycRlIb9x7OkvF4GSUA,1378544
-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=w7FZOtopnj01S-dzklCa_dllYUkEdl1BtctEzre6Sl4,196205
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=RRxuU6P1g4Ifn9bVF_oOsxwlSqDbuss2LQWi7UxzDqI,6543880
-cmeel.prefix/lib/python3.9/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
-cmeel.prefix/lib/python3.9/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
-cmeel.prefix/lib/python3.9/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.9/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
-placo-0.8.0.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.8.0.dist-info/METADATA,sha256=AbKRHuS4i4e9cNpS1g2lnLcJoOImHKFxPredhNBX7X4,2620
-placo-0.8.0.dist-info/WHEEL,sha256=L4i5x-b2_mmN301N-Fm2blmgWxGr90rVrliWtA2YuAU,109
-placo-0.8.0.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.8.0.dist-info/RECORD,,