placo 0.8.0__0-cp39-cp39-manylinux_2_28_x86_64.whl → 0.8.3__0-cp39-cp39-manylinux_2_28_x86_64.whl

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

@@ -3371,6 +3371,13 @@ None( (placo.Footstep)arg1) -> object :
   ) -> bool:
     ...
 
+  def set_frame_xy(
+    arg1: Footstep,
+    arg2: float,
+    arg3: float,
+  ) -> None:
+    ...
+
   side: any
   """
   
@@ -4111,7 +4118,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7fd93b068d60>
+    :return: <Element 'para' at 0x7f82341785e0>
     """
     ...
 
@@ -4143,7 +4150,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7fd93b068270>
+    :return: <Element 'para' at 0x7f82341750e0>
     """
     ...
 
@@ -4156,7 +4163,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     Jacobian time variation $\dot J$, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian time variation 
-    :return: <Element 'para' at 0x7fd93b0637c0>
+    :return: <Element 'para' at 0x7f8234171a90>
     """
     ...
 
@@ -4462,7 +4469,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     Finds the self collision in current state, if stop_at_first is true, it will stop at the first collision found.
     
     :param bool stop_at_first: whether to stop at the first collision found 
-    :return: <Element 'para' at 0x7fd93b06f4a0>
+    :return: <Element 'para' at 0x7f823417dea0>
     """
     ...
 
@@ -7286,7 +7293,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7fd93b067ae0>
+    :return: <Element 'para' at 0x7f8234175f40>
     """
     ...
 
@@ -7299,7 +7306,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7fd93b0687c0>
+    :return: <Element 'para' at 0x7f8234178720>
     """
     ...
 
@@ -7312,7 +7319,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     Jacobian time variation $\dot J$, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian time variation 
-    :return: <Element 'para' at 0x7fd93b07dae0>
+    :return: <Element 'para' at 0x7f8234195590>
     """
     ...
 
@@ -7550,7 +7557,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     Finds the self collision in current state, if stop_at_first is true, it will stop at the first collision found.
     
     :param bool stop_at_first: whether to stop at the first collision found 
-    :return: <Element 'para' at 0x7fd93b067f90>
+    :return: <Element 'para' at 0x7f8234171ef0>
     """
     ...
 
@@ -8637,6 +8644,15 @@ None( (placo.WPGTrajectory)arg1) -> int :
         int {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
   """
 
+  parts: any
+  """
+  
+None( (placo.WPGTrajectory)arg1) -> object :
+
+    C++ signature :
+        std::vector<placo::humanoid::WalkPatternGenerator::TrajectoryPart, std::allocator<placo::humanoid::WalkPatternGenerator::TrajectoryPart> > {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
+  """
+
   def print_parts_timings(
     self,
   ) -> None:
@@ -8755,10 +8771,10 @@ 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_end: The desired final DCM position in world frame 
-    :param float duration: The duration 
-    :param Support support: The support
+    :param numpy.ndarray world_dcm_start: Initial DCM position in world frame 
+    :param numpy.ndarray world_dcm_end: Desired final DCM position in world frame 
+    :param float duration: Duration 
+    :param Support support: Support
     """
     ...
 
@@ -8802,6 +8818,15 @@ 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
@@ -8818,14 +8843,16 @@ 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 list[Support] supports: The planned supports 
-    :param numpy.ndarray world_measured_dcm: The measured DCM in world frame
+    :param float t: Current time 
+    :param list[Support] supports: Planned supports 
+    :param numpy.ndarray world_target_zmp: Target ZMP for the flying foot in world frame 
+    :param numpy.ndarray world_measured_dcm: Measured DCM in world frame
     """
     ...
 

{placo-0.8.0.dist-info → placo-0.8.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.8.0
+Version: 0.8.3
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.8.3.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.so,sha256=w5ZC5aM1pkwWOqERPHoj7nu0q80X6jhUhHuzUj_CwsQ,1961512
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=0BBCfAoO6fesQt_G4cF6j6Z9miFygXCbOnQjbynROPw,195163
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=fq-en1URUUjyAEytMQo-w4aSkURtYnvkxqjEKbwiPTg,8326488
+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-0.8.3.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.8.3.dist-info/METADATA,sha256=YCgTtaxCxoC84RfAIu5NWAF8pLzIQOPsXEFD16KTBNo,2620
+placo-0.8.3.dist-info/WHEEL,sha256=BAQlXoBFWyH33ZUB6937RuzBfXaRO6s_TbSA5OwR86Q,113
+placo-0.8.3.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.8.3.dist-info/RECORD,,

placo-0.8.0.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=t8-h6Jv52UuuBQ90kxbPn9ZzFoKk1VOUvEdK29OFr3Q,1961504
-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=rvvdc97sPXXCwO-wH7CiDm2Wr6s3QTYsI9jVC3aNN8E,194460
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=HdqjiU-kGdgjPudjBLfActW0F4xQLU-7mgl5YaZVNDU,8279696
-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=BAQlXoBFWyH33ZUB6937RuzBfXaRO6s_TbSA5OwR86Q,113
-placo-0.8.0.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.8.0.dist-info/RECORD,,