placo 0.8.10__0-cp39-cp39-macosx_10_9_x86_64.whl → 0.9.1__0-cp39-cp39-macosx_10_9_x86_64.whl

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

@@ -15,6 +15,7 @@ Contact6D = typing.NewType("Contact6D", None)
 CubicSpline = typing.NewType("CubicSpline", None)
 CubicSpline3D = typing.NewType("CubicSpline3D", None)
 Distance = typing.NewType("Distance", None)
+DistanceConstraint = typing.NewType("DistanceConstraint", None)
 DistanceTask = typing.NewType("DistanceTask", None)
 DynamicsCoMTask = typing.NewType("DynamicsCoMTask", None)
 DynamicsConstraint = typing.NewType("DynamicsConstraint", None)
@@ -90,6 +91,7 @@ WPGTrajectoryPart = typing.NewType("WPGTrajectoryPart", None)
 WalkPatternGenerator = typing.NewType("WalkPatternGenerator", None)
 WalkTasks = typing.NewType("WalkTasks", None)
 WheelTask = typing.NewType("WheelTask", None)
+YawConstraint = typing.NewType("YawConstraint", None)
 boost_type_index = typing.NewType("boost_type_index", None)
 map_indexing_suite_map_string_double_entry = typing.NewType("map_indexing_suite_map_string_double_entry", None)
 map_string_double = typing.NewType("map_string_double", None)
@@ -1183,6 +1185,65 @@ None( (placo.Distance)arg1) -> object :
   """
 
 
+class DistanceConstraint:
+  def __init__(
+    self,
+    frame_a: any, # pinocchio::FrameIndex
+    frame_b: any, # pinocchio::FrameIndex
+    distance_max: float, # double
+  ) -> any:
+    """
+    Constraints the distance betweek two points in the robot.
+    
+    :param any frame_a: 
+    
+    :param any frame_b: 
+    
+    :param float distance_max:
+    """
+    ...
+
+  def configure(
+    self,
+    name: str, # std::string
+    priority: str = "soft", # std::string
+    weight: float = 1.0, # double
+  ) -> None:
+    """
+    Configures the object.
+    
+    :param str name: task name 
+    
+    :param str priority: task priority (hard, soft or scaled) 
+    
+    :param float weight: task weight
+    """
+    ...
+
+  distance_max: any
+  """
+  
+None( (placo.DistanceConstraint)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::kinematics::DistanceConstraint {lvalue})
+  """
+
+  name: any
+  """
+  
+None( (placo.Prioritized)arg1) -> str :
+
+    C++ signature :
+        std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> {lvalue} None(placo::tools::Prioritized {lvalue})
+  """
+
+  priority: str
+  """
+  Priority [str]
+  """
+
+
 class DistanceTask:
   A: any
   """
@@ -4173,26 +4234,14 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
   def dcm(
     self,
     omega: float, # double
+    com_velocity: numpy.ndarray, # Eigen::Vector2d
   ) -> numpy.ndarray:
     """
     Compute the Divergent Component of Motion (DCM)
     
-    :param float omega: Natural frequency of the LIP (= sqrt(g/h))
-    """
-    ...
-
-  def dcm_from_com_vel(
-    arg1: HumanoidRobot,
-    arg2: float,
-    arg3: numpy.ndarray,
-  ) -> numpy.ndarray:
-    ...
-
-  def dcom_world(
-    self,
-  ) -> numpy.ndarray:
-    """
-    Gets the CoM velocity in the world.
+    :param float omega: Natural frequency of the LIP (= sqrt(g/h)) 
+    
+    :param numpy.ndarray com_velocity: CoM velocity
     """
     ...
 
@@ -4202,7 +4251,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x111de7450>
+    :return: <Element 'para' at 0x109214d10>
     """
     ...
 
@@ -4235,7 +4284,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x111de7f40>
+    :return: <Element 'para' at 0x109213860>
     """
     ...
 
@@ -4249,7 +4298,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x111de1310>
+    :return: <Element 'para' at 0x10921f310>
     """
     ...
 
@@ -4561,7 +4610,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x111debcc0>
+    :return: <Element 'para' at 0x1092145e0>
     """
     ...
 
@@ -4795,6 +4844,17 @@ None( (placo.HumanoidRobot)arg1) -> placo.HumanoidRobot_Side :
     """
     ...
 
+  def update_from_imu(
+    self,
+    R_world_trunk: numpy.ndarray, # Eigen::Matrix3d
+  ) -> None:
+    """
+    Rotate the robot around its support.
+    
+    :param numpy.ndarray R_world_trunk: Orientation of the trunk from the IMU
+    """
+    ...
+
   def update_kinematics(
     self,
   ) -> None:
@@ -5375,6 +5435,23 @@ None( (placo.KinematicsSolver)arg1) -> int :
     """
     ...
 
+  def add_distance_constraint(
+    self,
+    frame_a: str, # std::string
+    frame_b: str, # std::string
+    distance_max: float, # double
+  ) -> DistanceConstraint:
+    """
+    Adds a distance constraint.
+    
+    :param str frame_a: frame A 
+    
+    :param str frame_b: frame B 
+    
+    :param float distance_max: maximum distance between the two frames
+    """
+    ...
+
   def add_distance_task(
     self,
     frame_a: str, # std::string
@@ -5430,12 +5507,9 @@ None( (placo.KinematicsSolver)arg1) -> int :
 
   def add_joints_task(
     self,
-    joints: dict[str, float], # std::map< std::string, double > &
   ) -> JointsTask:
     """
     Adds joints task.
-    
-    :param dict[str, float] joints: value for the joints
     """
     ...
 
@@ -5579,6 +5653,23 @@ None( (placo.KinematicsSolver)arg1) -> int :
     """
     ...
 
+  def add_yaw_constraint(
+    self,
+    frame_a: str, # std::string
+    frame_b: str, # std::string
+    alpha_max: float, # double
+  ) -> YawConstraint:
+    """
+    Adds a yaw constraint.
+    
+    :param str frame_a: frame A 
+    
+    :param str frame_b: frame B 
+    
+    :param float alpha_max: angle max for yaw of x-axis in frame b in a
+    """
+    ...
+
   def clear(
     self,
   ) -> None:
@@ -7447,21 +7538,13 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     """
     ...
 
-  def dcom_world(
-    self,
-  ) -> numpy.ndarray:
-    """
-    Gets the CoM velocity in the world.
-    """
-    ...
-
   def distances(
     self,
   ) -> list[Distance]:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x110e89bd0>
+    :return: <Element 'para' at 0x1082b9180>
     """
     ...
 
@@ -7475,7 +7558,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x110e8f720>
+    :return: <Element 'para' at 0x1082b9c70>
     """
     ...
 
@@ -7489,7 +7572,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x110e951d0>
+    :return: <Element 'para' at 0x1082c0720>
     """
     ...
 
@@ -7730,7 +7813,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x110e894a0>
+    :return: <Element 'para' at 0x1082b49f0>
     """
     ...
 
@@ -8733,6 +8816,19 @@ None( (placo.WPGTrajectory)arg1) -> float :
     """
     ...
 
+  def get_p_support_CoM(
+    self,
+    t: float, # double
+  ) -> numpy.ndarray:
+    ...
+
+  def get_p_support_DCM(
+    self,
+    t: float, # double
+    omega: float, # double
+  ) -> numpy.ndarray:
+    ...
+
   def get_p_world_CoM(
     self,
     t: float, # double
@@ -8805,6 +8901,12 @@ None( (placo.WPGTrajectory)arg1) -> float :
   ) -> list[Support]:
     ...
 
+  def get_v_support_CoM(
+    self,
+    t: float, # double
+  ) -> numpy.ndarray:
+    ...
+
   def get_v_world_CoM(
     self,
     t: float, # double
@@ -9021,6 +9123,15 @@ None( (placo.WalkPatternGenerator)arg1) -> bool :
         bool {lvalue} None(placo::humanoid::WalkPatternGenerator {lvalue})
   """
 
+  stop_end_support_weight: any
+  """
+  
+None( (placo.WalkPatternGenerator)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::WalkPatternGenerator {lvalue})
+  """
+
   def support_default_duration(
     self,
     support: Support, # placo::humanoid::FootstepsPlanner::Support
@@ -9037,7 +9148,6 @@ None( (placo.WalkPatternGenerator)arg1) -> bool :
     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]:
     """
@@ -9047,12 +9157,19 @@ None( (placo.WalkPatternGenerator)arg1) -> bool :
     
     :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
     """
     ...
 
+  zmp_in_support_weight: any
+  """
+  
+None( (placo.WalkPatternGenerator)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::WalkPatternGenerator {lvalue})
+  """
+
 
 class WalkTasks:
   def __init__(
@@ -9313,6 +9430,65 @@ None( (placo.WheelTask)arg1) -> float :
     ...
 
 
+class YawConstraint:
+  def __init__(
+    self,
+    frame_a: any, # pinocchio::FrameIndex
+    frame_b: any, # pinocchio::FrameIndex
+    angle_max: float, # double
+  ) -> any:
+    """
+    Constrains the yaw of frame b in frame a, such that the x-axis of frame b should remain with +- angle_max.
+    
+    :param any frame_a: 
+    
+    :param any frame_b: 
+    
+    :param float angle_max:
+    """
+    ...
+
+  angle_max: any
+  """
+  
+None( (placo.YawConstraint)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::kinematics::YawConstraint {lvalue})
+  """
+
+  def configure(
+    self,
+    name: str, # std::string
+    priority: str = "soft", # std::string
+    weight: float = 1.0, # double
+  ) -> None:
+    """
+    Configures the object.
+    
+    :param str name: task name 
+    
+    :param str priority: task priority (hard, soft or scaled) 
+    
+    :param float weight: task weight
+    """
+    ...
+
+  name: any
+  """
+  
+None( (placo.Prioritized)arg1) -> str :
+
+    C++ signature :
+        std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> {lvalue} None(placo::tools::Prioritized {lvalue})
+  """
+
+  priority: str
+  """
+  Priority [str]
+  """
+
+
 class boost_type_index:
   def __init__(
   ) -> any:
@@ -9545,4 +9721,4 @@ def wrap_angle(
   ...
 
 
-__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', 'JointSpaceHalfSpacesConstraint', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Polynom', 'Prioritized', 'Segment'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'ProblemPolynom', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WPGTrajectory', 'WPGTrajectoryPart', 'WalkPatternGenerator', 'WalkTasks']}
+__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', 'DistanceConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointSpaceHalfSpacesConstraint', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask', 'YawConstraint'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Polynom', 'Prioritized', 'Segment'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'ProblemPolynom', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WPGTrajectory', 'WPGTrajectoryPart', 'WalkPatternGenerator', 'WalkTasks']}

{placo-0.8.10.dist-info → placo-0.9.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.8.10
+Version: 0.9.1
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.9.1.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.dylib,sha256=cZ_5r4ncT9ux3xQHdDtMm2jlw3LapC01HBV9LlJV6Ag,1688656
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=Mr_OiHo6MpXGFGVXf45tJiyAfwN4xgEQXQOb4y7wP7I,198277
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=gW4uAplDzKDpxH41sFUf5P7EejuwxnAFl4PaTB5kVFY,7066160
+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-0.9.1.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.1.dist-info/METADATA,sha256=Kd24ONb11iqnbdUPph0Tw0DAdzgjpPGLeBh3Pw8sW5M,2620
+placo-0.9.1.dist-info/WHEEL,sha256=SPuKCq7g91a_0Yde2aZNKktl1nqSUqyoo9dFJq3wVNQ,110
+placo-0.9.1.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.1.dist-info/RECORD,,

placo-0.8.10.dist-info/RECORD

@@ -1,12 +0,0 @@
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-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-0.8.10.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.8.10.dist-info/METADATA,sha256=1LTdooqrP_YI0_MPBR5qsfSucytLvTeG84QY0MxVZ_A,2621
-placo-0.8.10.dist-info/WHEEL,sha256=SPuKCq7g91a_0Yde2aZNKktl1nqSUqyoo9dFJq3wVNQ,110
-placo-0.8.10.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.8.10.dist-info/RECORD,,