placo 0.9.0__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

@@ -4234,26 +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
     """
     ...
 
@@ -4263,7 +4251,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x109eafbd0>
+    :return: <Element 'para' at 0x109214d10>
     """
     ...
 
@@ -4296,7 +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 0x109eaf130>
+    :return: <Element 'para' at 0x109213860>
     """
     ...
 
@@ -4310,7 +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 0x109eb19f0>
+    :return: <Element 'para' at 0x10921f310>
     """
     ...
 
@@ -4622,7 +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 0x109ea8cc0>
+    :return: <Element 'para' at 0x1092145e0>
     """
     ...
 
@@ -4856,6 +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:
@@ -5508,12 +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
     """
     ...
 
@@ -7542,21 +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 0x108f50220>
+    :return: <Element 'para' at 0x1082b9180>
     """
     ...
 
@@ -7570,7 +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 0x108f50d10>
+    :return: <Element 'para' at 0x1082b9c70>
     """
     ...
 
@@ -7584,7 +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 0x108f577c0>
+    :return: <Element 'para' at 0x1082c0720>
     """
     ...
 
@@ -7825,7 +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 0x108f4aa90>
+    :return: <Element 'para' at 0x1082b49f0>
     """
     ...
 
@@ -8828,6 +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
@@ -8900,6 +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
@@ -9116,6 +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
@@ -9132,7 +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]:
     """
@@ -9142,12 +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__(

{placo-0.9.0.dist-info → placo-0.9.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.0
+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-0.9.0.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.dylib,sha256=7kP-lffe_VcKdjrld37zHYt5SGQTQ-PKXoz4w8RbtN8,1688264
-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=31omhGk-RrHbIp4Fg9ebO1z7i4IlVMXv5Kj_4uqKGRw,197867
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=QP9T_rYXGa2PQG-1K9Lp08Rv1arHxR1DGdO_GcpjQPA,7064848
-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-0.9.0.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.9.0.dist-info/METADATA,sha256=TPffHbvHnORg7JqUME69Tzf179PvC5sokN6xY2AhY5g,2620
-placo-0.9.0.dist-info/WHEEL,sha256=SPuKCq7g91a_0Yde2aZNKktl1nqSUqyoo9dFJq3wVNQ,110
-placo-0.9.0.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.0.dist-info/RECORD,,