placo 0.9.0__0-cp39-cp39-manylinux_2_28_x86_64.whl → 0.9.2__0-cp39-cp39-manylinux_2_28_x86_64.whl

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

@@ -4119,26 +4119,13 @@ 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
     """
     ...
 
@@ -4148,7 +4135,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7f3b7a6bcf90>
+    :return: <Element 'para' at 0x7fef608b5c20>
     """
     ...
 
@@ -4180,7 +4167,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7f3b7a6c6a90>
+    :return: <Element 'para' at 0x7fef608f3720>
     """
     ...
 
@@ -4193,7 +4180,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     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 0x7f3b7a6774a0>
+    :return: <Element 'para' at 0x7fef608b4130>
     """
     ...
 
@@ -4499,7 +4486,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     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 0x7f3b7a6bc8b0>
+    :return: <Element 'para' at 0x7fef608b5540>
     """
     ...
 
@@ -4725,6 +4712,17 @@ 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:
@@ -5349,12 +5347,9 @@ 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
     """
     ...
 
@@ -7339,21 +7334,13 @@ 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 0x7f3b7a67d450>
+    :return: <Element 'para' at 0x7fef608a1180>
     """
     ...
 
@@ -7366,7 +7353,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7f3b7a67d310>
+    :return: <Element 'para' at 0x7fef608a5400>
     """
     ...
 
@@ -7379,7 +7366,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     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 0x7f3b7a6ba270>
+    :return: <Element 'para' at 0x7fef608cb090>
     """
     ...
 
@@ -7617,7 +7604,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     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 0x7f3b7a679810>
+    :return: <Element 'para' at 0x7fef608a1ae0>
     """
     ...
 
@@ -8604,6 +8591,19 @@ 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
@@ -8676,6 +8676,12 @@ 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
@@ -8695,15 +8701,6 @@ None( (placo.WPGTrajectory)arg1) -> float :
   ) -> numpy.ndarray:
     ...
 
-  kept_ts: any
-  """
-  
-None( (placo.WPGTrajectory)arg1) -> int :
-
-    C++ signature :
-        int {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
-  """
-
   parts: any
   """
   
@@ -8718,6 +8715,15 @@ None( (placo.WPGTrajectory)arg1) -> object :
   ) -> None:
     ...
 
+  replan_success: any
+  """
+  
+None( (placo.WPGTrajectory)arg1) -> bool :
+
+    C++ signature :
+        bool {lvalue} None(placo::humanoid::WalkPatternGenerator::Trajectory {lvalue})
+  """
+
   def support_is_both(
     self,
     t: float, # double
@@ -8887,6 +8893,15 @@ 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
@@ -8903,7 +8918,6 @@ 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]:
     """
@@ -8911,11 +8925,19 @@ None( (placo.WalkPatternGenerator)arg1) -> bool :
     
     :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
     """
     ...
 
+  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-0.9.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.0
+Version: 0.9.2
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.9.2.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.so,sha256=uqSFJX4Q6KCLym770vJas4Hdw5RdIAJZC4hbcLvVtmM,1986248
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=VabB7PUDNAWU6VbVtOrr5DrWf2LddQVFFEP7NJ86Fk8,196293
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=uYXvzqMeOHv_-bGABNPsJOtg-qTMZBcrpx46Iv39fHw,8437528
+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-0.9.2.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.2.dist-info/METADATA,sha256=J3JpPZ0GlSCqi8liiO02WiGJXzJ-q4p5fGUYxPdF8LE,2620
+placo-0.9.2.dist-info/WHEEL,sha256=BAQlXoBFWyH33ZUB6937RuzBfXaRO6s_TbSA5OwR86Q,113
+placo-0.9.2.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.2.dist-info/RECORD,,

placo-0.9.0.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=5-fpcQCFITiKU8idoJws8L0VR5unRIVvvdykI5hI-_I,1976776
-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=vnKjsGXIg1re3wxj-bEbvoMrb6Vdwzr6dmbn5f3_ayY,195874
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=YyNaVN4fYY8Mv4IHD1YQv638knKIwLSwGhD_A2CG6-0,8437328
-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=BAQlXoBFWyH33ZUB6937RuzBfXaRO6s_TbSA5OwR86Q,113
-placo-0.9.0.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.0.dist-info/RECORD,,