placo 0.9.3__0-cp39-cp39-macosx_11_0_arm64.whl → 0.9.5__0-cp39-cp39-macosx_11_0_arm64.whl

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

@@ -17,6 +17,7 @@ CubicSpline3D = typing.NewType("CubicSpline3D", None)
 Distance = typing.NewType("Distance", None)
 DistanceConstraint = typing.NewType("DistanceConstraint", None)
 DistanceTask = typing.NewType("DistanceTask", None)
+DummyWalk = typing.NewType("DummyWalk", None)
 DynamicsCoMTask = typing.NewType("DynamicsCoMTask", None)
 DynamicsConstraint = typing.NewType("DynamicsConstraint", None)
 DynamicsFrameTask = typing.NewType("DynamicsFrameTask", None)
@@ -1357,6 +1358,154 @@ None( (placo.Prioritized)arg1) -> str :
     ...
 
 
+class DummyWalk:
+  T_world_left: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  T_world_next: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  T_world_right: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def __init__(
+    self,
+    robot: RobotWrapper, # placo::model::RobotWrapper
+  ) -> any:
+    ...
+
+  feet_spacing: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  lift_height: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def next_step(
+    self,
+    dx: float, # double
+    dy: float, # double
+    dtheta: float, # double
+  ) -> None:
+    """
+    Produce the next step, change support foot.
+    
+    :param float dx: dx 
+    
+    :param float dy: dy 
+    
+    :param float dtheta: dtheta
+    """
+    ...
+
+  def reset(
+    self,
+    support_left: bool = False, # bool
+  ) -> None:
+    """
+    Reset the robot with a given support.
+    
+    :param bool support_left: whether the first support is left
+    """
+    ...
+
+  robot: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> placo.RobotWrapper :
+
+    C++ signature :
+        placo::model::RobotWrapper {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  solver: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> placo.KinematicsSolver :
+
+    C++ signature :
+        placo::kinematics::KinematicsSolver {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  support_left: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> bool :
+
+    C++ signature :
+        bool {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  trunk_height: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  trunk_pitch: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def update(
+    self,
+    t: float, # double
+  ) -> None:
+    """
+    Updates the internal IK.
+    
+    :param float t: phase in step from 0 to 1
+    """
+    ...
+
+  def update_T_world_support(
+    self,
+    T_world_support: numpy.ndarray, # Eigen::Affine3d
+  ) -> None:
+    """
+    Update the support to a given world pose.
+    
+    :param numpy.ndarray T_world_support:
+    """
+    ...
+
+
 class DynamicsCoMTask:
   A: any
   """
@@ -3578,9 +3727,10 @@ class FootstepsPlanner:
     """
     ...
 
-  def supports_head(
+  def truncate_supports(
     arg1: Supports,
     arg2: int,
+    arg3: bool,
   ) -> Supports:
     ...
 
@@ -3655,9 +3805,10 @@ class FootstepsPlannerNaive:
     """
     ...
 
-  def supports_head(
+  def truncate_supports(
     arg1: Supports,
     arg2: int,
+    arg3: bool,
   ) -> Supports:
     ...
 
@@ -3738,9 +3889,10 @@ class FootstepsPlannerRepetitive:
     """
     ...
 
-  def supports_head(
+  def truncate_supports(
     arg1: Supports,
     arg2: int,
+    arg3: bool,
   ) -> Supports:
     ...
 
@@ -4269,7 +4421,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x107f354a0>
+    :return: <Element 'para' at 0x1077d4630>
     """
     ...
 
@@ -4302,7 +4454,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x107f35f90>
+    :return: <Element 'para' at 0x1077cf180>
     """
     ...
 
@@ -4316,7 +4468,7 @@ 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 0x107f1ca40>
+    :return: <Element 'para' at 0x1077ce400>
     """
     ...
 
@@ -4628,7 +4780,7 @@ 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 0x107f3bd10>
+    :return: <Element 'para' at 0x1077d9ea0>
     """
     ...
 
@@ -5788,7 +5940,7 @@ None( (placo.KinematicsSolver)arg1) -> placo.Problem :
 None( (placo.KinematicsSolver)arg1) -> placo.RobotWrapper :
 
     C++ signature :
-        placo::model::RobotWrapper None(placo::kinematics::KinematicsSolver)
+        placo::model::RobotWrapper {lvalue} None(placo::kinematics::KinematicsSolver)
   """
 
   scale: any
@@ -7562,7 +7714,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x107610720>
+    :return: <Element 'para' at 0x106eb72c0>
     """
     ...
 
@@ -7576,7 +7728,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x107616270>
+    :return: <Element 'para' at 0x106eb7db0>
     """
     ...
 
@@ -7590,7 +7742,7 @@ 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 0x107618cc0>
+    :return: <Element 'para' at 0x106ec0860>
     """
     ...
 
@@ -7831,7 +7983,7 @@ 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 0x10760cf90>
+    :return: <Element 'para' at 0x106eb3b30>
     """
     ...
 
@@ -9739,4 +9891,4 @@ 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', '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']}
+__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::humanoid': ['DummyWalk', 'Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WPGTrajectory', 'WPGTrajectoryPart', 'WalkPatternGenerator', 'WalkTasks'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'ProblemPolynom', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable']}

{placo-0.9.3.dist-info → placo-0.9.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.3
+Version: 0.9.5
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT
@@ -11,12 +11,12 @@ Home-page: https://placo.readthedocs.io/en/latest/
 Project-URL: Repository, https://github.com/rhoban/placo.git
 Requires-Dist: cmeel
 Requires-Dist: eiquadprog >= 1.2.6, < 2
-Requires-Dist: pin >= 3
+Requires-Dist: pin == 3.7.0
 Requires-Dist: rhoban-cmeel-jsoncpp
 Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
-Requires-Dist: pin[build] >=  3 ; extra == "build"
+Requires-Dist: pin[build] ==  3.7.0 ; extra == "build"
 Requires-Dist: doxystub >= 0.0.13 ; extra == "build"
 Requires-Dist: cmake<4 ; extra == "build"
 Description-Content-Type: text/markdown

placo-0.9.5.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.dylib,sha256=TIerlJRQAP3hembrKJNDsNZPCctJcMLfgA3AupMkW-I,1505632
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=WFAd1kgqcDBim6JyY3pTO_IMosNMP6wYmhQ620tWGm0,201443
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=pJxrBCDpppmC43aLT1Am0v40gE0ii-oqOqB9ihKtJok,6750184
+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-0.9.5.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.5.dist-info/METADATA,sha256=pNcn38rwrk9kss2D1sHX4snCWclHrA3yhUB-XOCX3R4,2628
+placo-0.9.5.dist-info/WHEEL,sha256=L4i5x-b2_mmN301N-Fm2blmgWxGr90rVrliWtA2YuAU,109
+placo-0.9.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.5.dist-info/RECORD,,

placo-0.9.3.dist-info/RECORD

@@ -1,12 +0,0 @@
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-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=oIToWGrI3w8h8qWkyQQ4j2Jv3GvnKbeARY2guruUUFE,198533
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=uB78KPMrvVjOl4Va_X_L61MI_2PGJvODclNrszOUKbw,6675864
-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-0.9.3.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.9.3.dist-info/METADATA,sha256=DBHbwi-DvN5P7To0NuwzxiSbQaXooNpDsGhILdWciog,2620
-placo-0.9.3.dist-info/WHEEL,sha256=L4i5x-b2_mmN301N-Fm2blmgWxGr90rVrliWtA2YuAU,109
-placo-0.9.3.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.3.dist-info/RECORD,,