placo 0.9.8__0-cp310-cp310-macosx_11_0_arm64.whl → 0.9.10__0-cp310-cp310-macosx_11_0_arm64.whl

cmeel.prefix/lib/python3.10/site-packages/placo.pyi

@@ -1101,6 +1101,7 @@ class DummyWalk:
   def __init__(
     self,
     robot: RobotWrapper, # placo::model::RobotWrapper
+    parameters: HumanoidParameters, # placo::humanoid::HumanoidParameters
   ) -> any:
     ...
 
@@ -1119,14 +1120,9 @@ class DummyWalk:
   Last requested step d-.
   """
 
-  feet_spacing: float # double
-  """
-  Feet spacing [m].
-  """
-
-  lift_height: float # double
+  lift_spline: CubicSpline # placo::tools::CubicSpline
   """
-  Lift height [m].
+  Cubic splines for the lift trajectory.
   """
 
   def next_step(
@@ -1146,6 +1142,11 @@ class DummyWalk:
     """
     ...
 
+  parameters: HumanoidParameters # placo::humanoid::HumanoidParameters
+  """
+  Humanoid parameters.
+  """
+
   def reset(
     self,
     support_left: bool = False, # bool
@@ -1172,16 +1173,6 @@ class DummyWalk:
   Whether the current support is left or right.
   """
 
-  trunk_height: float # double
-  """
-  Trunk height [m].
-  """
-
-  trunk_pitch: float # double
-  """
-  Trunk pitch angle [rad].
-  """
-
   def update(
     self,
     t: float, # double
@@ -2911,6 +2902,18 @@ class FootstepsPlanner:
     """
     ...
 
+  def clipped_opposite_footstep(
+    self,
+    footstep: Footstep, # placo::humanoid::FootstepsPlanner::Footstep
+    d_x: float = 0., # double
+    d_y: float = 0., # double
+    d_theta: float = 0., # double
+  ) -> Footstep:
+    """
+    Same as opposite_footstep(), but the clipping is applied.
+    """
+    ...
+
   @staticmethod
   def make_supports(
     self,
@@ -2958,6 +2961,18 @@ class FootstepsPlannerNaive:
   ) -> any:
     ...
 
+  def clipped_opposite_footstep(
+    self,
+    footstep: Footstep, # placo::humanoid::FootstepsPlanner::Footstep
+    d_x: float = 0., # double
+    d_y: float = 0., # double
+    d_theta: float = 0., # double
+  ) -> Footstep:
+    """
+    Same as opposite_footstep(), but the clipping is applied.
+    """
+    ...
+
   def configure(
     self,
     T_world_left_target: numpy.ndarray, # Eigen::Affine3d
@@ -3036,6 +3051,18 @@ class FootstepsPlannerRepetitive:
   ) -> any:
     ...
 
+  def clipped_opposite_footstep(
+    self,
+    footstep: Footstep, # placo::humanoid::FootstepsPlanner::Footstep
+    d_x: float = 0., # double
+    d_y: float = 0., # double
+    d_theta: float = 0., # double
+  ) -> Footstep:
+    """
+    Same as opposite_footstep(), but the clipping is applied.
+    """
+    ...
+
   def configure(
     self,
     x: float, # double
@@ -3516,7 +3543,7 @@ class HumanoidRobot:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x1074ff880>
+    :return: <Element 'para' at 0x105820f40>
     """
     ...
 
@@ -3549,7 +3576,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x1074ffa60>
+    :return: <Element 'para' at 0x105821a30>
     """
     ...
 
@@ -3563,7 +3590,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x1074e0bd0>
+    :return: <Element 'para' at 0x105823420>
     """
     ...
 
@@ -3871,7 +3898,7 @@ class HumanoidRobot:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x1074a48b0>
+    :return: <Element 'para' at 0x105820810>
     """
     ...
 
@@ -6343,7 +6370,7 @@ class RobotWrapper:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x1074edee0>
+    :return: <Element 'para' at 0x105739e40>
     """
     ...
 
@@ -6357,7 +6384,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x1074ee9d0>
+    :return: <Element 'para' at 0x10573a930>
     """
     ...
 
@@ -6371,7 +6398,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x1074fc400>
+    :return: <Element 'para' at 0x105748360>
     """
     ...
 
@@ -6608,7 +6635,7 @@ class RobotWrapper:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x1074ed7b0>
+    :return: <Element 'para' at 0x105739710>
     """
     ...
 

{placo-0.9.8.dist-info → placo-0.9.10.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.8
+Version: 0.9.10
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.9.10.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.dylib,sha256=6n7DmUfjTbwa_O4nVJT-MNAXVtb-PWuSMe3ZUI1qSBM,1505744
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=KUb2MAieQO6ZqpWWHAz9YAHrKybPgu2XVy_YgQcE8KQ,161738
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=E2WBCBpihWk0sTszTU2S72-f8sOju_PYLOk1ITrBIjY,6791864
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
+placo-0.9.10.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.10.dist-info/METADATA,sha256=XkUQkLksX-iRiGBMR8bzr1JachjV0YrmpFjN0i5Pe5g,2628
+placo-0.9.10.dist-info/WHEEL,sha256=wZPM3usBfU0VeMSc3DCLlfcN5EuhQgo5t1AEM8-WQe0,111
+placo-0.9.10.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.10.dist-info/RECORD,,

placo-0.9.8.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.dylib,sha256=7nhraPQbU7PH5E4rh7FwZaw65e-rO0-WJI-fppLYJv8,1505632
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=xFXasgQK6UyKuR5uJGi_24kXCSU9XC5P2EiJLnXc5PQ,160775
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=uL9EsKDvx572tl1UxacfGNAs4E2bcjdIc-iZHLVYE8Q,6750376
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
-placo-0.9.8.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.9.8.dist-info/METADATA,sha256=xgxI4GSmC56F_s89L_ImmADbfYBH8zYtyQgzOnFf4rA,2627
-placo-0.9.8.dist-info/WHEEL,sha256=wZPM3usBfU0VeMSc3DCLlfcN5EuhQgo5t1AEM8-WQe0,111
-placo-0.9.8.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.8.dist-info/RECORD,,