placo 0.9.9__0-cp311-cp311-manylinux_2_28_aarch64.whl → 0.9.10__0-cp311-cp311-manylinux_2_28_aarch64.whl

cmeel.prefix/lib/python3.11/site-packages/placo.pyi

@@ -1066,6 +1066,7 @@ class DummyWalk:
   def __init__(
     self,
     robot: RobotWrapper, # placo::model::RobotWrapper
+    parameters: HumanoidParameters, # placo::humanoid::HumanoidParameters
   ) -> any:
     ...
 
@@ -1084,14 +1085,9 @@ 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(
@@ -1109,6 +1105,11 @@ class DummyWalk:
     """
     ...
 
+  parameters: HumanoidParameters # placo::humanoid::HumanoidParameters
+  """
+  Humanoid parameters.
+  """
+
   def reset(
     self,
     support_left: bool = False, # bool
@@ -1135,16 +1136,6 @@ 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
@@ -2815,6 +2806,18 @@ 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,
@@ -2860,6 +2863,18 @@ 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
@@ -2933,6 +2948,18 @@ 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
@@ -3396,7 +3423,7 @@ class HumanoidRobot:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0xff3cd502ede0>
+    :return: <Element 'para' at 0xff11a4b338d0>
     """
     ...
 
@@ -3428,7 +3455,7 @@ class HumanoidRobot:
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0xff3cd502e340>
+    :return: <Element 'para' at 0xff11a4b32e30>
     """
     ...
 
@@ -3441,7 +3468,7 @@ class HumanoidRobot:
     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 0xff3cd502c9f0>
+    :return: <Element 'para' at 0xff11a4b30ef0>
     """
     ...
 
@@ -3743,7 +3770,7 @@ class HumanoidRobot:
     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 0xff3cd502f4c0>
+    :return: <Element 'para' at 0xff11a4b33f10>
     """
     ...
 
@@ -6135,7 +6162,7 @@ class RobotWrapper:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0xff3cd502f1f0>
+    :return: <Element 'para' at 0xff11a4b14680>
     """
     ...
 
@@ -6148,7 +6175,7 @@ class RobotWrapper:
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0xff3cd5010ae0>
+    :return: <Element 'para' at 0xff11a4b15710>
     """
     ...
 
@@ -6161,7 +6188,7 @@ class RobotWrapper:
     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 0xff3cd5012430>
+    :return: <Element 'para' at 0xff11a4b17600>
     """
     ...
 
@@ -6395,7 +6422,7 @@ class RobotWrapper:
     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 0xff3cd502e660>
+    :return: <Element 'para' at 0xff11a4b33ba0>
     """
     ...
 

{placo-0.9.9.dist-info → placo-0.9.10.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.9
+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.so,sha256=lNEX-pamukO_OVf2WA8aDX4sN2IbFxdwpov2fReVkeI,1809272
+cmeel.prefix/lib/python3.11/site-packages/placo.pyi,sha256=ff4FKgy4B1imHwvDZixKXJ1ydHXUnZzRfwgpLQAYVb4,159915
+cmeel.prefix/lib/python3.11/site-packages/placo.so,sha256=jY0-FFkb3xmtgxhsIuqPCBETSUttUHKZlIjT8tNrqHQ,8963688
+cmeel.prefix/lib/python3.11/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
+cmeel.prefix/lib/python3.11/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
+cmeel.prefix/lib/python3.11/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.11/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=IUoq4jkvzpr-RCdJGO4GKbL2IGbQLBAg7MfEZl-UKjg,116
+placo-0.9.10.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.10.dist-info/RECORD,,

placo-0.9.9.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=5AwVyF_Mx__476ELY2qweszGals-t__tlV9MgiZxink,1809200
-cmeel.prefix/lib/python3.11/site-packages/placo.pyi,sha256=sWXpv4HWtSM_nRGskx1JYXGT5iApvNDVTPv3XBEAXw8,158952
-cmeel.prefix/lib/python3.11/site-packages/placo.so,sha256=mNg1Ma5ktlprKaRHARROVKhsfNw5Po4pDo0b1M2sZjQ,8943408
-cmeel.prefix/lib/python3.11/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
-cmeel.prefix/lib/python3.11/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
-cmeel.prefix/lib/python3.11/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.11/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
-placo-0.9.9.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.9.9.dist-info/METADATA,sha256=EYweFOycHmb4tbNUve3lvAkGy54_F2A76sDUgh45yEI,2627
-placo-0.9.9.dist-info/WHEEL,sha256=IUoq4jkvzpr-RCdJGO4GKbL2IGbQLBAg7MfEZl-UKjg,116
-placo-0.9.9.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.9.dist-info/RECORD,,