placo 0.9.9__0-cp313-cp313-macosx_11_0_arm64.whl → 0.9.10__0-cp313-cp313-macosx_11_0_arm64.whl

cmeel.prefix/lib/python3.13/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
@@ -2915,6 +2906,18 @@ 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,
@@ -2962,6 +2965,18 @@ 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
@@ -3040,6 +3055,18 @@ 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
@@ -3520,7 +3547,7 @@ class HumanoidRobot:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x105a46f70>
+    :return: <Element 'para' at 0x104180900>
     """
     ...
 
@@ -3553,7 +3580,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x105a40c20>
+    :return: <Element 'para' at 0x10417f560>
     """
     ...
 
@@ -3567,7 +3594,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x105b706d0>
+    :return: <Element 'para' at 0x1042f85e0>
     """
     ...
 
@@ -3875,7 +3902,7 @@ class HumanoidRobot:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x105a47330>
+    :return: <Element 'para' at 0x1041817b0>
     """
     ...
 
@@ -6351,7 +6378,7 @@ class RobotWrapper:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x105a94f90>
+    :return: <Element 'para' at 0x1041d0f40>
     """
     ...
 
@@ -6365,7 +6392,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x105a95a30>
+    :return: <Element 'para' at 0x1041d19e0>
     """
     ...
 
@@ -6379,7 +6406,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x105a971a0>
+    :return: <Element 'para' at 0x1041d3150>
     """
     ...
 
@@ -6616,7 +6643,7 @@ class RobotWrapper:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x105a94770>
+    :return: <Element 'para' at 0x1041d0720>
     """
     ...
 

{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.dylib,sha256=v6ieb2GveBPdQoAfFniyJadtuSiAtPVSadul0q-5MIQ,1505744
+cmeel.prefix/lib/python3.13/site-packages/placo.pyi,sha256=kOk4053vSa3PotwLWmSYWwFflWKqpgKmvuV56HAyB54,161816
+cmeel.prefix/lib/python3.13/site-packages/placo.so,sha256=s3TFv-umbFhSmmixY-L8b3CRdfBnx3GMO-c5sezgCbo,6864760
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.13/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=IWoAZqI87Rq-2ZoZusEVHAVYLTm9LfdBAzXxSj7HXiY,111
+placo-0.9.10.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.10.dist-info/RECORD,,

placo-0.9.9.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.dylib,sha256=FR0uEyGHc0QAXFGg-uCAZRfvJ1mR6h5IGq8K4Q2d508,1505632
-cmeel.prefix/lib/python3.13/site-packages/placo.pyi,sha256=qwGykdweWVOrAwNUs8aCM82r8XLCTylwlvwlKLv360k,160853
-cmeel.prefix/lib/python3.13/site-packages/placo.so,sha256=dnUFucwHai_TUgYCh1DEIV6goZ2M1Yb2rpvpS5uIBbA,6822696
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.13/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=IWoAZqI87Rq-2ZoZusEVHAVYLTm9LfdBAzXxSj7HXiY,111
-placo-0.9.9.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.9.dist-info/RECORD,,