placo 0.9.9__0-cp39-cp39-macosx_10_9_x86_64.whl → 0.9.11__0-cp39-cp39-macosx_10_9_x86_64.whl

cmeel.prefix/lib/python3.9/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
@@ -2907,6 +2898,18 @@ 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,
@@ -2954,6 +2957,18 @@ 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
@@ -3032,6 +3047,18 @@ 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
@@ -3512,7 +3539,7 @@ class HumanoidRobot:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x104b41f90>
+    :return: <Element 'para' at 0x10d391f40>
     """
     ...
 
@@ -3545,7 +3572,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x104b48ae0>
+    :return: <Element 'para' at 0x10d391450>
     """
     ...
 
@@ -3559,7 +3586,7 @@ class HumanoidRobot:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x104b4f540>
+    :return: <Element 'para' at 0x10d3996d0>
     """
     ...
 
@@ -3867,7 +3894,7 @@ class HumanoidRobot:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x104b41860>
+    :return: <Element 'para' at 0x10d3ad9a0>
     """
     ...
 
@@ -6335,7 +6362,7 @@ class RobotWrapper:
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x103c0cc20>
+    :return: <Element 'para' at 0x10c437db0>
     """
     ...
 
@@ -6349,7 +6376,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x103c10770>
+    :return: <Element 'para' at 0x10c43c900>
     """
     ...
 
@@ -6363,7 +6390,7 @@ class RobotWrapper:
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x103c18220>
+    :return: <Element 'para' at 0x10c4433b0>
     """
     ...
 
@@ -6600,7 +6627,7 @@ class RobotWrapper:
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x103c0c4f0>
+    :return: <Element 'para' at 0x10c437680>
     """
     ...
 

{placo-0.9.9.dist-info → placo-0.9.11.dist-info}/METADATA

@@ -1,8 +1,8 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.9
+Version: 0.9.11
 Summary: PlaCo: Rhoban Planning and Control
-Requires-Python: >= 3.9
+Requires-Python: >= 3.8
 License-Expression: MIT
 License-File: LICENSE
 Author-email: Rhoban team <team@rhoban.com>
@@ -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 == 3.7.0
+Requires-Dist: pin==3.4.0
 Requires-Dist: rhoban-cmeel-jsoncpp
 Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
-Requires-Dist: pin[build] ==  3.7.0 ; extra == "build"
+Requires-Dist: pin[build]==3.4.0 ; extra == "build"
 Requires-Dist: doxystub >= 0.1.7 ; extra == "build"
 Requires-Dist: cmake<4 ; extra == "build"
 Description-Content-Type: text/markdown

placo-0.9.11.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.dylib,sha256=1h2beo_ZdnA7FDMgl9MfoZiUc-RTrYpmx-3tDc2HzOc,1706712
+cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=aCCHaix0xGQe11ixgf_mAspDE3ktk470YdDCKVMOHb0,161662
+cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=E1ekUOiyOdlmkNyJMuzZ022NrEWrd2dRd8h8YrORpJs,7216480
+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-0.9.11.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.11.dist-info/METADATA,sha256=0K25RC_P7oh7mthpw4jmB7k8tANO-4CxmcPcaMiqyNg,2623
+placo-0.9.11.dist-info/WHEEL,sha256=SPuKCq7g91a_0Yde2aZNKktl1nqSUqyoo9dFJq3wVNQ,110
+placo-0.9.11.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.11.dist-info/RECORD,,

placo-0.9.9.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.dylib,sha256=DCKWAjJtSNNRWMeJJ_8NiwLxBnjmu2VN_VomqcbLaqE,1860184
-cmeel.prefix/lib/python3.9/site-packages/placo.pyi,sha256=ie5KfntJH4DebrdlgMBpzBByfdL1jTlqdgVP06Jh_OA,160699
-cmeel.prefix/lib/python3.9/site-packages/placo.so,sha256=zWj8RYLC4xGgEXeVqLHWwmC39umiMfKkSn5Ay0a6TRA,7194320
-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-0.9.9.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=SPuKCq7g91a_0Yde2aZNKktl1nqSUqyoo9dFJq3wVNQ,110
-placo-0.9.9.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.9.dist-info/RECORD,,