Index A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | W | X | Y | Z A A (placo.AxisAlignTask attribute) (placo.CentroidalMomentumTask attribute) (placo.CoMTask attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) (placo.Expression attribute) (placo.GearTask attribute) (placo.Integrator attribute) (placo.JointsTask attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.RegularizationTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) (placo.Task attribute) (placo.WheelTask attribute) acc() (placo.LIPM method) (placo.LIPMTrajectory method) active (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.Relative6DContact attribute) (placo.RelativePointContact attribute) (placo.TaskContact attribute) add_avoid_self_collisions_constraint() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_axisalign_task() (placo.KinematicsSolver method) add_centroidal_momentum_task() (placo.KinematicsSolver method) add_com_polygon_constraint() (placo.KinematicsSolver method) add_com_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_cone_constraint() (placo.KinematicsSolver method) add_constraint() (placo.DynamicsSolver method) (placo.KinematicsSolver method) (placo.Problem method) add_distance_task() (placo.KinematicsSolver method) add_external_wrench_contact() (placo.DynamicsSolver method) add_first_support() (placo.FootstepsPlanner static method) (placo.FootstepsPlannerNaive static method) (placo.FootstepsPlannerRepetitive static method) add_fixed_contact() (placo.DynamicsSolver method) add_frame_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_gear() (placo.DynamicsGearTask method) (placo.GearTask method) add_gear_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_interval() (placo.Sparsity method) add_joints_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_kinetic_energy_regularization_task() (placo.KinematicsSolver method) add_limit() (placo.Problem method) add_orientation_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_planar_contact() (placo.DynamicsSolver method) add_point() (placo.CubicSpline method) (placo.CubicSpline3D method) add_point_contact() (placo.DynamicsSolver method) add_position_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_puppet_contact() (placo.DynamicsSolver method) add_q_noise() (placo.KinematicsSolver method) add_reaction_ratio_constraint() (placo.DynamicsSolver method) add_regularization_task() (placo.KinematicsSolver method) add_relative_fixed_contact() (placo.DynamicsSolver method) add_relative_frame_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_relative_orientation_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_relative_point_contact() (placo.DynamicsSolver method) add_relative_position_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_task_contact() (placo.DynamicsSolver method) add_torque_task() (placo.DynamicsSolver method) add_unilateral_point_contact() (placo.DynamicsSolver method) add_variable() (placo.Problem method) add_wheel_task() (placo.KinematicsSolver method) angle_max (placo.ConeConstraint attribute) apply() (placo.AxisesMask method) apply_transform() (placo.WalkTrajectory method) arrow_viz() (in module placo_utils.visualization) AvoidSelfCollisionsDynamicsConstraint (class in placo) AvoidSelfCollisionsKinematicsConstraint (class in placo) axis_frame (placo.AxisAlignTask attribute) AxisAlignTask (class in placo) AxisesMask (class in placo) B b (placo.AxisAlignTask attribute) (placo.CentroidalMomentumTask attribute) (placo.CoMTask attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) (placo.Expression attribute) (placo.GearTask attribute) B (placo.Integrator attribute) b (placo.JointsTask attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.RegularizationTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) (placo.Task attribute) (placo.WheelTask attribute) bodyA (placo.Collision attribute) bodyB (placo.Collision attribute) C can_replan_supports() (placo.WalkPatternGenerator method) CentroidalMomentumTask (class in placo) clear() (placo.CubicSpline method) (placo.CubicSpline3D method) (placo.DynamicsSolver method) (placo.KinematicsSolver method) clear_constraints() (placo.Problem method) clear_variables() (placo.Problem method) Collision (class in placo) collision_model (placo.HumanoidRobot attribute) (placo.RobotWrapper attribute) cols() (placo.Expression method) com_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) com_jacobian_time_variation() (placo.HumanoidRobot method) (placo.RobotWrapper method) com_world() (placo.HumanoidRobot method) (placo.RobotWrapper method) com_x (placo.WalkTasks attribute) com_y (placo.WalkTasks attribute) CoMPolygonConstraint (class in placo) compute_omega() (placo.LIPM static method) CoMTask (class in placo) ConeConstraint (class in placo) configure() (placo.AvoidSelfCollisionsDynamicsConstraint method) (placo.AvoidSelfCollisionsKinematicsConstraint method) (placo.AxisAlignTask method) (placo.CentroidalMomentumTask method) (placo.CoMPolygonConstraint method) (placo.CoMTask method) (placo.ConeConstraint method) (placo.DistanceTask method) (placo.DynamicsCoMTask method) (placo.DynamicsConstraint method) (placo.DynamicsFrameTask method) (placo.DynamicsGearTask method) (placo.DynamicsJointsTask method) (placo.DynamicsOrientationTask method) (placo.DynamicsPositionTask method) (placo.DynamicsReactionRatioConstraint method) (placo.DynamicsRelativeFrameTask method) (placo.DynamicsRelativeOrientationTask method) (placo.DynamicsRelativePositionTask method) (placo.DynamicsTask method) (placo.DynamicsTorqueTask method) (placo.FootstepsPlannerNaive method) (placo.FootstepsPlannerRepetitive method) (placo.FrameTask method) (placo.GearTask method) (placo.JointsTask method) (placo.KinematicsConstraint method) (placo.KineticEnergyRegularizationTask method) (placo.OrientationTask method) (placo.PositionTask method) (placo.Prioritized method) (placo.ProblemConstraint method) (placo.RegularizationTask method) (placo.RelativeFrameTask method) (placo.RelativeOrientationTask method) (placo.RelativePositionTask method) (placo.Task method) (placo.WheelTask method) Contact (class in placo) Contact6D (class in placo) contacts_viz() (in module placo_utils.visualization) count_contacts() (placo.DynamicsSolver method) critically_damped (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) CubicSpline (class in placo) CubicSpline3D (class in placo) D dcm (placo.CoMPolygonConstraint attribute) dcm() (placo.HumanoidRobot method) (placo.LIPM method) (placo.LIPMTrajectory method) ddtarget (placo.DynamicsRelativePositionTask attribute) ddtarget_world (placo.DynamicsCoMTask attribute) derror (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) detect_columns_sparsity() (placo.Sparsity static method) determined_variables (placo.Problem attribute) Distance (class in placo) distance (placo.DistanceTask attribute) distances() (placo.HumanoidRobot method) (placo.RobotWrapper method) DistanceTask (class in placo) domega_a_b (placo.DynamicsRelativeOrientationTask attribute) domega_world (placo.DynamicsOrientationTask attribute) double_support_duration() (placo.HumanoidParameters method) double_support_ratio (placo.HumanoidParameters attribute) double_support_timesteps() (placo.HumanoidParameters method) dt (placo.DynamicsSolver attribute) (placo.KinematicsSolver attribute) dt() (placo.HumanoidParameters method) dtarget (placo.DynamicsRelativePositionTask attribute) dtarget_world (placo.DynamicsCoMTask attribute) (placo.DynamicsPositionTask attribute) dump_status() (placo.DynamicsSolver method) (placo.KinematicsSolver method) (placo.Problem method) duration() (placo.CubicSpline method) (placo.CubicSpline3D method) (placo.IntegratorTrajectory method) DynamicsCoMTask (class in placo) DynamicsConstraint (class in placo) DynamicsFrameTask (class in placo) DynamicsGearTask (class in placo) DynamicsJointsTask (class in placo) DynamicsOrientationTask (class in placo) DynamicsPositionTask (class in placo) DynamicsReactionRatioConstraint (class in placo) DynamicsRelativeFrameTask (class in placo) DynamicsRelativeOrientationTask (class in placo) DynamicsRelativePositionTask (class in placo) DynamicsSolver (class in placo) DynamicsSolverResult (class in placo) DynamicsTask (class in placo) DynamicsTorqueTask (class in placo) dzmp() (placo.LIPM method) (placo.LIPMTrajectory method) E ellipsoid_clip() (placo.HumanoidParameters method) enable_joint_limits() (placo.DynamicsSolver method) (placo.KinematicsSolver method) enable_torque_limits() (placo.DynamicsSolver method) enable_velocity_limits() (placo.DynamicsSolver method) (placo.KinematicsSolver method) enable_velocity_vs_torque_limits() (placo.DynamicsSolver method) end (placo.SparsityInterval attribute) (placo.Support attribute) ensure_on_floor() (placo.HumanoidRobot method) error (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) error() (placo.AxisAlignTask method) (placo.CentroidalMomentumTask method) (placo.CoMTask method) (placo.DistanceTask method) (placo.GearTask method) (placo.JointsTask method) (placo.KineticEnergyRegularizationTask method) (placo.OrientationTask method) (placo.PositionTask method) (placo.RegularizationTask method) (placo.RelativeOrientationTask method) (placo.RelativePositionTask method) (placo.Task method) (placo.WheelTask method) error_norm() (placo.AxisAlignTask method) (placo.CentroidalMomentumTask method) (placo.CoMTask method) (placo.DistanceTask method) (placo.GearTask method) (placo.JointsTask method) (placo.KineticEnergyRegularizationTask method) (placo.OrientationTask method) (placo.PositionTask method) (placo.RegularizationTask method) (placo.RelativeOrientationTask method) (placo.RelativePositionTask method) (placo.Task method) (placo.WheelTask method) expr() (placo.Integrator method) (placo.Variable method) expr_t() (placo.Integrator method) Expression (class in placo) expression (placo.ProblemConstraint attribute) ExternalWrenchContact (class in placo) F feet_spacing (placo.HumanoidParameters attribute) final_transition_matrix (placo.Integrator attribute) flatten_on_floor() (in module placo) foot_length (placo.Footstep attribute) (placo.HumanoidParameters attribute) foot_width (placo.Footstep attribute) (placo.HumanoidParameters attribute) foot_zmp_target_x (placo.HumanoidParameters attribute) foot_zmp_target_y (placo.HumanoidParameters attribute) Footstep (class in placo) footstep_frame() (placo.Support method) footsteps (placo.Support attribute) footsteps_viz() (in module placo_utils.visualization) FootstepsPlanner (class in placo) FootstepsPlannerNaive (class in placo) FootstepsPlannerRepetitive (class in placo) frame (placo.Footstep attribute) frame() (placo.Support method) frame_a (placo.DistanceTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) frame_b (placo.DistanceTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) frame_index (placo.AxisAlignTask attribute) (placo.DynamicsPositionTask attribute) (placo.ExternalWrenchContact attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) frame_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) frame_jacobian_time_variation() (placo.HumanoidRobot method) (placo.RobotWrapper method) frame_names() (placo.HumanoidRobot method) (placo.RobotWrapper method) frame_viz() (in module placo_utils.visualization) frame_yaw() (in module placo) FrameTask (class in placo) free_variables (placo.Problem attribute) friction (placo.DynamicsSolver attribute) from_double() (placo.Expression static method) from_vector() (placo.Expression static method) G GearTask (class in placo) generalized_gravity() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_a_world_CoM() (placo.WalkTrajectory method) get_com_velocity() (placo.HumanoidRobot method) get_contact() (placo.Collision method) (placo.DynamicsSolver method) get_j_world_CoM() (placo.WalkTrajectory method) get_joint() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_joint_acceleration() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_joint_offset() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_joint_v_offset() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_joint_velocity() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_next_support() (placo.WalkTrajectory method) get_p_world_CoM() (placo.WalkTrajectory method) get_p_world_DCM() (placo.WalkTrajectory method) get_p_world_ZMP() (placo.WalkTrajectory method) get_part_t_start() (placo.WalkTrajectory method) get_prev_support() (placo.WalkTrajectory method) get_R_world_trunk() (placo.WalkTrajectory method) get_support() (placo.WalkTrajectory method) get_support_side() (placo.HumanoidRobot method) get_supports() (placo.WalkTrajectory method) get_T_a_b() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_T_world_fbase() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_T_world_frame() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_T_world_left() (placo.HumanoidRobot method) (placo.WalkTrajectory method) get_T_world_right() (placo.HumanoidRobot method) (placo.WalkTrajectory method) get_T_world_trunk() (placo.HumanoidRobot method) get_tasks_error() (placo.WalkTasks method) get_torques() (placo.HumanoidRobot method) get_torques_dict() (placo.HumanoidRobot method) get_trajectory() (placo.Integrator method) (placo.LIPM method) get_v_world_CoM() (placo.WalkTrajectory method) get_viewer() (in module placo_utils.visualization) gravity_only (placo.DynamicsSolver attribute) H has_double_support() (placo.HumanoidParameters method) HumanoidParameters (class in placo) HumanoidRobot (class in placo) I in_polygon() (placo.PolygonConstraint static method) in_polygon_xy() (placo.PolygonConstraint static method) initialize_tasks() (placo.WalkTasks method) integrate() (placo.HumanoidRobot method) (placo.RobotWrapper method) Integrator (class in placo) IntegratorTrajectory (class in placo) interpolate_frames() (in module placo) intervals (placo.Sparsity attribute) is_active (placo.ProblemConstraint attribute) is_both() (placo.Support method) is_scalar() (placo.Expression method) J jerk() (placo.LIPM method) (placo.LIPMTrajectory method) jerk_planner_timesteps (placo.WalkTrajectory attribute) joint (placo.WheelTask attribute) joint_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) joint_names() (placo.HumanoidRobot method) (placo.RobotWrapper method) JointsTask (class in placo) K k_end (placo.Variable attribute) k_start (placo.Variable attribute) kd (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) kick (placo.Footstep attribute) kick() (placo.Support method) kick_support_duration() (placo.HumanoidParameters method) kick_support_ratio (placo.HumanoidParameters attribute) kick_support_timesteps() (placo.HumanoidParameters method) KinematicsConstraint (class in placo) KinematicsSolver (class in placo) KineticEnergyRegularizationTask (class in placo) kp (placo.DynamicsCoMTask attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) L L_world (placo.CentroidalMomentumTask attribute) left_foot_task (placo.WalkTasks attribute) length (placo.Contact6D attribute) line_viz() (in module placo_utils.visualization) LIPM (class in placo) LIPMTrajectory (class in placo) load_collision_pairs() (placo.HumanoidRobot method) (placo.RobotWrapper method) M M (placo.Integrator attribute) make_solver() (placo.HumanoidRobot method) (placo.RobotWrapper method) make_supports() (placo.FootstepsPlanner static method) (placo.FootstepsPlannerNaive static method) (placo.FootstepsPlannerRepetitive static method) make_trajectory() (placo.SwingFoot static method) (placo.SwingFootCubic static method) (placo.SwingFootQuintic static method) margin (placo.CoMPolygonConstraint attribute) mask (placo.CentroidalMomentumTask attribute) (placo.CoMTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) mask_dof() (placo.KinematicsSolver method) mask_fbase() (placo.DynamicsSolver method) (placo.KinematicsSolver method) mass_matrix() (placo.HumanoidRobot method) (placo.RobotWrapper method) mean() (placo.Expression method) min_distance (placo.Distance attribute) model (placo.HumanoidRobot attribute) (placo.RobotWrapper attribute) module placo_utils.visualization mu (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.Relative6DContact attribute) (placo.RelativePointContact attribute) (placo.TaskContact attribute) multiply() (placo.Expression method) N N (placo.ConeConstraint attribute) (placo.KinematicsSolver attribute) n_equalities (placo.Problem attribute) n_inequalities (placo.Problem attribute) n_variables (placo.Problem attribute) name (placo.AvoidSelfCollisionsDynamicsConstraint attribute) (placo.AvoidSelfCollisionsKinematicsConstraint attribute) (placo.AxisAlignTask attribute) (placo.CentroidalMomentumTask attribute) (placo.CoMPolygonConstraint attribute) (placo.CoMTask attribute) (placo.ConeConstraint attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsConstraint attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsReactionRatioConstraint attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) (placo.GearTask attribute) (placo.JointsTask attribute) (placo.KinematicsConstraint attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.Prioritized attribute) (placo.RegularizationTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) (placo.Task attribute) (placo.WheelTask attribute) neutral_state() (placo.HumanoidRobot method) (placo.RobotWrapper method) non_linear_effects() (placo.HumanoidRobot method) (placo.RobotWrapper method) O objA (placo.Collision attribute) (placo.Distance attribute) objB (placo.Collision attribute) (placo.Distance attribute) omega (placo.CoMPolygonConstraint attribute) omega_a_b (placo.DynamicsRelativeOrientationTask attribute) omega_world (placo.DynamicsOrientationTask attribute) omniwheel (placo.WheelTask attribute) opposite_footstep() (placo.FootstepsPlanner method) (placo.FootstepsPlannerNaive method) (placo.FootstepsPlannerRepetitive method) orientation() (placo.DynamicsFrameTask method) (placo.DynamicsRelativeFrameTask method) (placo.FrameTask method) (placo.RelativeFrameTask method) orientation_task() (placo.Contact6D method) OrientationTask (class in placo) other_side() (placo.HumanoidRobot static method) overlap() (placo.Footstep method) P parentA (placo.Collision attribute) (placo.Distance attribute) parentB (placo.Collision attribute) (placo.Distance attribute) piecewise_add() (placo.Expression method) placo_utils.visualization module plan() (placo.FootstepsPlannerNaive method) (placo.FootstepsPlannerRepetitive method) (placo.WalkPatternGenerator method) planned_timesteps (placo.HumanoidParameters attribute) point_viz() (in module placo_utils.visualization) pointA (placo.Distance attribute) pointB (placo.Distance attribute) PointContact (class in placo) points_viz() (in module placo_utils.visualization) polygon (placo.CoMPolygonConstraint attribute) polygon_contains() (placo.Footstep static method) PolygonConstraint (class in placo) pos() (placo.CubicSpline method) (placo.CubicSpline3D method) (placo.LIPM method) (placo.LIPMTrajectory method) (placo.SwingFootCubicTrajectory method) (placo.SwingFootQuinticTrajectory method) (placo.SwingFootTrajectory method) position() (placo.DynamicsFrameTask method) (placo.DynamicsRelativeFrameTask method) (placo.FrameTask method) (placo.RelativeFrameTask method) position_task() (placo.Contact6D method) (placo.PointContact method) PositionTask (class in placo) print_intervals() (placo.Sparsity method) Prioritized (class in placo) priority (placo.AvoidSelfCollisionsDynamicsConstraint attribute) (placo.AvoidSelfCollisionsKinematicsConstraint attribute) (placo.AxisAlignTask attribute) (placo.CentroidalMomentumTask attribute) (placo.CoMPolygonConstraint attribute) (placo.CoMTask attribute) (placo.ConeConstraint attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsConstraint attribute) (placo.DynamicsGearTask attribute) (placo.DynamicsJointsTask attribute) (placo.DynamicsOrientationTask attribute) (placo.DynamicsPositionTask attribute) (placo.DynamicsReactionRatioConstraint attribute) (placo.DynamicsRelativeOrientationTask attribute) (placo.DynamicsRelativePositionTask attribute) (placo.DynamicsTask attribute) (placo.DynamicsTorqueTask attribute) (placo.GearTask attribute) (placo.JointsTask attribute) (placo.KinematicsConstraint attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.Prioritized attribute) (placo.ProblemConstraint attribute) (placo.RegularizationTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) (placo.Task attribute) (placo.WheelTask attribute) Problem (class in placo) problem (placo.DynamicsSolver attribute) (placo.KinematicsSolver attribute) ProblemConstraint (class in placo) PuppetContact (class in placo) Q q (placo.RobotWrapper_State attribute) qd (placo.RobotWrapper_State attribute) qdd (placo.DynamicsSolverResult attribute) (placo.RobotWrapper_State attribute) qdd_safe (placo.DynamicsSolver attribute) QPError (class in placo) R R_a_b (placo.DynamicsRelativeOrientationTask attribute) (placo.RelativeOrientationTask attribute) R_custom_world (placo.AxisesMask attribute) R_local_world (placo.AxisesMask attribute) R_world_frame (placo.DynamicsOrientationTask attribute) (placo.OrientationTask attribute) radius (placo.WheelTask attribute) range (placo.ConeConstraint attribute) reach_initial_pose() (placo.WalkTasks method) reaction_ratio (placo.DynamicsReactionRatioConstraint attribute) RegularizationTask (class in placo) Relative6DContact (class in placo) relative_position_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) RelativeFrameTask (class in placo) RelativeOrientationTask (class in placo) RelativePointContact (class in placo) RelativePositionTask (class in placo) remake_trajectory() (placo.SwingFoot static method) remove_constraint() (placo.DynamicsSolver method) (placo.KinematicsSolver method) remove_contact() (placo.DynamicsSolver method) remove_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) remove_tasks() (placo.WalkTasks method) replan() (placo.WalkPatternGenerator method) replan_supports() (placo.WalkPatternGenerator method) replan_timesteps (placo.HumanoidParameters attribute) reset() (placo.HumanoidRobot method) (placo.RobotWrapper method) reset_joint() (placo.DynamicsSolver method) rewrite_equalities (placo.Problem attribute) right_foot_task (placo.WalkTasks attribute) robot (placo.DynamicsSolver attribute) (placo.KinematicsSolver attribute) robot_frame_viz() (in module placo_utils.visualization) robot_viz() (in module placo_utils.visualization) RobotWrapper (class in placo) RobotWrapper_State (class in placo) rotation_from_axis() (in module placo) rows() (placo.Expression method) S scale (placo.KinematicsSolver attribute) scaled (placo.WalkTasks attribute) self_collisions() (placo.HumanoidRobot method) (placo.RobotWrapper method) self_collisions_margin (placo.AvoidSelfCollisionsDynamicsConstraint attribute) (placo.AvoidSelfCollisionsKinematicsConstraint attribute) self_collisions_trigger (placo.AvoidSelfCollisionsDynamicsConstraint attribute) (placo.AvoidSelfCollisionsKinematicsConstraint attribute) set_axises() (placo.AxisesMask method) set_end() (placo.Support method) set_gear() (placo.DynamicsGearTask method) (placo.GearTask method) set_gravity() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_joint() (placo.DynamicsJointsTask method) (placo.HumanoidRobot method) (placo.JointsTask method) (placo.RobotWrapper method) set_joint_acceleration() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_joint_limits() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_joint_velocity() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_joints() (placo.DynamicsJointsTask method) (placo.JointsTask method) set_joints_velocities() (placo.DynamicsJointsTask method) set_passive() (placo.DynamicsSolver method) set_start() (placo.Support method) set_T_world_fbase() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_T_world_frame() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_tau() (placo.DynamicsSolver method) set_torque() (placo.DynamicsTorqueTask method) set_torque_limit() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_velocity_limit() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_velocity_limits() (placo.HumanoidRobot method) (placo.RobotWrapper method) side (placo.Footstep attribute) side() (placo.Support method) single_support_duration (placo.HumanoidParameters attribute) single_support_timesteps (placo.HumanoidParameters attribute) slack_variables (placo.Problem attribute) slacks (placo.Problem attribute) slice() (placo.Expression method) solve() (placo.DynamicsSolver method) (placo.KinematicsSolver method) (placo.Problem method) solver (placo.WalkTasks attribute) Sparsity (class in placo) SparsityInterval (class in placo) start (placo.SparsityInterval attribute) (placo.Support attribute) startend_double_support_duration() (placo.HumanoidParameters method) startend_double_support_ratio (placo.HumanoidParameters attribute) startend_double_support_timesteps() (placo.HumanoidParameters method) state (placo.HumanoidRobot attribute) (placo.RobotWrapper attribute) static_gravity_compensation_torques() (placo.HumanoidRobot method) (placo.RobotWrapper method) static_gravity_compensation_torques_dict() (placo.HumanoidRobot method) (placo.RobotWrapper method) success (placo.DynamicsSolverResult attribute) sum() (placo.Expression method) Support (class in placo) support_is_both (placo.HumanoidRobot attribute) support_is_both() (placo.WalkTrajectory method) support_polygon() (placo.Footstep method) (placo.Support method) support_side() (placo.WalkTrajectory method) SwingFoot (class in placo) SwingFootCubic (class in placo) SwingFootCubicTrajectory (class in placo) SwingFootQuintic (class in placo) SwingFootQuinticTrajectory (class in placo) SwingFootTrajectory (class in placo) T T_a_b (placo.DynamicsRelativeFrameTask attribute) (placo.RelativeFrameTask attribute) t_end (placo.WalkTrajectory attribute) t_start (placo.Integrator attribute) (placo.WalkTrajectory attribute) T_world_frame (placo.DynamicsFrameTask attribute) (placo.FrameTask attribute) T_world_support (placo.HumanoidRobot attribute) T_world_surface (placo.WheelTask attribute) target (placo.DynamicsRelativePositionTask attribute) (placo.RelativePositionTask attribute) target_world (placo.CoMTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsPositionTask attribute) (placo.PositionTask attribute) targetAxis_world (placo.AxisAlignTask attribute) Task (class in placo) TaskContact (class in placo) tasks_count() (placo.KinematicsSolver method) tau (placo.DynamicsSolverResult attribute) tau_dict() (placo.DynamicsSolverResult method) torques_from_acceleration_with_fixed_frame() (placo.HumanoidRobot method) (placo.RobotWrapper method) torques_from_acceleration_with_fixed_frame_dict() (placo.HumanoidRobot method) (placo.RobotWrapper method) total_mass() (placo.HumanoidRobot method) (placo.RobotWrapper method) trunk_mode (placo.WalkTasks attribute) trunk_orientation_task (placo.WalkTasks attribute) U unilateral (placo.Contact6D attribute) (placo.PointContact attribute) unmask_dof() (placo.KinematicsSolver method) update() (placo.AxisAlignTask method) (placo.CentroidalMomentumTask method) (placo.CoMTask method) (placo.DistanceTask method) (placo.GearTask method) (placo.JointsTask method) (placo.KineticEnergyRegularizationTask method) (placo.OrientationTask method) (placo.PositionTask method) (placo.RegularizationTask method) (placo.RelativeOrientationTask method) (placo.RelativePositionTask method) (placo.Task method) (placo.WheelTask method) update_kinematics() (placo.HumanoidRobot method) (placo.RobotWrapper method) update_support_side() (placo.HumanoidRobot method) update_tasks() (placo.WalkTasks method) update_tasks_from_trajectory() (placo.WalkTasks method) upper_shift_matrix() (placo.Integrator static method) use_sparsity (placo.Problem attribute) V value (placo.Variable attribute) value() (placo.Expression method) (placo.Integrator method) (placo.IntegratorTrajectory method) Variable (class in placo) vel() (placo.CubicSpline method) (placo.CubicSpline3D method) (placo.LIPM method) (placo.LIPMTrajectory method) (placo.SwingFootCubicTrajectory method) (placo.SwingFootQuinticTrajectory method) (placo.SwingFootTrajectory method) visual_model (placo.HumanoidRobot attribute) (placo.RobotWrapper attribute) W w_ext (placo.ExternalWrenchContact attribute) walk_com_height (placo.HumanoidParameters attribute) walk_dtheta_spacing (placo.HumanoidParameters attribute) walk_foot_height (placo.HumanoidParameters attribute) walk_foot_rise_ratio (placo.HumanoidParameters attribute) walk_max_dtheta (placo.HumanoidParameters attribute) walk_max_dx_backward (placo.HumanoidParameters attribute) walk_max_dx_forward (placo.HumanoidParameters attribute) walk_max_dy (placo.HumanoidParameters attribute) walk_trunk_pitch (placo.HumanoidParameters attribute) WalkPatternGenerator (class in placo) WalkTasks (class in placo) WalkTrajectory (class in placo) weight (placo.ProblemConstraint attribute) weight_forces (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.Relative6DContact attribute) (placo.RelativePointContact attribute) (placo.TaskContact attribute) weight_moments (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.Relative6DContact attribute) (placo.RelativePointContact attribute) (placo.TaskContact attribute) what() (placo.QPError method) WheelTask (class in placo) width (placo.Contact6D attribute) wrap_angle() (in module placo) wrench (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.Relative6DContact attribute) (placo.RelativePointContact attribute) (placo.TaskContact attribute) X x (placo.LIPM attribute) Y y (placo.LIPM attribute) Z zmp() (placo.Contact6D method) (placo.HumanoidRobot method) (placo.LIPM method) (placo.LIPMTrajectory method) zmp_margin (placo.HumanoidParameters attribute) zmp_reference_weight (placo.HumanoidParameters attribute)