Code reference

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