Code reference#
- Methods
- Module placo_utils
- placo::dynamics
AvoidSelfCollisionsDynamicsConstraintContactContact6DDynamicsCoMTaskDynamicsCoMTask.ADynamicsCoMTask.bDynamicsCoMTask.configure()DynamicsCoMTask.ddtarget_worldDynamicsCoMTask.derrorDynamicsCoMTask.dtarget_worldDynamicsCoMTask.errorDynamicsCoMTask.kdDynamicsCoMTask.kpDynamicsCoMTask.maskDynamicsCoMTask.nameDynamicsCoMTask.priorityDynamicsCoMTask.target_world
DynamicsConstraintDynamicsFrameTaskDynamicsGearTaskDynamicsJointsTaskDynamicsJointsTask.ADynamicsJointsTask.bDynamicsJointsTask.configure()DynamicsJointsTask.derrorDynamicsJointsTask.errorDynamicsJointsTask.get_joint()DynamicsJointsTask.kdDynamicsJointsTask.kpDynamicsJointsTask.nameDynamicsJointsTask.priorityDynamicsJointsTask.set_joint()DynamicsJointsTask.set_joints()DynamicsJointsTask.set_joints_velocities()
DynamicsOrientationTaskDynamicsOrientationTask.ADynamicsOrientationTask.R_world_frameDynamicsOrientationTask.bDynamicsOrientationTask.configure()DynamicsOrientationTask.derrorDynamicsOrientationTask.domega_worldDynamicsOrientationTask.errorDynamicsOrientationTask.kdDynamicsOrientationTask.kpDynamicsOrientationTask.maskDynamicsOrientationTask.nameDynamicsOrientationTask.omega_worldDynamicsOrientationTask.priority
DynamicsPositionTaskDynamicsPositionTask.ADynamicsPositionTask.bDynamicsPositionTask.configure()DynamicsPositionTask.ddtarget_worldDynamicsPositionTask.derrorDynamicsPositionTask.dtarget_worldDynamicsPositionTask.errorDynamicsPositionTask.frame_indexDynamicsPositionTask.kdDynamicsPositionTask.kpDynamicsPositionTask.maskDynamicsPositionTask.nameDynamicsPositionTask.priorityDynamicsPositionTask.target_world
DynamicsRelativeFrameTaskDynamicsRelativeOrientationTaskDynamicsRelativeOrientationTask.ADynamicsRelativeOrientationTask.R_a_bDynamicsRelativeOrientationTask.bDynamicsRelativeOrientationTask.configure()DynamicsRelativeOrientationTask.derrorDynamicsRelativeOrientationTask.domega_a_bDynamicsRelativeOrientationTask.errorDynamicsRelativeOrientationTask.kdDynamicsRelativeOrientationTask.kpDynamicsRelativeOrientationTask.maskDynamicsRelativeOrientationTask.nameDynamicsRelativeOrientationTask.omega_a_bDynamicsRelativeOrientationTask.priority
DynamicsRelativePositionTaskDynamicsRelativePositionTask.ADynamicsRelativePositionTask.bDynamicsRelativePositionTask.configure()DynamicsRelativePositionTask.ddtargetDynamicsRelativePositionTask.derrorDynamicsRelativePositionTask.dtargetDynamicsRelativePositionTask.errorDynamicsRelativePositionTask.kdDynamicsRelativePositionTask.kpDynamicsRelativePositionTask.maskDynamicsRelativePositionTask.nameDynamicsRelativePositionTask.priorityDynamicsRelativePositionTask.target
DynamicsSolverDynamicsSolver.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_line_contact()DynamicsSolver.add_orientation_task()DynamicsSolver.add_planar_contact()DynamicsSolver.add_point_contact()DynamicsSolver.add_position_task()DynamicsSolver.add_puppet_contact()DynamicsSolver.add_relative_frame_task()DynamicsSolver.add_relative_orientation_task()DynamicsSolver.add_relative_position_task()DynamicsSolver.add_task()DynamicsSolver.add_task_contact()DynamicsSolver.add_torque_task()DynamicsSolver.add_unilateral_line_contact()DynamicsSolver.add_unilateral_point_contact()DynamicsSolver.clear()DynamicsSolver.count_contacts()DynamicsSolver.dampingDynamicsSolver.dtDynamicsSolver.dump_status()DynamicsSolver.enable_joint_limits()DynamicsSolver.enable_torque_limits()DynamicsSolver.enable_velocity_limits()DynamicsSolver.enable_velocity_vs_torque_limits()DynamicsSolver.extra_forceDynamicsSolver.get_contact()DynamicsSolver.gravity_onlyDynamicsSolver.mask_fbase()DynamicsSolver.problemDynamicsSolver.remove_constraint()DynamicsSolver.remove_contact()DynamicsSolver.remove_task()DynamicsSolver.robotDynamicsSolver.set_kd()DynamicsSolver.set_kp()DynamicsSolver.set_qdd_safe()DynamicsSolver.set_torque_limit()DynamicsSolver.solve()DynamicsSolver.torque_cost
DynamicsSolverResultDynamicsTaskDynamicsTorqueTaskExternalWrenchContactLineContactPointContactPuppetContactTaskContact
- placo::kinematics
AvoidSelfCollisionsKinematicsConstraintAxisAlignTaskCentroidalMomentumTaskCentroidalMomentumTask.ACentroidalMomentumTask.L_worldCentroidalMomentumTask.bCentroidalMomentumTask.configure()CentroidalMomentumTask.error()CentroidalMomentumTask.error_norm()CentroidalMomentumTask.maskCentroidalMomentumTask.nameCentroidalMomentumTask.priorityCentroidalMomentumTask.update()
CoMPolygonConstraintCoMTaskConeConstraintDistanceConstraintDistanceTaskFrameTaskGearTaskJointSpaceHalfSpacesConstraintJointsTaskKinematicsConstraintKinematicsSolverKinematicsSolver.NKinematicsSolver.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_constraint()KinematicsSolver.add_distance_task()KinematicsSolver.add_frame_task()KinematicsSolver.add_gear_task()KinematicsSolver.add_joint_space_half_spaces_constraint()KinematicsSolver.add_joints_task()KinematicsSolver.add_kinetic_energy_regularization_task()KinematicsSolver.add_manipulability_task()KinematicsSolver.add_orientation_task()KinematicsSolver.add_position_task()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.add_yaw_constraint()KinematicsSolver.clear()KinematicsSolver.dtKinematicsSolver.dump_status()KinematicsSolver.enable_joint_limits()KinematicsSolver.enable_velocity_limits()KinematicsSolver.mask_dof()KinematicsSolver.mask_fbase()KinematicsSolver.problemKinematicsSolver.remove_constraint()KinematicsSolver.remove_task()KinematicsSolver.robotKinematicsSolver.scaleKinematicsSolver.solve()KinematicsSolver.tasks_count()KinematicsSolver.unmask_dof()
KineticEnergyRegularizationTaskKineticEnergyRegularizationTask.AKineticEnergyRegularizationTask.bKineticEnergyRegularizationTask.configure()KineticEnergyRegularizationTask.error()KineticEnergyRegularizationTask.error_norm()KineticEnergyRegularizationTask.nameKineticEnergyRegularizationTask.priorityKineticEnergyRegularizationTask.update()
ManipulabilityTaskManipulabilityTask.AManipulabilityTask.bManipulabilityTask.configure()ManipulabilityTask.error()ManipulabilityTask.error_norm()ManipulabilityTask.lambda_ManipulabilityTask.manipulabilityManipulabilityTask.minimizeManipulabilityTask.nameManipulabilityTask.priorityManipulabilityTask.update()
OrientationTaskPositionTaskRegularizationTaskRelativeFrameTaskRelativeOrientationTaskRelativeOrientationTask.ARelativeOrientationTask.R_a_bRelativeOrientationTask.bRelativeOrientationTask.configure()RelativeOrientationTask.error()RelativeOrientationTask.error_norm()RelativeOrientationTask.frame_aRelativeOrientationTask.frame_bRelativeOrientationTask.maskRelativeOrientationTask.nameRelativeOrientationTask.priorityRelativeOrientationTask.update()
RelativePositionTaskRelativePositionTask.ARelativePositionTask.bRelativePositionTask.configure()RelativePositionTask.error()RelativePositionTask.error_norm()RelativePositionTask.frame_aRelativePositionTask.frame_bRelativePositionTask.maskRelativePositionTask.nameRelativePositionTask.priorityRelativePositionTask.targetRelativePositionTask.update()
TaskWheelTaskYawConstraint
- placo::tools
- placo::model
CollisionDistanceRobotWrapperRobotWrapper.add_q_noise()RobotWrapper.centroidal_map()RobotWrapper.collision_modelRobotWrapper.com_jacobian()RobotWrapper.com_jacobian_time_variation()RobotWrapper.com_world()RobotWrapper.compute_hessians()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_frame_hessian()RobotWrapper.get_joint()RobotWrapper.get_joint_acceleration()RobotWrapper.get_joint_limits()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.modelRobotWrapper.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_gear_ratio()RobotWrapper.set_gravity()RobotWrapper.set_joint()RobotWrapper.set_joint_acceleration()RobotWrapper.set_joint_limits()RobotWrapper.set_joint_velocity()RobotWrapper.set_rotor_inertia()RobotWrapper.set_torque_limit()RobotWrapper.set_velocity_limit()RobotWrapper.set_velocity_limits()RobotWrapper.stateRobotWrapper.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
- placo::humanoid
DummyWalkDummyWalk.T_world_leftDummyWalk.T_world_nextDummyWalk.T_world_rightDummyWalk.dthetaDummyWalk.dxDummyWalk.dyDummyWalk.lift_splineDummyWalk.next_step()DummyWalk.parametersDummyWalk.reset()DummyWalk.robotDummyWalk.solverDummyWalk.support_leftDummyWalk.update()DummyWalk.update_T_world_support()
FootstepFootstepsPlannerFootstepsPlannerNaiveFootstepsPlannerRepetitiveHumanoidParametersHumanoidParameters.dcm_offset_polygonHumanoidParameters.double_support_duration()HumanoidParameters.double_support_ratioHumanoidParameters.double_support_timesteps()HumanoidParameters.dt()HumanoidParameters.ellipsoid_clip()HumanoidParameters.ellipsoid_overlap_clip()HumanoidParameters.feet_spacingHumanoidParameters.foot_lengthHumanoidParameters.foot_widthHumanoidParameters.foot_zmp_target_xHumanoidParameters.foot_zmp_target_yHumanoidParameters.has_double_support()HumanoidParameters.op_space_polygonHumanoidParameters.planned_timestepsHumanoidParameters.single_support_durationHumanoidParameters.single_support_timestepsHumanoidParameters.startend_double_support_duration()HumanoidParameters.startend_double_support_ratioHumanoidParameters.startend_double_support_timesteps()HumanoidParameters.walk_com_heightHumanoidParameters.walk_dtheta_spacingHumanoidParameters.walk_foot_heightHumanoidParameters.walk_foot_rise_ratioHumanoidParameters.walk_max_dthetaHumanoidParameters.walk_max_dx_backwardHumanoidParameters.walk_max_dx_forwardHumanoidParameters.walk_max_dyHumanoidParameters.walk_trunk_pitchHumanoidParameters.zmp_marginHumanoidParameters.zmp_reference_weight
HumanoidRobotHumanoidRobot.add_q_noise()HumanoidRobot.centroidal_map()HumanoidRobot.collision_modelHumanoidRobot.com_jacobian()HumanoidRobot.com_jacobian_time_variation()HumanoidRobot.com_world()HumanoidRobot.compute_hessians()HumanoidRobot.dcm()HumanoidRobot.distances()HumanoidRobot.ensure_on_floor()HumanoidRobot.ensure_on_floor_oriented()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_support()HumanoidRobot.get_T_world_trunk()HumanoidRobot.get_com_velocity()HumanoidRobot.get_frame_hessian()HumanoidRobot.get_joint()HumanoidRobot.get_joint_acceleration()HumanoidRobot.get_joint_limits()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.modelHumanoidRobot.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_T_world_support()HumanoidRobot.set_gear_ratio()HumanoidRobot.set_gravity()HumanoidRobot.set_joint()HumanoidRobot.set_joint_acceleration()HumanoidRobot.set_joint_limits()HumanoidRobot.set_joint_velocity()HumanoidRobot.set_rotor_inertia()HumanoidRobot.set_torque_limit()HumanoidRobot.set_velocity_limit()HumanoidRobot.set_velocity_limits()HumanoidRobot.stateHumanoidRobot.static_gravity_compensation_torques()HumanoidRobot.static_gravity_compensation_torques_dict()HumanoidRobot.support_is_bothHumanoidRobot.support_sideHumanoidRobot.torques_from_acceleration_with_fixed_frame()HumanoidRobot.torques_from_acceleration_with_fixed_frame_dict()HumanoidRobot.total_mass()HumanoidRobot.update_from_imu()HumanoidRobot.update_kinematics()HumanoidRobot.update_support_side()HumanoidRobot.visual_modelHumanoidRobot.zmp()
LIPMLIPMTrajectorySupportSwingFootSwingFootCubicSwingFootCubicTrajectorySwingFootQuinticSwingFootQuinticTrajectorySwingFootTrajectoryWPGTrajectoryWPGTrajectory.apply_transform()WPGTrajectory.com_target_zWPGTrajectory.get_R_world_trunk()WPGTrajectory.get_T_world_left()WPGTrajectory.get_T_world_right()WPGTrajectory.get_a_world_CoM()WPGTrajectory.get_j_world_CoM()WPGTrajectory.get_next_support()WPGTrajectory.get_p_support_CoM()WPGTrajectory.get_p_support_DCM()WPGTrajectory.get_p_world_CoM()WPGTrajectory.get_p_world_DCM()WPGTrajectory.get_p_world_ZMP()WPGTrajectory.get_part_end_dcm()WPGTrajectory.get_part_t_end()WPGTrajectory.get_part_t_start()WPGTrajectory.get_prev_support()WPGTrajectory.get_support()WPGTrajectory.get_supports()WPGTrajectory.get_v_support_CoM()WPGTrajectory.get_v_world_CoM()WPGTrajectory.get_v_world_foot()WPGTrajectory.get_v_world_right()WPGTrajectory.partsWPGTrajectory.print_parts_timings()WPGTrajectory.replan_successWPGTrajectory.support_is_both()WPGTrajectory.support_side()WPGTrajectory.t_endWPGTrajectory.t_startWPGTrajectory.trunk_pitchWPGTrajectory.trunk_roll
WPGTrajectoryPartWalkPatternGeneratorWalkPatternGenerator.can_replan_supports()WalkPatternGenerator.get_optimal_zmp()WalkPatternGenerator.plan()WalkPatternGenerator.replan()WalkPatternGenerator.replan_supports()WalkPatternGenerator.softWalkPatternGenerator.stop_end_support_weightWalkPatternGenerator.support_default_duration()WalkPatternGenerator.support_default_timesteps()WalkPatternGenerator.update_supports()WalkPatternGenerator.zmp_in_support_weight
WalkTasksWalkTasks.com_taskWalkTasks.com_xWalkTasks.com_yWalkTasks.get_tasks_error()WalkTasks.initialize_tasks()WalkTasks.left_foot_taskWalkTasks.reach_initial_pose()WalkTasks.remove_tasks()WalkTasks.right_foot_taskWalkTasks.scaledWalkTasks.solverWalkTasks.trunk_modeWalkTasks.trunk_orientation_taskWalkTasks.trunk_taskWalkTasks.update_tasks()WalkTasks.update_tasks_from_trajectory()
- placo::problem
ExpressionIntegratorIntegratorTrajectoryPolygonConstraintProblemProblem.add_constraint()Problem.add_limit()Problem.add_variable()Problem.clear_constraints()Problem.clear_variables()Problem.determined_variablesProblem.dump_status()Problem.free_variablesProblem.n_equalitiesProblem.n_inequalitiesProblem.n_variablesProblem.regularizationProblem.rewrite_equalitiesProblem.slack_variablesProblem.slacksProblem.solve()Problem.use_sparsityProblem.x
ProblemConstraintProblemPolynomQPErrorSparsitySparsityIntervalVariable