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.JointSpaceHalfSpacesConstraint attribute) (placo.JointsTask attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.ManipulabilityTask attribute) (placo.OrientationTask attribute) (placo.PositionTask attribute) (placo.RegularizationTask attribute) (placo.RelativeOrientationTask attribute) (placo.RelativePositionTask attribute) (placo.Task attribute) (placo.WheelTask attribute) acc() (placo.CubicSpline method) (placo.CubicSpline3D method) (placo.LIPM method) (placo.LIPMTrajectory method) active (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact 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_constraint() (placo.KinematicsSolver method) add_distance_task() (placo.KinematicsSolver method) add_external_wrench_contact() (placo.DynamicsSolver 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_joint_space_half_spaces_constraint() (placo.KinematicsSolver method) add_joints_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_kinetic_energy_regularization_task() (placo.KinematicsSolver method) add_limit() (placo.Problem method) add_line_contact() (placo.DynamicsSolver method) add_manipulability_task() (placo.KinematicsSolver 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.HumanoidRobot method) (placo.RobotWrapper method) add_regularization_task() (placo.KinematicsSolver method) add_relative_frame_task() (placo.DynamicsSolver method) (placo.KinematicsSolver method) add_relative_orientation_task() (placo.DynamicsSolver method) (placo.KinematicsSolver 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_line_contact() (placo.DynamicsSolver method) add_unilateral_point_contact() (placo.DynamicsSolver method) add_variable() (placo.Problem method) add_wheel_task() (placo.KinematicsSolver method) add_yaw_constraint() (placo.KinematicsSolver method) angle_max (placo.ConeConstraint attribute) (placo.YawConstraint attribute) apply() (placo.AxisesMask method) apply_offset() (placo.Support method) apply_transform() (placo.WPGTrajectory 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.JointSpaceHalfSpacesConstraint attribute) (placo.JointsTask attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.ManipulabilityTask 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) build_LIPM_from_previous() (placo.LIPM static method) C can_replan_supports() (placo.WalkPatternGenerator method) centroidal_map() (placo.HumanoidRobot method) (placo.RobotWrapper 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) coefficients (placo.Polynom attribute) 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_target_z (placo.WPGTrajectory attribute) com_task (placo.WalkTasks attribute) com_world() (placo.HumanoidRobot method) (placo.RobotWrapper method) com_x (placo.WalkTasks attribute) com_y (placo.WalkTasks attribute) CoMPolygonConstraint (class in placo) compute_hessians() (placo.HumanoidRobot method) (placo.RobotWrapper method) 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.DistanceConstraint 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.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.JointSpaceHalfSpacesConstraint method) (placo.JointsTask method) (placo.KinematicsConstraint method) (placo.KineticEnergyRegularizationTask method) (placo.ManipulabilityTask 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) (placo.YawConstraint method) Contact (class in placo) Contact6D (class in placo) contacts_viz() (in module placo_utils.visualization) count_contacts() (placo.DynamicsSolver method) CubicSpline (class in placo) CubicSpline3D (class in placo) D damping (placo.DynamicsSolver attribute) dcm (placo.CoMPolygonConstraint attribute) dcm() (placo.HumanoidRobot method) (placo.LIPM method) (placo.LIPMTrajectory method) dcm_offset_polygon (placo.HumanoidParameters attribute) ddtarget (placo.DynamicsRelativePositionTask attribute) ddtarget_world (placo.DynamicsCoMTask attribute) (placo.DynamicsPositionTask attribute) derivative_coefficient() (placo.Polynom static method) 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) directions_2d() (in module placo) directions_3d() (in module placo) Distance (class in placo) distance (placo.DistanceTask attribute) distance_max (placo.DistanceConstraint attribute) DistanceConstraint (class in placo) 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) (placo.LIPM attribute) dt() (placo.HumanoidParameters method) dtarget (placo.DynamicsRelativePositionTask attribute) dtarget_world (placo.DynamicsCoMTask attribute) (placo.DynamicsPositionTask attribute) DummyWalk (class in placo) 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) 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 elapsed_ratio (placo.Support attribute) 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.Segment attribute) (placo.SparsityInterval attribute) (placo.Support attribute) ensure_on_floor() (placo.HumanoidRobot method) ensure_on_floor_oriented() (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.ManipulabilityTask 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.ManipulabilityTask 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.ProblemPolynom method) (placo.Variable method) expr_t() (placo.Integrator method) Expression (class in placo) expression (placo.ProblemConstraint attribute) ExternalWrenchContact (class in placo) extra_force (placo.DynamicsSolver attribute) F feet_spacing (placo.DummyWalk attribute) (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) 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.WPGTrajectory method) get_com_velocity() (placo.HumanoidRobot method) get_contact() (placo.Collision method) (placo.DynamicsSolver method) get_frame_hessian() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_j_world_CoM() (placo.WPGTrajectory method) get_joint() (placo.DynamicsJointsTask method) (placo.HumanoidRobot method) (placo.JointsTask method) (placo.RobotWrapper method) get_joint_acceleration() (placo.HumanoidRobot method) (placo.RobotWrapper method) get_joint_limits() (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.WPGTrajectory method) get_optimal_zmp() (placo.WalkPatternGenerator method) get_p_support_CoM() (placo.WPGTrajectory method) get_p_support_DCM() (placo.WPGTrajectory method) get_p_world_CoM() (placo.WPGTrajectory method) get_p_world_DCM() (placo.WPGTrajectory method) get_p_world_ZMP() (placo.WPGTrajectory method) get_part_end_dcm() (placo.WPGTrajectory method) get_part_t_end() (placo.WPGTrajectory method) get_part_t_start() (placo.WPGTrajectory method) get_polynom() (placo.ProblemPolynom method) get_prev_support() (placo.WPGTrajectory method) get_R_world_trunk() (placo.WPGTrajectory method) get_support() (placo.WPGTrajectory method) get_support_side() (placo.HumanoidRobot method) get_supports() (placo.WPGTrajectory 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.WPGTrajectory method) get_T_world_right() (placo.HumanoidRobot method) (placo.WPGTrajectory method) get_T_world_support() (placo.HumanoidRobot 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_support_CoM() (placo.WPGTrajectory method) get_v_world_CoM() (placo.WPGTrajectory method) get_v_world_foot() (placo.WPGTrajectory method) get_v_world_right() (placo.WPGTrajectory method) get_viewer() (in module placo_utils.visualization) gravity_only (placo.DynamicsSolver attribute) H half_line_pass_through() (placo.Segment method) 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) intersects() (placo.Segment method) intervals (placo.Sparsity attribute) is_active (placo.ProblemConstraint attribute) is_both() (placo.Support method) is_constant() (placo.Expression method) is_parallel() (placo.Segment method) is_point_aligned() (placo.Segment method) is_point_in_segment() (placo.Segment method) is_scalar() (placo.Expression method) is_segment_aligned() (placo.Segment method) J jerk() (placo.LIPM method) (placo.LIPMTrajectory method) joint (placo.WheelTask attribute) joint_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) joint_names() (placo.HumanoidRobot method) (placo.RobotWrapper method) JointSpaceHalfSpacesConstraint (class in placo) 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) 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) lambda_ (placo.ManipulabilityTask attribute) left_foot_task (placo.WalkTasks attribute) left_multiply() (placo.Expression method) length (placo.Contact6D attribute) (placo.LineContact attribute) lift_height (placo.DummyWalk attribute) line_pass_through() (placo.Segment method) line_viz() (in module placo_utils.visualization) LineContact (class in placo) lines_intersection() (placo.Segment method) 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) manipulability (placo.ManipulabilityTask attribute) ManipulabilityTask (class in placo) 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) minimize (placo.ManipulabilityTask attribute) model (placo.HumanoidRobot attribute) (placo.RobotWrapper attribute) module placo_utils.visualization mu (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.TaskContact attribute) 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.DistanceConstraint attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsConstraint 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.GearTask attribute) (placo.JointSpaceHalfSpacesConstraint attribute) (placo.JointsTask attribute) (placo.KinematicsConstraint attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.ManipulabilityTask 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) (placo.YawConstraint attribute) neutral_state() (placo.HumanoidRobot method) (placo.RobotWrapper method) next_step() (placo.DummyWalk method) non_linear_effects() (placo.HumanoidRobot method) (placo.RobotWrapper method) norm() (placo.Segment 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) op_space_polygon (placo.HumanoidParameters attribute) opposite_footstep() (placo.FootstepsPlanner method) (placo.FootstepsPlannerNaive method) (placo.FootstepsPlannerRepetitive method) optimal_transformation() (in module placo) orientation() (placo.DynamicsFrameTask method) (placo.DynamicsRelativeFrameTask method) (placo.FrameTask method) (placo.RelativeFrameTask method) orientation_task() (placo.Contact6D method) (placo.LineContact 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) parts (placo.WPGTrajectory 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) Polynom (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.LineContact method) (placo.PointContact method) PositionTask (class in placo) print_intervals() (placo.Sparsity method) print_parts_timings() (placo.WPGTrajectory 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.DistanceConstraint attribute) (placo.DistanceTask attribute) (placo.DynamicsCoMTask attribute) (placo.DynamicsConstraint 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.GearTask attribute) (placo.JointSpaceHalfSpacesConstraint attribute) (placo.JointsTask attribute) (placo.KinematicsConstraint attribute) (placo.KineticEnergyRegularizationTask attribute) (placo.ManipulabilityTask 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) (placo.YawConstraint attribute) Problem (class in placo) problem (placo.DynamicsSolver attribute) (placo.KinematicsSolver attribute) ProblemConstraint (class in placo) ProblemPolynom (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) 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) R_world_surface (placo.LineContact attribute) (placo.PointContact attribute) radius (placo.WheelTask attribute) range (placo.ConeConstraint attribute) reach_initial_pose() (placo.WalkTasks method) regularization (placo.Problem attribute) RegularizationTask (class in placo) relative_position_jacobian() (placo.HumanoidRobot method) (placo.RobotWrapper method) RelativeFrameTask (class in placo) RelativeOrientationTask (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_success (placo.WPGTrajectory attribute) replan_supports() (placo.WalkPatternGenerator method) reset() (placo.DummyWalk method) (placo.HumanoidRobot method) (placo.RobotWrapper method) reset_torque() (placo.DynamicsTorqueTask method) rewrite_equalities (placo.Problem attribute) right_foot_task (placo.WalkTasks attribute) robot (placo.DummyWalk attribute) (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) seed() (in module placo) Segment (class in placo) 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_frame_xy() (placo.Footstep method) set_gear() (placo.DynamicsGearTask method) (placo.GearTask method) set_gear_ratio() (placo.HumanoidRobot method) (placo.RobotWrapper 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_kd() (placo.DynamicsSolver method) set_kp() (placo.DynamicsSolver method) set_qdd_safe() (placo.DynamicsSolver method) set_rotor_inertia() (placo.HumanoidRobot method) (placo.RobotWrapper 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_T_world_support() (placo.HumanoidRobot method) set_torque() (placo.DynamicsTorqueTask method) set_torque_limit() (placo.DynamicsSolver method) (placo.HumanoidRobot method) (placo.RobotWrapper method) set_velocity_limit() (placo.HumanoidRobot method) (placo.RobotWrapper method) set_velocity_limits() (placo.HumanoidRobot method) (placo.RobotWrapper method) sharedMemory() (in module placo) 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) soft (placo.WalkPatternGenerator attribute) solve() (placo.DynamicsSolver method) (placo.KinematicsSolver method) (placo.Problem method) solver (placo.DummyWalk attribute) (placo.WalkTasks attribute) Sparsity (class in placo) SparsityInterval (class in placo) start (placo.Segment attribute) (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) stop_end_support_weight (placo.WalkPatternGenerator attribute) success (placo.DynamicsSolverResult attribute) sum() (placo.Expression method) Support (class in placo) support (placo.WPGTrajectoryPart attribute) support_default_duration() (placo.WalkPatternGenerator method) support_default_timesteps() (placo.WalkPatternGenerator method) support_is_both (placo.HumanoidRobot attribute) support_is_both() (placo.WPGTrajectory method) support_left (placo.DummyWalk attribute) support_polygon() (placo.Footstep method) (placo.Support method) support_side (placo.HumanoidRobot attribute) support_side() (placo.WPGTrajectory 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.LIPM attribute) (placo.WPGTrajectory attribute) (placo.WPGTrajectoryPart attribute) t_start (placo.Integrator attribute) (placo.LIPM attribute) (placo.Support attribute) (placo.WPGTrajectory attribute) (placo.WPGTrajectoryPart attribute) T_world_frame (placo.DynamicsFrameTask attribute) (placo.FrameTask attribute) T_world_left (placo.DummyWalk attribute) T_world_next (placo.DummyWalk attribute) T_world_right (placo.DummyWalk 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) target_world_dcm (placo.Support attribute) targetAxis_world (placo.AxisAlignTask attribute) Task (class in placo) TaskContact (class in placo) tasks_count() (placo.KinematicsSolver method) tau (placo.DynamicsSolverResult attribute) tau_contacts (placo.DynamicsSolverResult attribute) tau_dict() (placo.DynamicsSolverResult method) time_ratio (placo.Support attribute) timesteps (placo.LIPM attribute) torque_cost (placo.DynamicsSolver attribute) 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) truncate_supports() (placo.FootstepsPlanner method) (placo.FootstepsPlannerNaive method) (placo.FootstepsPlannerRepetitive method) trunk_height (placo.DummyWalk attribute) trunk_mode (placo.WalkTasks attribute) trunk_orientation_task (placo.WalkTasks attribute) trunk_pitch (placo.DummyWalk attribute) (placo.WPGTrajectory attribute) trunk_roll (placo.WPGTrajectory attribute) trunk_task (placo.WalkTasks attribute) U unilateral (placo.Contact6D attribute) (placo.LineContact attribute) (placo.PointContact attribute) unmask_dof() (placo.KinematicsSolver method) update() (placo.AxisAlignTask method) (placo.CentroidalMomentumTask method) (placo.CoMTask method) (placo.DistanceTask method) (placo.DummyWalk method) (placo.GearTask method) (placo.JointsTask method) (placo.KineticEnergyRegularizationTask method) (placo.ManipulabilityTask method) (placo.OrientationTask method) (placo.PositionTask method) (placo.RegularizationTask method) (placo.RelativeOrientationTask method) (placo.RelativePositionTask method) (placo.Task method) (placo.WheelTask method) update_from_imu() (placo.HumanoidRobot method) update_kinematics() (placo.HumanoidRobot method) (placo.RobotWrapper method) update_support_side() (placo.HumanoidRobot method) update_supports() (placo.WalkPatternGenerator method) update_T_world_support() (placo.DummyWalk 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) (placo.Polynom 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) weight (placo.ProblemConstraint attribute) weight_forces (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.TaskContact attribute) weight_moments (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.TaskContact attribute) weight_tangentials (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.TaskContact attribute) what() (placo.QPError method) WheelTask (class in placo) width (placo.Contact6D attribute) WPGTrajectory (class in placo) WPGTrajectoryPart (class in placo) wrap_angle() (in module placo) wrench (placo.Contact attribute) (placo.Contact6D attribute) (placo.ExternalWrenchContact attribute) (placo.LineContact attribute) (placo.PointContact attribute) (placo.PuppetContact attribute) (placo.TaskContact attribute) X x (placo.LIPM attribute) (placo.Problem attribute) x_var (placo.LIPM attribute) Y y (placo.LIPM attribute) y_var (placo.LIPM attribute) YawConstraint (class in placo) Z zmp() (placo.Contact6D method) (placo.HumanoidRobot method) (placo.LineContact method) (placo.LIPM method) (placo.LIPMTrajectory method) zmp_in_support_weight (placo.WalkPatternGenerator attribute) zmp_margin (placo.HumanoidParameters attribute) zmp_reference_weight (placo.HumanoidParameters attribute)
