[gym/common] Add relative foot poses quantity. (#805)

* [gym/common] Add relative foot poses quantity. * [gym/common] Unify all frame orientation representations as one quantity.
duburcqa · May 29, 2024 · 2ffade7 · 2ffade7
1 parent 920d287
commit 2ffade7
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diff --git a/python/gym_jiminy/common/gym_jiminy/common/quantities/__init__.py b/python/gym_jiminy/common/gym_jiminy/common/quantities/__init__.py
@@ -5,35 +5,45 @@
                         MaskedQuantity,
                         UnaryOpQuantity,
                         BinaryOpQuantity)
-from .generic import (FrameEulerAngles,
-                      MultiFrameEulerAngles,
+from .generic import (Orientation,
+                      FrameOrientation,
+                      MultiFrameOrientation,
+                      FramePosition,
+                      MultiFramePosition,
                       FrameXYZQuat,
                       MultiFrameXYZQuat,
                       MultiFrameMeanXYZQuat,
                       AverageFrameSpatialVelocity,
                       ActuatedJointPositions)
 from .locomotion import (BaseOdometryPose,
-                         FootOdometryPose,
+                         MultiFootMeanOdometryPose,
                          AverageOdometryVelocity,
+                         MultiFootMeanXYZQuat,
+                         MultiFootRelativeXYZQuat,
                          CenterOfMass,
                          CapturePoint,
                          ZeroMomentPoint)
 
 
 __all__ = [
+    'Orientation',
     'QuantityManager',
     'StackedQuantity',
     'MaskedQuantity',
     'UnaryOpQuantity',
     'BinaryOpQuantity',
     'ActuatedJointPositions',
-    'FrameEulerAngles',
-    'MultiFrameEulerAngles',
+    'FrameOrientation',
+    'MultiFrameOrientation',
+    'FramePosition',
+    'MultiFramePosition',
     'FrameXYZQuat',
     'MultiFrameXYZQuat',
     'MultiFrameMeanXYZQuat',
+    'MultiFootMeanXYZQuat',
+    'MultiFootRelativeXYZQuat',
     'BaseOdometryPose',
-    'FootOdometryPose',
+    'MultiFootMeanOdometryPose',
     'AverageFrameSpatialVelocity',
     'AverageOdometryVelocity',
     'CenterOfMass',