placo 0.5.9__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.6.0__0-cp310-cp310-manylinux_2_35_x86_64.whl

cmeel.prefix/lib/python3.10/site-packages/placo.pyi

@@ -51,6 +51,7 @@ KinematicsSolver = typing.NewType("KinematicsSolver", None)
 KineticEnergyRegularizationTask = typing.NewType("KineticEnergyRegularizationTask", None)
 LIPM = typing.NewType("LIPM", None)
 LIPMTrajectory = typing.NewType("LIPMTrajectory", None)
+LineContact = typing.NewType("LineContact", None)
 ManipulabilityTask = typing.NewType("ManipulabilityTask", None)
 OrientationTask = typing.NewType("OrientationTask", None)
 PointContact = typing.NewType("PointContact", None)
@@ -635,6 +636,10 @@ class Contact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -688,6 +693,10 @@ class Contact6D:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   width: float # double
   """Rectangular contact width along local y-axis. 
         """
@@ -1271,6 +1280,19 @@ class DynamicsJointsTask:
   """Current error vector. 
         """
 
+  def get_joint(
+    self: DynamicsJointsTask,
+    joint: str, # std::string
+
+  ) -> float:
+    """Returns the current target position of a joint. 
+        
+
+    :param joint: joint name 
+
+    :return: current target position"""
+    ...
+
   kd: float # double
   """D gain for position control (if negative, will be critically damped) 
         """
@@ -1781,6 +1803,19 @@ class DynamicsSolver:
     :return: joints task"""
     ...
 
+  def add_line_contact(
+    self: DynamicsSolver,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+
+  ) -> LineContact:
+    """Adds a fixed line contact. 
+        
+
+    :param frame_task: associated frame task 
+
+    :return: line contact"""
+    ...
+
   def add_orientation_task(
     self: DynamicsSolver,
     frame_name: str, # std::string
@@ -1942,6 +1977,19 @@ class DynamicsSolver:
     :return: torque task"""
     ...
 
+  def add_unilateral_line_contact(
+    self: DynamicsSolver,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+
+  ) -> LineContact:
+    """Adds a unilateral line contact, which is unilateral in the sense of the local body z-axis. 
+        
+
+    :param frame_task: associated frame task 
+
+    :return: unilateral line contact"""
+    ...
+
   def add_unilateral_point_contact(
     self: DynamicsSolver,
     position_task: DynamicsPositionTask, # placo::dynamics::PositionTask
@@ -2367,6 +2415,16 @@ class Expression:
     :return: expression"""
     ...
 
+  def is_constant(
+    self: Expression,
+
+  ) -> bool:
+    """checks if the expression is constant (doesn't depend on decision variables) 
+        
+
+    :return: true if the expression is constant"""
+    ...
+
   def is_scalar(
     self: Expression,
 
@@ -2377,26 +2435,26 @@ class Expression:
     :return: true if the expression is a scalar"""
     ...
 
-  def mean(
+  def left_multiply(
     self: Expression,
+    M: numpy.ndarray, # const Eigen::MatrixXd
 
   ) -> Expression:
-    """Reduces a multi-rows expression to the mean of its items. 
+    """Multiply an expression on the left by a given matrix M. 
         
 
+    :param M: matrix 
+
     :return: expression"""
     ...
 
-  def multiply(
+  def mean(
     self: Expression,
-    M: numpy.ndarray, # const Eigen::MatrixXd
 
   ) -> Expression:
-    """Multiply an expression on the left by a given matrix M. 
+    """Reduces a multi-rows expression to the mean of its items. 
         
 
-    :param M: matrix 
-
     :return: expression"""
     ...
 
@@ -2493,6 +2551,10 @@ class ExternalWrenchContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -3622,6 +3684,15 @@ class HumanoidRobot:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gear_ratio(
+    self: HumanoidRobot,
+    joint_name: str, # const std::string &
+    rotor_gear_ratio: float, # double
+
+  ) -> None:
+    """Updates the rotor gear ratio (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_gravity(
     self: HumanoidRobot,
     gravity: numpy.ndarray, # Eigen::Vector3d
@@ -3689,6 +3760,15 @@ class HumanoidRobot:
     :param value: joint velocity"""
     ...
 
+  def set_rotor_inertia(
+    self: HumanoidRobot,
+    joint_name: str, # const std::string &
+    rotor_inertia: float, # double
+
+  ) -> None:
+    """Updates the rotor inertia (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_torque_limit(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -4075,6 +4155,19 @@ class JointsTask:
     :return: task error norm"""
     ...
 
+  def get_joint(
+    self: JointsTask,
+    joint: str, # std::string
+
+  ) -> float:
+    """Returns the target value of a joint. 
+        
+
+    :param joint: joint 
+
+    :return: target value"""
+    ...
+
   name: str # std::string
   """Object name. 
         """
@@ -4803,6 +4896,77 @@ class LIPMTrajectory:
     ...
 
 
+class LineContact:
+  R_world_surface: numpy.ndarray # Eigen::Matrix3d
+  """rotation matrix expressing the surface frame in the world frame (for unilateral contact) 
+        """
+
+  def __init__(
+    self: LineContact,
+    frame_task: DynamicsFrameTask, # placo::dynamics::FrameTask
+    unilateral: bool, # bool
+
+  ) -> any:
+    """see DynamicsSolver::add_fixed_planar_contact and DynamicsSolver::add_unilateral_planar_contact"""
+    ...
+
+  active: bool # bool
+  """true if the contact is active (ignored by the solver else, this allow to enable/disable a contact without removing it from the solver) 
+        """
+
+  length: float # double
+  """Rectangular contact length along local x-axis. 
+        """
+
+  mu: float # double
+  """Coefficient of friction (if relevant) 
+        """
+
+  def orientation_task(
+    self: LineContact,
+
+  ) -> DynamicsOrientationTask:
+    """Associated orientation task."""
+    ...
+
+  def position_task(
+    self: LineContact,
+
+  ) -> DynamicsPositionTask:
+    """Associated position task."""
+    ...
+
+  unilateral: bool # bool
+  """true for unilateral contact with the ground 
+        """
+
+  weight_forces: float # double
+  """Weight of forces for the optimization (if relevant) 
+        """
+
+  weight_moments: float # double
+  """Weight of moments for optimization (if relevant) 
+        """
+
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
+  wrench: numpy.ndarray # Eigen::VectorXd
+  """Wrench populated after the DynamicsSolver::solve call. 
+        """
+
+  def zmp(
+    self: LineContact,
+
+  ) -> numpy.ndarray:
+    """Returns the contact ZMP in the local frame. 
+        
+
+    :return: zmp"""
+    ...
+
+
 class ManipulabilityTask:
   A: numpy.ndarray # Eigen::MatrixXd
   """Matrix A in the task Ax = b, where x are the joint delta positions. 
@@ -5008,6 +5172,10 @@ class PointContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -5252,6 +5420,10 @@ class Problem:
   """Number of problem variables that need to be solved. 
         """
 
+  regularization: float # double
+  """Default internal regularization. 
+        """
+
   rewrite_equalities: bool # bool
   """If set to true, a QR factorization will be performed on the equality constraints, and the QP will be called with free variables only. 
         """
@@ -5275,6 +5447,10 @@ class Problem:
   """If set to true, some sparsity optimizations will be performed when building the problem Hessian. This optimization is generally not useful for small problems. 
         """
 
+  x: numpy.ndarray # Eigen::VectorXd
+  """Computed result. 
+        """
+
 
 class ProblemConstraint:
   """Represents a constraint to be enforced by a Problem. 
@@ -5340,6 +5516,10 @@ class PuppetContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -6032,6 +6212,15 @@ class RobotWrapper:
     :param T_world_frameTarget: transformation matrix"""
     ...
 
+  def set_gear_ratio(
+    self: RobotWrapper,
+    joint_name: str, # const std::string &
+    rotor_gear_ratio: float, # double
+
+  ) -> None:
+    """Updates the rotor gear ratio (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_gravity(
     self: RobotWrapper,
     gravity: numpy.ndarray, # Eigen::Vector3d
@@ -6099,6 +6288,15 @@ class RobotWrapper:
     :param value: joint velocity"""
     ...
 
+  def set_rotor_inertia(
+    self: RobotWrapper,
+    joint_name: str, # const std::string &
+    rotor_inertia: float, # double
+
+  ) -> None:
+    """Updates the rotor inertia (used for apparent inertia computation in the dynamics)"""
+    ...
+
   def set_torque_limit(
     self: RobotWrapper,
     name: str, # const std::string &
@@ -6623,6 +6821,10 @@ class TaskContact:
   """Weight of moments for optimization (if relevant) 
         """
 
+  weight_tangentials: float # double
+  """Extra cost for tangential forces. 
+        """
+
   wrench: numpy.ndarray # Eigen::VectorXd
   """Wrench populated after the DynamicsSolver::solve call. 
         """
@@ -7332,4 +7534,4 @@ def wrap_angle(
   ...
 
 
-__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'PointContact', 'PuppetContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Prioritized'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WalkPatternGenerator', 'WalkTasks', 'WalkTrajectory']}
+__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'LineContact', 'PointContact', 'PuppetContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Prioritized'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WalkPatternGenerator', 'WalkTasks', 'WalkTrajectory']}

cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py

@@ -243,7 +243,7 @@ def contacts_viz(solver: placo.DynamicsSolver, ratio=0.1, radius=0.005):
                 origin = T_world_frame[:3, 3]
             else:
                 origin = T_world_frame[:3, 3] + T_world_frame[:3, :3] @ contact.zmp()
-            
+
             arrow_viz(
                 f"contact_{k}",
                 origin,
@@ -251,6 +251,23 @@ def contacts_viz(solver: placo.DynamicsSolver, ratio=0.1, radius=0.005):
                 color=0x00FFAA,
                 radius=radius,
             )
+        elif isinstance(contact, placo.LineContact):
+            frame_name = frames[contact.position_task().frame_index]
+            T_world_frame = robot.get_T_world_frame(frame_name)
+            wrench = T_world_frame[:3, :3] @ contact.wrench[:3]
+
+            if np.linalg.norm(wrench) < 1e-6:
+                origin = T_world_frame[:3, 3]
+            else:
+                origin = T_world_frame[:3, 3] + T_world_frame[:3, :3] @ contact.zmp()
+
+            arrow_viz(
+                f"contact_{k}",
+                origin,
+                origin + wrench * ratio,
+                color=0xFF33AA,
+                radius=radius,
+            )
         elif isinstance(contact, placo.ExternalWrenchContact):
             frame_name = frames[contact.frame_index]
             T_world_frame = robot.get_T_world_frame(frame_name)

placo-0.6.0.dist-info/METADATA

@@ -0,0 +1,57 @@
+Metadata-Version: 2.1
+Name: placo
+Version: 0.6.0
+Summary: PlaCo: Rhoban Planning and Control
+Requires-Python: >= 3.8
+License-Expression: MIT
+License-File: LICENSE
+Author-email: Rhoban team <team@rhoban.com>
+Project-URL: Changelog, https://github.com/rhoban/placo/blob/main/CHANGELOG.md
+Home-page: https://placo.readthedocs.io/en/latest/
+Project-URL: Repository, https://github.com/rhoban/placo.git
+Requires-Dist: cmeel
+Requires-Dist: eiquadprog >= 1.2.6, < 2
+Requires-Dist: pin >= 2.6.18, < 3
+Requires-Dist: rhoban-cmeel-jsoncpp
+Requires-Dist: meshcat
+Requires-Dist: numpy<2
+Requires-Dist: ischedule
+Provides-Extra: build
+Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"
+Requires-Dist: cmeel-urdfdom[build] ; extra == "build"
+Description-Content-Type: text/markdown
+
+# PlaCo
+
+PlaCo is Rhoban's planning and control library.
+Its main features are:
+
+* Task-space Inverse Kinematics with constraints,
+* Task-space Inverse Dynamics with constraints,
+* QP problem formulation,
+* Built on the top of [pinocchio](https://github.com/stack-of-tasks/pinocchio)
+* Written in C++ with Python bindings
+
+[![Megabot demo](https://github.com/Rhoban/placo-examples/blob/master/kinematics/videos/quadruped_targets.gif?raw=true)](https://github.com/Rhoban/placo-examples/blob/master/kinematics/videos/quadruped_targets.mp4?raw=true)
+
+*Inverse Kinematics Example: a quadruped robot hitting targets with a leg while keeping its three legs on the ground*
+
+[source code (quadruped_targets.py)](https://github.com/Rhoban/placo-examples/blob/master/kinematics/quadruped_targets.py) / [more kinematics examples](https://placo.readthedocs.io/en/latest/kinematics/examples_gallery.html)
+
+[![Megabot demo](https://github.com/Rhoban/placo-examples/blob/master/dynamics/videos/megabot.gif?raw=true)](https://github.com/Rhoban/placo-examples/blob/master/dynamics/videos/megabot.mp4?raw=true)
+
+*Inverse Dynamics Example: a quadruped with many loop closure joints*
+
+[source code (megabot.py)](https://github.com/Rhoban/placo-examples/blob/master/dynamics/megabot.py) / [more dynamics examples](https://placo.readthedocs.io/en/latest/dynamics/examples_gallery.html)
+
+## Installing
+
+PlaCo is available from [pip](https://placo.readthedocs.io/en/latest/basics/installation_pip.html),
+or can be [built from sources](https://placo.readthedocs.io/en/latest/basics/installation_source.html).
+
+## Documentation
+
+Here is the [official documentation](https://placo.readthedocs.io/en/latest/)
+
+You can also find many examples in the [placo-examples](https://github.com/rhoban/placo-examples)
+repository.

{placo-0.5.9.dist-info → placo-0.6.0.dist-info}/RECORD

@@ -1,15 +1,15 @@
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-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=bTI_xH7yermgFU59QPhKHV4B18XVib9wa4pTgW3ifDw,7502000
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 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=1qoD-9wa7t-A3gCI54UJcKJfEQs9wmgeHe29J__H4Ao,7568
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=6ET7YkZBuIWoJg2qVO-rPt3Nj4ZnezyvGAe458G4VGo,8201
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-placo-0.5.9.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
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-placo-0.5.9.dist-info/RECORD,,
+cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=kMdmKY2LZKM4rkKm4j0y-TOMBQ3PeVIpbfB_YJxNz5c,6781
+placo-0.6.0.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.6.0.dist-info/METADATA,sha256=bIXZzN9vthtBPRlowPrlUKkhCLV_VhPK1XcLJUTG-xA,2569
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+placo-0.6.0.dist-info/RECORD,,

placo-0.5.9.dist-info/METADATA

@@ -1,26 +0,0 @@
-Metadata-Version: 2.1
-Name: placo
-Version: 0.5.9
-Summary: PlaCo: Rhoban Planning and Control
-Requires-Python: >= 3.8
-License-Expression: MIT
-License-File: LICENSE
-Author-email: Rhoban team <team@rhoban.com>
-Project-URL: Changelog, https://github.com/rhoban/placo/blob/main/CHANGELOG.md
-Home-page: https://placo.readthedocs.io/en/latest/
-Project-URL: Repository, https://github.com/rhoban/placo.git
-Requires-Dist: cmeel
-Requires-Dist: eiquadprog >= 1.2.6, < 2
-Requires-Dist: pin >= 2.6.18, < 3
-Requires-Dist: rhoban-cmeel-jsoncpp
-Requires-Dist: meshcat
-Requires-Dist: numpy<2
-Requires-Dist: ischedule
-Provides-Extra: build
-Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"
-Requires-Dist: cmeel-urdfdom[build] ; extra == "build"
-Description-Content-Type: text/markdown
-
-# Rhoban Planning and Control (placo)
-
-* [Documentation](https://placo.readthedocs.io/en/latest/)