placo 0.6.4__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.6.5__0-cp310-cp310-manylinux_2_35_x86_64.whl

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

@@ -2534,7 +2534,7 @@ class ExternalWrenchContact:
   def __init__(
     self: ExternalWrenchContact,
     frame_index: any, # pinocchio::FrameIndex
-    reference: any, # pinocchio::ReferenceFrame
+    reference: any = None, # pinocchio::ReferenceFrame (default: pinocchio::LOCAL_WORLD_ALIGNED)
 
   ) -> any:
     """see DynamicsSolver::add_external_wrench_contact"""
@@ -2635,19 +2635,11 @@ class Footstep:
   ) -> any:
     ...
 
-  dx: float # double
-
-  dy: float # double
-
   foot_length: float # double
 
   foot_width: float # double
 
-  def frame(
-    self: Footstep,
-
-  ) -> numpy.ndarray:
-    ...
+  frame: numpy.ndarray # Eigen::Affine3d
 
   def overlap(
     self: Footstep,
@@ -2665,8 +2657,6 @@ class Footstep:
   ) -> bool:
     ...
 
-  raw_frame: numpy.ndarray # Eigen::Affine3d
-
   side: any # placo::humanoid::HumanoidRobot::Side
 
   def support_polygon(
@@ -4392,7 +4382,7 @@ class KinematicsSolver:
   def add_frame_task(
     self: KinematicsSolver,
     frame: str, # std::string
-    T_world_frame: numpy.ndarray, # Eigen::Affine3d
+    T_world_frame: numpy.ndarray = None, # Eigen::Affine3d (default: Eigen::Affine3d::Identity())
 
   ) -> FrameTask:
     """Adds a frame task, this is equivalent to a position + orientation task, resulting in decoupled tasks for a given frame. 
@@ -4798,8 +4788,8 @@ class LIPM:
     timesteps: int, # int
     t_start: float, # double
     initial_pos: numpy.ndarray, # Eigen::Vector2d
-    initial_vel: numpy.ndarray, # Eigen::Vector2d
-    initial_acc: numpy.ndarray, # Eigen::Vector2d
+    initial_vel: numpy.ndarray = None, # Eigen::Vector2d (default: Eigen::Vector2d::Zero())
+    initial_acc: numpy.ndarray = None, # Eigen::Vector2d (default: Eigen::Vector2d::Zero())
 
   ) -> any:
     ...
@@ -6569,6 +6559,19 @@ class Segment:
 
   end: numpy.ndarray # Eigen::Vector2d
 
+  def half_line_pass_through(
+    self: Segment,
+    s: Segment, # placo::tools::Segment
+
+  ) -> bool:
+    """Checks if the half-line starting from the start of this segment and going through its end pass through another segment. 
+        
+
+    :param s: The other segment. 
+
+    :return: True if the intersection is a point of the other segment."""
+    ...
+
   def intersects(
     self: Segment,
     s: Segment, # placo::tools::Segment
@@ -6751,6 +6754,13 @@ class Support:
   ) -> any:
     ...
 
+  def apply_offset(
+    self: Support,
+    offset: numpy.ndarray, # Eigen::Vector2d
+
+  ) -> None:
+    ...
+
   elapsed_ratio: float # double
 
   end: bool # bool
@@ -6893,7 +6903,7 @@ class SwingFootCubic:
     start: numpy.ndarray, # Eigen::Vector3d
     target: numpy.ndarray, # Eigen::Vector3d
     elapsed_ratio: float = 0., # double
-    start_vel: numpy.ndarray, # Eigen::Vector3d
+    start_vel: numpy.ndarray = None, # Eigen::Vector3d (default: Eigen::Vector3d::Zero())
 
   ) -> SwingFootCubicTrajectory:
     ...
@@ -7332,6 +7342,21 @@ class WalkPatternGenerator:
     """Checks if a trajectory can be replanned for supports."""
     ...
 
+  def compute_next_support(
+    self: WalkPatternGenerator,
+    t: float, # double
+    current_support: Support, # placo::humanoid::FootstepsPlanner::Support
+    next_support: Support, # placo::humanoid::FootstepsPlanner::Support
+    world_measured_dcm: numpy.ndarray, # Eigen::Vector2d
+    world_initial_dcm: numpy.ndarray, # Eigen::Vector2d
+
+  ) -> any:
+    """Computes the position and time of the next support ensuring the DCM viability based on the measured DCM. 
+        
+
+    :param TODO:"""
+    ...
+
   def plan(
     self: WalkPatternGenerator,
     supports: list[Support], # std::vector<placo::humanoid::FootstepsPlanner::Support>

placo-0.6.5.dist-info/METADATA

@@ -0,0 +1,62 @@
+Metadata-Version: 2.4
+Name: placo
+Version: 0.6.5
+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
+
+<img width="400" src="https://placo.readthedocs.io/en/latest/_static/placo.png" />
+
+## Planning & Control
+
+PlaCo is Rhoban's planning and control library. It is built on the top of [pinocchio](https://github.com/stack-of-tasks/pinocchio), [eiquadprog](https://github.com/stack-of-tasks/eiquadprog) QP solver, and fully written in C++ with Python bindings, allowing fast prototyping with good runtime performances. It features task-space inverse kinematics and dynamics (see below) high-level API for whole-body control tasks.
+
+### Task-Space Inverse Kinematics
+
+[![Quadruoped 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)
+
+High-level API to specify tasks for constrained inverse kinematics (IK).
+
+- [See documentation](https://placo.readthedocs.io/en/latest/kinematics/getting_started.html)
+- [Examples](https://placo.readthedocs.io/en/latest/kinematics/examples_gallery.html)
+
+### Task-Space Inverse Dynamics
+
+[![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)
+
+High-level API to specify tasks for constrained inverse dynamics (ID).
+
+- [See documentation](https://placo.readthedocs.io/en/latest/dynamics/getting_started.html)
+- [Examples](https://placo.readthedocs.io/en/latest/dynamics/examples_gallery.html)
+
+
+## Installing
+
+PlaCo can be installed from ``pip``
+
+```
+pip install placo
+```
+
+Or [built from sources](https://placo.readthedocs.io/en/latest/basics/installation_source.html)
+
+## Resources
+
+* [Documentation](https://placo.readthedocs.io/en/latest/)
+* [Examples](https://github.com/rhoban/placo-examples) repository

{placo-0.6.4.dist-info → placo-0.6.5.dist-info}/RECORD

@@ -1,6 +1,6 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=ExDBSBAkcmvcamAK9RhVt0_h9RFfX8PC65hr8rDh_aU,2619744
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=Re4nQC6mrMjDOgdVzIpy3JZF-UdVRRkHGPM9pcEyo24,164323
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=NdgBCpd2AWzqMmP1qSPwpjRCE6gcKr69DjJJTeWLre8,8192072
+cmeel.prefix/lib/liblibplaco.so,sha256=JHPCSivZCpUJilIWFEzM8EC9fp7mWKb5UMiplzI6Y0Q,2619816
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=7qqoiIhhkYkGKgIuYE9NV1InLRwFwO3VBMjnUnL2LaE,165405
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=haijm8VCNbRolUpwCWsZuOmxRJxkr-4UjpuSwocy3X4,8201384
 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
@@ -8,8 +8,8 @@ cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=6E
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/__init__.cpython-310.pyc,sha256=tJrTajdA7hNO9tZkE1oN49rU-61lCNUED-mQXdAvzAs,261
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/tf.cpython-310.pyc,sha256=APWQ5-zKgbEcMnkv6Hxgj_Q46jpnuOyL9YbSrj6Z5Vw,204
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=kMdmKY2LZKM4rkKm4j0y-TOMBQ3PeVIpbfB_YJxNz5c,6781
-placo-0.6.4.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.6.4.dist-info/METADATA,sha256=cPKmAjHW_OMFoFUT2xpaGIP-CLPOx7eA9na4JNTMkFw,2569
-placo-0.6.4.dist-info/WHEEL,sha256=lhhHTnYbOJzqsg4pPctu5MqgY8RxNHlH5gszBU8FPYs,115
-placo-0.6.4.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.6.4.dist-info/RECORD,,
+placo-0.6.5.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.6.5.dist-info/METADATA,sha256=lvTtWBMQSRl3ZM85U5-DlJ57HNEiDwpnD7cMrrxBNP4,2622
+placo-0.6.5.dist-info/WHEEL,sha256=lhhHTnYbOJzqsg4pPctu5MqgY8RxNHlH5gszBU8FPYs,115
+placo-0.6.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.6.5.dist-info/RECORD,,

placo-0.6.4.dist-info/METADATA

@@ -1,57 +0,0 @@
-Metadata-Version: 2.4
-Name: placo
-Version: 0.6.4
-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.