placo 0.6.4__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.7.0__0-cp310-cp310-manylinux_2_35_x86_64.whl

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

@@ -1,3 +1,4 @@
+# Doxygen stubs generation
 import numpy
 import typing
 AvoidSelfCollisionsDynamicsConstraint = typing.NewType("AvoidSelfCollisionsDynamicsConstraint", None)
@@ -90,16 +91,13 @@ WPGTrajectoryPart = typing.NewType("WPGTrajectoryPart", None)
 WalkPatternGenerator = typing.NewType("WalkPatternGenerator", None)
 WalkTasks = typing.NewType("WalkTasks", None)
 WheelTask = typing.NewType("WheelTask", None)
+boost_type_index = typing.NewType("boost_type_index", None)
 map_indexing_suite_map_string_double_entry = typing.NewType("map_indexing_suite_map_string_double_entry", None)
 map_string_double = typing.NewType("map_string_double", None)
+std_type_index = typing.NewType("std_type_index", None)
 vector_Collision = typing.NewType("vector_Collision", None)
 vector_Distance = typing.NewType("vector_Distance", None)
 vector_MatrixXd = typing.NewType("vector_MatrixXd", None)
-vector_Vector2d = typing.NewType("vector_Vector2d", None)
-vector_Vector3d = typing.NewType("vector_Vector3d", None)
-vector_double = typing.NewType("vector_double", None)
-vector_int = typing.NewType("vector_int", None)
-vector_string = typing.NewType("vector_string", None)
 class AvoidSelfCollisionsDynamicsConstraint:
   def __init__(
     arg1: object,
@@ -2534,7 +2532,7 @@ 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 +2633,11 @@ 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 +2655,6 @@ class Footstep:
   ) -> bool:
     ...
 
-  raw_frame: numpy.ndarray # Eigen::Affine3d
-
   side: any # placo::humanoid::HumanoidRobot::Side
 
   def support_polygon(
@@ -3052,6 +3040,8 @@ class HumanoidParameters:
   ) -> None:
     ...
 
+  dcm_offset_polygon: list[numpy.ndarray] # std::vector< Eigen::Vector2d >
+
   def double_support_duration(
     self: HumanoidParameters,
 
@@ -3112,6 +3102,8 @@ class HumanoidParameters:
     """Checks if the walk resulting from those parameters will have double supports."""
     ...
 
+  op_space_polygon: list[numpy.ndarray] # std::vector< Eigen::Vector2d >
+
   planned_timesteps: int # int
   """Planning horizon for the CoM trajectory. 
         """
@@ -4392,7 +4384,7 @@ 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 +4790,8 @@ 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 +6561,19 @@ 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 +6756,13 @@ class Support:
   ) -> any:
     ...
 
+  def apply_offset(
+    self: Support,
+    offset: numpy.ndarray, # Eigen::Vector2d
+
+  ) -> None:
+    ...
+
   elapsed_ratio: float # double
 
   end: bool # bool
@@ -6893,7 +6905,7 @@ 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:
     ...
@@ -7214,12 +7226,29 @@ class WPGTrajectory:
   ) -> numpy.ndarray:
     ...
 
+  def get_part_end_dcm(
+    self: WPGTrajectory,
+    t: float, # double
+    omega: float, # double
+
+  ) -> numpy.ndarray:
+    """Returns the DCM at the end of the trajectory part corresponding to the given time."""
+    ...
+
+  def get_part_t_end(
+    self: WPGTrajectory,
+    t: float, # double
+
+  ) -> float:
+    """Returns the end time of the trajectory part corresponding to the given time."""
+    ...
+
   def get_part_t_start(
     self: WPGTrajectory,
     t: float, # double
 
   ) -> float:
-    """Returns the trajectory time start for the support corresponding to the given time."""
+    """Returns the start time of the trajectory part corresponding to the given time."""
     ...
 
   def get_prev_support(
@@ -7332,6 +7361,26 @@ class WalkPatternGenerator:
     """Checks if a trajectory can be replanned for supports."""
     ...
 
+  def get_optimal_zmp(
+    self: WalkPatternGenerator,
+    world_dcm_start: numpy.ndarray, # Eigen::Vector2d
+    world_dcm_end: numpy.ndarray, # Eigen::Vector2d
+    duration: float, # double
+    support: Support, # placo::humanoid::FootstepsPlanner::Support
+
+  ) -> numpy.ndarray:
+    """Computes the best ZMP in the support polygon to move de DCM from world_dcm_start to world_dcm_end in duration. 
+        
+
+    :param world_dcm_start: The initial DCM position in world frame 
+
+    :param world_dcm_end: The desired final DCM position in world frame 
+
+    :param duration: The duration 
+
+    :param support: The support"""
+    ...
+
   def plan(
     self: WalkPatternGenerator,
     supports: list[Support], # std::vector<placo::humanoid::FootstepsPlanner::Support>
@@ -7377,6 +7426,26 @@ class WalkPatternGenerator:
     """Replans the supports for a given trajectory given a footsteps planner."""
     ...
 
+  def update_supports(
+    self: WalkPatternGenerator,
+    t: float, # double
+    supports: list[Support], # std::vector<placo::humanoid::FootstepsPlanner::Support>
+    world_measured_dcm: numpy.ndarray, # Eigen::Vector2d
+    world_end_dcm: numpy.ndarray, # Eigen::Vector2d
+
+  ) -> list[Support]:
+    """Updates the supports to ensure DCM viability by adjusting the duration and the target of the current swing trajectory. 
+        
+
+    :param t: The current time 
+
+    :param supports: The planned supports 
+
+    :param world_measured_dcm: The measured DCM in world frame 
+
+    :param world_end_dcm: The desired DCM at the end of the current support phase"""
+    ...
+
 
 class WalkTasks:
   def __init__(
@@ -7538,6 +7607,31 @@ class WheelTask:
     ...
 
 
+class boost_type_index:
+  def __init__(
+
+  ) -> any:
+    ...
+
+  def hash_code(
+    self: boost_type_index,
+
+  ) -> int:
+    ...
+
+  def name(
+    self: boost_type_index,
+
+  ) -> str:
+    ...
+
+  def pretty_name(
+    self: boost_type_index,
+
+  ) -> str:
+    ...
+
+
 def directions_2d(
   n: int, # int
 
@@ -7685,117 +7779,32 @@ def sharedMemory(
   ...
 
 
-class vector_Collision:
-  def __init__(
-    arg1: object,
-
-  ) -> None:
-    ...
-
-  def append(
-    arg1: vector_Collision,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-  def extend(
-    arg1: vector_Collision,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-
-class vector_Distance:
-  def __init__(
-    arg1: object,
-
-  ) -> None:
-    ...
-
-  def append(
-    arg1: vector_Distance,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-  def extend(
-    arg1: vector_Distance,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-
-class vector_MatrixXd:
+class std_type_index:
   def __init__(
-    arg1: object,
 
-  ) -> None:
-    ...
-
-  def append(
-    arg1: vector_MatrixXd,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-  def extend(
-    arg1: vector_MatrixXd,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-
-class vector_Vector2d:
-  def __init__(
-    arg1: object,
-
-  ) -> None:
-    ...
-
-  def append(
-    arg1: vector_Vector2d,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-  def extend(
-    arg1: vector_Vector2d,
-    arg2: object,
-
-  ) -> None:
+  ) -> any:
     ...
 
+  def hash_code(
+    self: std_type_index,
 
-class vector_Vector3d:
-  def __init__(
-    arg1: object,
-
-  ) -> None:
+  ) -> int:
     ...
 
-  def append(
-    arg1: vector_Vector3d,
-    arg2: object,
+  def name(
+    self: std_type_index,
 
-  ) -> None:
+  ) -> str:
     ...
 
-  def extend(
-    arg1: vector_Vector3d,
-    arg2: object,
+  def pretty_name(
+    self: std_type_index,
 
-  ) -> None:
+  ) -> str:
     ...
 
 
-class vector_double:
+class vector_Collision:
   def __init__(
     arg1: object,
 
@@ -7803,21 +7812,21 @@ class vector_double:
     ...
 
   def append(
-    arg1: vector_double,
+    arg1: vector_Collision,
     arg2: object,
 
   ) -> None:
     ...
 
   def extend(
-    arg1: vector_double,
+    arg1: vector_Collision,
     arg2: object,
 
   ) -> None:
     ...
 
 
-class vector_int:
+class vector_Distance:
   def __init__(
     arg1: object,
 
@@ -7825,21 +7834,21 @@ class vector_int:
     ...
 
   def append(
-    arg1: vector_int,
+    arg1: vector_Distance,
     arg2: object,
 
   ) -> None:
     ...
 
   def extend(
-    arg1: vector_int,
+    arg1: vector_Distance,
     arg2: object,
 
   ) -> None:
     ...
 
 
-class vector_string:
+class vector_MatrixXd:
   def __init__(
     arg1: object,
 
@@ -7847,14 +7856,14 @@ class vector_string:
     ...
 
   def append(
-    arg1: vector_string,
+    arg1: vector_MatrixXd,
     arg2: object,
 
   ) -> None:
     ...
 
   def extend(
-    arg1: vector_string,
+    arg1: vector_MatrixXd,
     arg2: object,
 
   ) -> None:

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

@@ -1,5 +1,6 @@
 import meshcat
 import pinocchio as pin
+import pinocchio.visualize as pin_viz
 import numpy as np
 import meshcat.geometry as g
 import meshcat.transformations as tf
@@ -26,7 +27,7 @@ def get_viewer() -> meshcat.Visualizer:
 
 def robot_viz(
     robot: placo.RobotWrapper, name: str = "robot"
-) -> pin.visualize.MeshcatVisualizer:
+) -> pin_viz.MeshcatVisualizer:
     """
     Builds an instance of pinocchio MeshcatVisualizer, which allows to push the model to the meshcat
     visualizer passed as parameter
@@ -38,7 +39,7 @@ def robot_viz(
     global robot_names
 
     robot_names[robot] = name
-    viz = pin.visualize.MeshcatVisualizer(
+    viz = pin_viz.MeshcatVisualizer(
         robot.model, robot.collision_model, robot.visual_model
     )
     viz.initViewer(viewer=get_viewer())

placo-0.7.0.dist-info/METADATA

@@ -0,0 +1,60 @@
+Metadata-Version: 2.4
+Name: placo
+Version: 0.7.0
+Summary: PlaCo: Rhoban Planning and Control
+Requires-Python: >= 3.9
+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 >= 3
+Requires-Dist: rhoban-cmeel-jsoncpp
+Requires-Dist: meshcat
+Requires-Dist: ischedule
+Provides-Extra: build
+Requires-Dist: pin[build] >=  3 ; 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-0.7.0.dist-info/RECORD

@@ -0,0 +1,12 @@
+cmeel.prefix/lib/liblibplaco.so,sha256=Kss_9m8cwF-CMHjGAQ59M-yaND6P3rGL6Yazls7KpXk,2025088
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=mnQkavsOZxq78ZBNN0f5our9wQ2OPefGq3hagObh_nI,165939
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=DnhhsNkIQ5DO1zRV06V7kh2E3WjyWtMmBVYMLEdeSys,8266104
+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=8exPggKw-njoJ9YDKgxFdpYoqiscNqnfvdsAC30iJCk,8227
+placo-0.7.0.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.7.0.dist-info/METADATA,sha256=ubfE-qcTspVcod08RxCqL1R_Qyd3AtCKI40yVd0jQRg,2525
+placo-0.7.0.dist-info/WHEEL,sha256=CGpSWoBURgVtaMPvLWXBsECBIFvGPsCx-wd2AU5rQ8c,115
+placo-0.7.0.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.7.0.dist-info/RECORD,,

{placo-0.6.4.dist-info → placo-0.7.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: cmeel 0.57.1
+Generator: cmeel 0.57.3
 Root-Is-Purelib: false
 Tag: cp310-cp310-manylinux_2_35_x86_64
 Build: 0

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.

placo-0.6.4.dist-info/RECORD

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