placo 0.6.4__tar.gz → 0.6.5__tar.gz

placo-0.6.5/PKG-INFO

@@ -0,0 +1,61 @@
+Metadata-Version: 2.4
+Name: placo
+Version: 0.6.5
+Summary: PlaCo: Rhoban Planning and Control
+Requires-Python: >= 3.8
+License-Expression: MIT
+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-0.6.5/README.md

@@ -0,0 +1,39 @@
+<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 → placo-0.6.5}/bindings/expose-footsteps.cpp

@@ -21,23 +21,20 @@ void exposeFootsteps()
       .value("right", HumanoidRobot::Side::Right);
 
   class__<FootstepsPlanner::Footstep>("Footstep", init<double, double>())
-      .def("support_polygon", &FootstepsPlanner::Footstep::support_polygon)
       .add_property("side", &FootstepsPlanner::Footstep::side, &FootstepsPlanner::Footstep::side)
-      .def_readwrite("raw_frame", &FootstepsPlanner::Footstep::raw_frame)
-      .add_property("dx", &FootstepsPlanner::Footstep::dx, &FootstepsPlanner::Footstep::dx)
-      .add_property("dy", &FootstepsPlanner::Footstep::dy, &FootstepsPlanner::Footstep::dy)
       .add_property("foot_length", &FootstepsPlanner::Footstep::foot_length, &FootstepsPlanner::Footstep::foot_length)
       .add_property("foot_width", &FootstepsPlanner::Footstep::foot_width, &FootstepsPlanner::Footstep::foot_width)
+      .add_property("frame", &FootstepsPlanner::Footstep::frame, &FootstepsPlanner::Footstep::frame)
       .def("support_polygon", &FootstepsPlanner::Footstep::support_polygon)
       .def("overlap", &FootstepsPlanner::Footstep::overlap)
       .def("polygon_contains", &FootstepsPlanner::Footstep::polygon_contains)
-      .def("frame", &FootstepsPlanner::Footstep::frame)
       .staticmethod("polygon_contains");
 
   class__<FootstepsPlanner::Support>("Support", init<>())
       .def("support_polygon", &FootstepsPlanner::Support::support_polygon)
       .def("frame", &FootstepsPlanner::Support::frame)
       .def("footstep_frame", &FootstepsPlanner::Support::footstep_frame)
+      .def("apply_offset", &FootstepsPlanner::Support::apply_offset)
       .def("side", &FootstepsPlanner::Support::side)
       .def("is_both", &FootstepsPlanner::Support::is_both)
       .def(

{placo-0.6.4 → placo-0.6.5}/bindings/expose-tools.cpp

@@ -95,6 +95,7 @@ void exposeTools()
       .def("is_point_in_segment", +[](Segment& s, const Eigen::Vector2d& point) { return s.is_point_in_segment(point); })
       .def("intersects", &Segment::intersects)
       .def("line_pass_through", &Segment::line_pass_through)
+      .def("half_line_pass_through", &Segment::half_line_pass_through)
       .def("lines_intersection", &Segment::lines_intersection);
 
 #ifdef HAVE_RHOBAN_UTILS

{placo-0.6.4 → placo-0.6.5}/bindings/expose-walk-pattern-generator.cpp

@@ -59,7 +59,8 @@ void exposeWalkPatternGenerator()
       .def("plan", &WalkPatternGenerator::plan)
       .def("replan", &WalkPatternGenerator::replan)
       .def("can_replan_supports", &WalkPatternGenerator::can_replan_supports)
-      .def("replan_supports", &WalkPatternGenerator::replan_supports);
+      .def("replan_supports", &WalkPatternGenerator::replan_supports)
+      .def("compute_next_support", &WalkPatternGenerator::compute_next_support);
 
   class__<SwingFoot>("SwingFoot", init<>())
       .def("make_trajectory", &SwingFoot::make_trajectory)

{placo-0.6.4 → placo-0.6.5}/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-0.6.4 → placo-0.6.5}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.8"
-version = "0.6.4"
+version = "0.6.5"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.6.4 → placo-0.6.5}/src/placo/humanoid/footsteps_planner.cpp

@@ -31,7 +31,7 @@ std::vector<Eigen::Vector2d> FootstepsPlanner::Footstep::compute_polygon(double
   for (auto sxsy : contour)
   {
     Eigen::Vector3d corner =
-        frame() * Eigen::Vector3d(sxsy.first * (margin + foot_length / 2), sxsy.second * (margin + foot_width / 2), 0.);
+        frame * Eigen::Vector3d(sxsy.first * (margin + foot_length / 2), sxsy.second * (margin + foot_width / 2), 0.);
     Eigen::Vector2d point(corner.x(), corner.y());
     polygon.push_back(point);
   }
@@ -93,17 +93,9 @@ bool FootstepsPlanner::Footstep::overlap(Footstep& other, double margin)
   return false;
 }
 
-Eigen::Affine3d FootstepsPlanner::Footstep::frame()
-{
-  Eigen::Affine3d f = raw_frame;
-  f.translation().x() += dx;
-  f.translation().y() += dy;
-  return f;
-}
-
 bool FootstepsPlanner::Footstep::operator==(const Footstep& other)
 {
-  return side == other.side && raw_frame.isApprox(other.raw_frame) && dx == other.dx && dy == other.dy;
+  return side == other.side && frame.isApprox(other.frame);
 }
 
 FootstepsPlanner::Support::Support() 
@@ -153,11 +145,11 @@ Eigen::Affine3d FootstepsPlanner::Support::frame()
   {
     if (n == 1)
     {
-      f = footstep.frame();
+      f = footstep.frame;
     }
     else
     {
-      f = tools::interpolate_frames(f, footstep.frame(), 1. / n);
+      f = tools::interpolate_frames(f, footstep.frame, 1. / n);
     }
 
     n += 1;
@@ -171,13 +163,24 @@ Eigen::Affine3d FootstepsPlanner::Support::footstep_frame(HumanoidRobot::Side si
   {
     if (footstep.side == side)
     {
-      return footstep.frame();
+      return footstep.frame;
     }
   }
 
   throw std::logic_error("Asked for a frame that doesn't exist");
 }
 
+void FootstepsPlanner::Support::apply_offset(Eigen::Vector2d offset)
+{
+  for (auto& footstep : footsteps)
+  {
+    footstep.frame.translation().x() += offset.x();
+    footstep.frame.translation().y() += offset.y();
+    footstep.computed_polygon = false;
+  }
+  computed_polygon = false;
+}
+
 HumanoidRobot::Side FootstepsPlanner::Support::side()
 {
   if (footsteps.size() > 1)
@@ -199,7 +202,7 @@ FootstepsPlanner::Support operator*(Eigen::Affine3d T, const FootstepsPlanner::S
 
   for (auto& footstep : new_support.footsteps)
   {
-    footstep.raw_frame = T * footstep.raw_frame;
+    footstep.frame = T * footstep.frame;
     footstep.computed_polygon = false;
   }
   new_support.computed_polygon = false;
@@ -289,7 +292,7 @@ FootstepsPlanner::Footstep FootstepsPlanner::create_footstep(HumanoidRobot::Side
   FootstepsPlanner::Footstep footstep(parameters.foot_width, parameters.foot_length);
 
   footstep.side = side;
-  footstep.raw_frame = T_world_foot;
+  footstep.frame = T_world_foot;
 
   return footstep;
 }
@@ -297,7 +300,7 @@ FootstepsPlanner::Footstep FootstepsPlanner::create_footstep(HumanoidRobot::Side
 FootstepsPlanner::Footstep FootstepsPlanner::opposite_footstep(FootstepsPlanner::Footstep footstep, double d_x,
                                                                double d_y, double d_theta)
 {
-  footstep.raw_frame = parameters.opposite_frame(footstep.side, footstep.raw_frame, d_x, d_y, d_theta);
+  footstep.frame = parameters.opposite_frame(footstep.side, footstep.frame, d_x, d_y, d_theta);
   footstep.side = HumanoidRobot::other_side(footstep.side);
 
   return footstep;

{placo-0.6.4 → placo-0.6.5}/src/placo/humanoid/footsteps_planner.h

@@ -22,11 +22,7 @@ public:
     double foot_length;
 
     HumanoidRobot::Side side;
-    Eigen::Affine3d raw_frame;
-    Eigen::Affine3d frame();
-
-    double dx = 0.; // Footstep offset in x (m)
-    double dy = 0.; // Footstep offset in y (m)
+    Eigen::Affine3d frame;
 
     std::vector<Eigen::Vector2d> polygon;
     bool computed_polygon = false;
@@ -80,6 +76,8 @@ public:
      */
     Eigen::Affine3d footstep_frame(HumanoidRobot::Side side);
 
+    void apply_offset(Eigen::Vector2d offset);
+
     bool operator==(const Support& other);
 
     /**

{placo-0.6.4 → placo-0.6.5}/src/placo/humanoid/footsteps_planner_naive.cpp

@@ -137,13 +137,13 @@ void FootstepsPlannerNaive::plan_impl(std::vector<FootstepsPlanner::Footstep>& f
     if (current_support_side == HumanoidRobot::Side::Left)
     {
       right_arrived = arrived;
-      T_world_currentRight = footstep.frame();
+      T_world_currentRight = footstep.frame;
       current_support_side = HumanoidRobot::Side::Right;
     }
     else
     {
       left_arrived = arrived;
-      T_world_currentLeft = footstep.frame();
+      T_world_currentLeft = footstep.frame;
       current_support_side = HumanoidRobot::Side::Left;
     }
   }

{placo-0.6.4 → placo-0.6.5}/src/placo/humanoid/walk_pattern_generator.cpp

@@ -283,7 +283,7 @@ void WalkPatternGenerator::Trajectory::add_supports(double t, FootstepsPlanner::
 {
   for (auto footstep : support.footsteps)
   {
-    auto T_world_foot = footstep.frame();
+    auto T_world_foot = footstep.frame;
     foot_yaw(footstep.side).add_point(t, frame_yaw(T_world_foot.rotation()), 0);
   }
 }
@@ -570,7 +570,7 @@ void WalkPatternGenerator::Trajectory::print_parts_timings()
 }
 
 std::pair<Eigen::Vector2d, double> WalkPatternGenerator::compute_next_support(double t, FootstepsPlanner::Support& current_support, 
-  FootstepsPlanner::Support& next_support, Eigen::Vector2d world_measured_dcm, Eigen::Vector2d world_initial_dcm, double omega)
+  FootstepsPlanner::Support& next_support, Eigen::Vector2d world_measured_dcm, Eigen::Vector2d world_initial_dcm)
 {
   if (current_support.is_both())
   {
@@ -625,7 +625,7 @@ std::pair<Eigen::Vector2d, double> WalkPatternGenerator::compute_next_support(do
   }
   
   // Time constraints
-  double T_min = t; // Should probably add an offset
+  double T_min = std::max(0.15, t); // Should probably add an offset to t
   double T_max = 3; // Arbitrary value of 3s
   problem.add_constraint(tau.expr() >= exp(omega * (T_min))).configure(ProblemConstraint::Hard);
   problem.add_constraint(tau.expr() <= exp(omega * (T_max))).configure(ProblemConstraint::Hard);

{placo-0.6.4 → placo-0.6.5}/src/placo/humanoid/walk_pattern_generator.h

@@ -176,7 +176,7 @@ public:
    * @param TODO
    */
   std::pair<Eigen::Vector2d, double> compute_next_support(double t, FootstepsPlanner::Support& current_support, 
-    FootstepsPlanner::Support& next_support, Eigen::Vector2d world_measured_dcm, Eigen::Vector2d world_initial_dcm, double omega);
+    FootstepsPlanner::Support& next_support, Eigen::Vector2d world_measured_dcm, Eigen::Vector2d world_initial_dcm);
   
 protected:
   // Robot associated to the WPG

{placo-0.6.4 → placo-0.6.5}/src/placo/tools/segment.cpp

@@ -67,6 +67,23 @@ bool Segment::line_pass_through(const Segment& s)
     return t >= 0 && t <= 1;
 }
 
+bool Segment::half_line_pass_through(const Segment& s)
+{
+    if (is_parallel(s))
+    {
+        throw std::runtime_error("Can't compute intersection of parallels");
+    }
+
+    Eigen::Vector2d v1 = end - start;
+    Eigen::Vector2d v2 = s.end - s.start;
+    Eigen::Vector2d p1 = start;
+    Eigen::Vector2d p2 = s.start;
+    double det = v1.x() * v2.y() - v1.y() * v2.x();
+    double t_1 = (v2.y() * (p2.x() - p1.x()) + v2.x() * (p1.y() - p2.y())) / det;
+    double t_2 = (v1.y() * (p2.x() - p1.x()) + v1.x() * (p1.y() - p2.y())) / det;
+    return t_1 >= 0 && t_1 <= 1 && t_2 >= 0;
+}
+
 Eigen::Vector2d Segment::lines_intersection(const Segment& s)
 {
     if (is_parallel(s))

{placo-0.6.4 → placo-0.6.5}/src/placo/tools/segment.h

@@ -61,6 +61,14 @@ public:
      */
     bool line_pass_through(const Segment& s);
 
+    /**
+     * @brief 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.
+     */
+    bool half_line_pass_through(const Segment& s);
+
     /**
      * @brief Return the intersection between the guiding lines of this segment and another one.
      * @param s The other segment.

{placo-0.6.4 → placo-0.6.5}/stubs.py

@@ -59,6 +59,7 @@ for entry in cxx_registry:
     rewrite_types[entry] = cxx_registry[entry]
     py_registry[cxx_registry[entry]] = entry
 
+
 def get_member(class_name: str, member_name: str):
     if class_name in py_registry:
         cxx_name = py_registry[class_name]
@@ -131,13 +132,17 @@ def print_def_prototype(
 
     str_definition += f"{prefix}def {method_name}(\n"
     for arg_name, arg_type, defvalue, comment in args:
+        extra_comment = ""
         str_definition += f"{prefix}  {arg_name}: {arg_type}"
         if defvalue is not None:
             if arg_type in ["str", "float", "int", "bool"]:
                 str_definition += f" = {defvalue.capitalize()}"
+            else:
+                str_definition += f" = None"
+                extra_comment = f" (default: {defvalue})"
         str_definition += ","
         if comment is not None:
-            str_definition += f" # {comment}"
+            str_definition += f" # {comment}{extra_comment}"
         str_definition += "\n"
     str_definition += f"\n{prefix}) -> {return_type}:\n"
     if doc != "":
@@ -221,7 +226,7 @@ print("import typing")
 for name, object in inspect.getmembers(placo):
     if isinstance(object, type):
         class_name = object.__name__
-        print(f"{class_name} = typing.NewType(\"{class_name}\", None)")
+        print(f'{class_name} = typing.NewType("{class_name}", None)')
 
 groups = {}
 
@@ -234,10 +239,10 @@ for name, object in inspect.getmembers(placo):
             metadata = get_metadata(py_registry[class_name])
 
             if metadata is not None:
-              namespace = "::".join(metadata['name'].split("::")[:-1][:2])
-              if namespace not in groups:
-                  groups[namespace] = []
-              groups[namespace].append(class_name)
+                namespace = "::".join(metadata["name"].split("::")[:-1][:2])
+                if namespace not in groups:
+                    groups[namespace] = []
+                groups[namespace].append(class_name)
 
             if (
                 metadata is not None
@@ -259,4 +264,4 @@ for name, object in inspect.getmembers(placo):
     else:
         ...
 
-print(f"__groups__ = {groups}")
+print(f"__groups__ = {groups}")

placo-0.6.4/PKG-INFO

@@ -1,56 +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
-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/README.md

@@ -1,34 +0,0 @@
-# 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.