placo 0.6.5__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,
@@ -3042,6 +3040,8 @@ class HumanoidParameters:
   ) -> None:
     ...
 
+  dcm_offset_polygon: list[numpy.ndarray] # std::vector< Eigen::Vector2d >
+
   def double_support_duration(
     self: HumanoidParameters,
 
@@ -3102,6 +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. 
         """
@@ -7224,12 +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(
@@ -7342,19 +7361,24 @@ class WalkPatternGenerator:
     """Checks if a trajectory can be replanned for supports."""
     ...
 
-  def compute_next_support(
+  def get_optimal_zmp(
     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
+    world_dcm_start: numpy.ndarray, # Eigen::Vector2d
+    world_dcm_end: numpy.ndarray, # Eigen::Vector2d
+    duration: float, # double
+    support: Support, # placo::humanoid::FootstepsPlanner::Support
 
-  ) -> any:
-    """Computes the position and time of the next support ensuring the DCM viability based on the measured DCM. 
+  ) -> 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 TODO:"""
+    :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(
@@ -7402,6 +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__(
@@ -7563,6 +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
 
@@ -7710,117 +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:
-  def __init__(
-    arg1: object,
-
-  ) -> None:
-    ...
-
-  def append(
-    arg1: vector_MatrixXd,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-  def extend(
-    arg1: vector_MatrixXd,
-    arg2: object,
-
-  ) -> None:
-    ...
-
-
-class vector_Vector2d:
+class std_type_index:
   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,
 
@@ -7828,21 +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,
 
@@ -7850,21 +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,
 
@@ -7872,14 +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-0.6.5.dist-info → placo-0.7.0.dist-info}/METADATA

@@ -1,8 +1,8 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.6.5
+Version: 0.7.0
 Summary: PlaCo: Rhoban Planning and Control
-Requires-Python: >= 3.8
+Requires-Python: >= 3.9
 License-Expression: MIT
 License-File: LICENSE
 Author-email: Rhoban team <team@rhoban.com>
@@ -11,14 +11,12 @@ 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: pin >= 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"
+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" />

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-0.6.5.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-0.6.5.dist-info/RECORD

@@ -1,15 +0,0 @@
-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
-cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=6ET7YkZBuIWoJg2qVO-rPt3Nj4ZnezyvGAe458G4VGo,8201
-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-0.6.5.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,,