placo 0.8.9__tar.gz → 0.8.10__tar.gz

{placo-0.8.9 → placo-0.8.10}/.github/workflows/wheels.yml

@@ -28,6 +28,8 @@ jobs:
 
       # Used to host cibuildwheel
       - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
 
       - name: Install cibuildwheel
         run: python -m pip install cibuildwheel==3.0.0b1

{placo-0.8.9 → placo-0.8.10}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.8.9
+Version: 0.8.10
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

{placo-0.8.9 → placo-0.8.10}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.9"
-version = "0.8.9"
+version = "0.8.10"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"
@@ -44,7 +44,7 @@ run-tests = false
 
 
 [tool.cibuildwheel.macos]
-before-all = "brew install doxygen"
+before-all = "brew install --formula doxygen"
 
 [tool.cibuildwheel.linux]
 before-all = "yum install -y doxygen"

{placo-0.8.9 → placo-0.8.10}/src/placo/humanoid/walk_pattern_generator.cpp

@@ -146,6 +146,26 @@ Eigen::Vector3d WalkPatternGenerator::Trajectory::get_v_world_foot(HumanoidRobot
   return (side == HumanoidRobot::Left) ? get_v_world_left(t) : get_v_world_right(t);
 }
 
+double WalkPatternGenerator::Trajectory::get_yaw_world_left(double t)
+{
+  return frame_yaw(T.rotation()) + left_foot_yaw.pos(t);
+}
+
+double WalkPatternGenerator::Trajectory::get_yaw_world_right(double t)
+{
+  return frame_yaw(T.rotation()) + right_foot_yaw.pos(t);
+}
+
+double WalkPatternGenerator::Trajectory::get_yaw_world_foot(HumanoidRobot::Side side, double t)
+{
+  return (side == HumanoidRobot::Left) ? get_yaw_world_left(t) : get_yaw_world_right(t);
+}
+
+double WalkPatternGenerator::Trajectory::get_yaw_world_trunk(double t)
+{
+  return frame_yaw(T.rotation()) + trunk_yaw.pos(t);
+}
+
 Eigen::Vector3d WalkPatternGenerator::Trajectory::get_p_world_CoM(double t)
 {
   TrajectoryPart& part = _findPart(parts, t);
@@ -316,8 +336,10 @@ void WalkPatternGenerator::plan_sgl_support(Trajectory& trajectory, int part_ind
         part.t_start, virt_duration, parameters.walk_foot_height, parameters.walk_foot_rise_ratio, start,
         T_world_end.translation(), part.support.elapsed_ratio, start_vel);
 
-    double replan_yaw = old_trajectory->foot_yaw(flying_side).pos(trajectory.t_start);
-    trajectory.foot_yaw(flying_side).add_point(trajectory.t_start, replan_yaw, 0);
+    // Initiate the flying foot yaw spline with the old trajectory foot yaw position and velocity
+    trajectory.foot_yaw(flying_side)
+        .add_point(trajectory.t_start, old_trajectory->get_yaw_world_foot(flying_side, trajectory.t_start),
+                   old_trajectory->foot_yaw(flying_side).vel(trajectory.t_start));
   }
   else
   {
@@ -345,11 +367,13 @@ void WalkPatternGenerator::plan_feet_trajectories(Trajectory& trajectory, Trajec
   trajectory.add_supports(trajectory.t_start, trajectory.parts[0].support);
   if (old_trajectory == nullptr)
   {
+    // Starting the walk in double support, we set the trunk yaw aligned with the first support
     trajectory.trunk_yaw.add_point(trajectory.t_start, frame_yaw(trajectory.parts[0].support.frame().rotation()), 0);
   }
   else
   {
-    trajectory.trunk_yaw.add_point(trajectory.t_start, old_trajectory->trunk_yaw.pos(trajectory.t_start),
+    // Initiate the trunk_yaw spline with the old trajectory trunk_yaw position and velocity
+    trajectory.trunk_yaw.add_point(trajectory.t_start, old_trajectory->get_yaw_world_trunk(trajectory.t_start),
                                    old_trajectory->trunk_yaw.vel(trajectory.t_start));
   }
 

{placo-0.8.9 → placo-0.8.10}/src/placo/humanoid/walk_pattern_generator.h

@@ -63,6 +63,11 @@ public:
     Eigen::Vector3d get_v_world_right(double t);
     Eigen::Vector3d get_v_world_foot(HumanoidRobot::Side side, double t);
 
+    double get_yaw_world_left(double t);
+    double get_yaw_world_right(double t);
+    double get_yaw_world_foot(HumanoidRobot::Side side, double t);
+    double get_yaw_world_trunk(double t);
+
     Eigen::Vector3d get_p_world_CoM(double t);
     Eigen::Vector3d get_v_world_CoM(double t);
     Eigen::Vector3d get_a_world_CoM(double t);
@@ -172,36 +177,38 @@ public:
   /**
    * @brief Replans the supports for a given trajectory given a footsteps planner.
    */
-  std::vector<FootstepsPlanner::Support> replan_supports(FootstepsPlanner& planner, Trajectory& trajectory, double t_replan, double t_last_replan);
+  std::vector<FootstepsPlanner::Support> replan_supports(FootstepsPlanner& planner, Trajectory& trajectory,
+                                                         double t_replan, double t_last_replan);
 
   double last_com_planning_duration = 0.;
   double last_feet_planning_duration = 0.;
 
   /**
-   * @brief Updates the supports to ensure DCM viability by adjusting the 
+   * @brief Updates the supports to ensure DCM viability by adjusting the
    * duration and the target of the current swing trajectory.
    * @param t Current time
    * @param supports Planned supports
    * @param world_target_zmp Target ZMP for the flying foot in world frame
    * @param world_measured_dcm Measured DCM in world frame
    */
-  std::vector<FootstepsPlanner::Support> update_supports(double t, std::vector<FootstepsPlanner::Support> supports, 
-    Eigen::Vector2d world_target_zmp, Eigen::Vector2d world_measured_dcm);
+  std::vector<FootstepsPlanner::Support> update_supports(double t, std::vector<FootstepsPlanner::Support> supports,
+                                                         Eigen::Vector2d world_target_zmp,
+                                                         Eigen::Vector2d world_measured_dcm);
 
   /**
-   * @brief Computes the best ZMP in the support polygon to move de DCM from 
+   * @brief 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 Initial DCM position in world frame
    * @param world_dcm_end Desired final DCM position in world frame
    * @param duration Duration
    * @param support Support
    */
-  Eigen::Vector2d get_optimal_zmp(Eigen::Vector2d world_dcm_start, Eigen::Vector2d world_dcm_end, 
-    double duration, FootstepsPlanner::Support& support);
+  Eigen::Vector2d get_optimal_zmp(Eigen::Vector2d world_dcm_start, Eigen::Vector2d world_dcm_end, double duration,
+                                  FootstepsPlanner::Support& support);
 
   int support_default_timesteps(FootstepsPlanner::Support& support);
   double support_default_duration(FootstepsPlanner::Support& support);
-  
+
   bool soft = false;
 
 protected:
@@ -214,10 +221,12 @@ protected:
   double omega;
   double omega_2;
 
-  void constrain_lipm(problem::Problem& problem, LIPM& lipm, FootstepsPlanner::Support& support, double omega_2, HumanoidParameters& parameters);
+  void constrain_lipm(problem::Problem& problem, LIPM& lipm, FootstepsPlanner::Support& support, double omega_2,
+                      HumanoidParameters& parameters);
 
-  void plan_com(Trajectory& trajectory, std::vector<FootstepsPlanner::Support>& supports, Eigen::Vector2d initial_pos, 
-    Eigen::Vector2d initial_vel = Eigen::Vector2d::Zero(), Eigen::Vector2d initial_acc = Eigen::Vector2d::Zero());
+  void plan_com(Trajectory& trajectory, std::vector<FootstepsPlanner::Support>& supports, Eigen::Vector2d initial_pos,
+                Eigen::Vector2d initial_vel = Eigen::Vector2d::Zero(),
+                Eigen::Vector2d initial_acc = Eigen::Vector2d::Zero());
 
   void plan_dbl_support(Trajectory& trajectory, int part_index);
   void plan_sgl_support(Trajectory& trajectory, int part_index, Trajectory* old_trajectory);