placo 0.9.9__tar.gz → 0.9.11__tar.gz

{placo-0.9.9 → placo-0.9.11}/.github/workflows/wheels.yml

@@ -21,7 +21,10 @@ jobs:
     strategy:
       matrix:
         os: [macos-latest, ubuntu-latest, ubuntu-24.04-arm, macos-13]
-        pyver: [cp39, cp310, cp311, cp312, cp313]
+        pyver: [cp38, cp39, cp310, cp311, cp312, cp313]
+        exclude:
+          - os: macos-latest
+            pyver: cp38
 
     steps:
       - uses: actions/checkout@v4

{placo-0.9.9 → placo-0.9.11}/PKG-INFO

@@ -1,8 +1,8 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.9
+Version: 0.9.11
 Summary: PlaCo: Rhoban Planning and Control
-Requires-Python: >= 3.9
+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
@@ -10,12 +10,12 @@ 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 == 3.7.0
+Requires-Dist: pin==3.4.0
 Requires-Dist: rhoban-cmeel-jsoncpp
 Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
-Requires-Dist: pin[build] ==  3.7.0 ; extra == "build"
+Requires-Dist: pin[build]==3.4.0 ; extra == "build"
 Requires-Dist: doxystub >= 0.1.7 ; extra == "build"
 Requires-Dist: cmake<4 ; extra == "build"
 Description-Content-Type: text/markdown

{placo-0.9.9 → placo-0.9.11}/bindings/expose-footsteps.cpp

@@ -60,6 +60,7 @@ void exposeFootsteps()
   class__<FootstepsPlanner, boost::noncopyable>("FootstepsPlanner", no_init)
       .def("make_supports", &FootstepsPlanner::make_supports)
       .def("opposite_footstep", &FootstepsPlanner::opposite_footstep)
+      .def("clipped_opposite_footstep", &FootstepsPlanner::clipped_opposite_footstep)
       .def(
           "truncate_supports", +[](const std::vector<FootstepsPlanner::Support>& supports, int index, bool add_end) {
             if (index > (int)supports.size())

{placo-0.9.9 → placo-0.9.11}/bindings/expose-robot-wrapper.cpp

@@ -24,7 +24,7 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(joint_names_overloads, joint_names, 0, 1)
 template <class RobotType, class W1>
 void exposeRobotType(class_<RobotType, W1>& type)
 {
-  type.add_property("state", &RobotType::state)
+  type.def_readwrite("state", &RobotType::state)
       .add_property("model", &RobotType::model)
       .add_property("collision_model", &RobotType::collision_model)
       .add_property("visual_model", &RobotType::visual_model)

{placo-0.9.9 → placo-0.9.11}/bindings/expose-walk-pattern-generator.cpp

@@ -182,7 +182,7 @@ void exposeWalkPatternGenerator()
       .add_property("x", &LIPM::x, &LIPM::x)
       .add_property("y", &LIPM::y, &LIPM::y);
 
-  class__<DummyWalk>("DummyWalk", init<model::RobotWrapper&>())
+  class__<DummyWalk>("DummyWalk", init<model::RobotWrapper&, humanoid::HumanoidParameters&>())
       .def("reset", &DummyWalk::reset, (arg("support_left") = false))
       .def("update", &DummyWalk::update)
       .def("next_step", &DummyWalk::next_step)
@@ -190,12 +190,12 @@ void exposeWalkPatternGenerator()
       .add_property("robot", make_function(
                                  +[](DummyWalk& walk) -> model::RobotWrapper& { return walk.robot; },
                                  return_value_policy<reference_existing_object>()))
+      .add_property("parameters", make_function(
+                                      +[](DummyWalk& walk) -> humanoid::HumanoidParameters& { return walk.parameters; },
+                                      return_value_policy<reference_existing_object>()))
       .add_property("solver", &DummyWalk::solver)
-      .def_readwrite("feet_spacing", &DummyWalk::feet_spacing)
-      .def_readwrite("trunk_height", &DummyWalk::trunk_height)
-      .def_readwrite("trunk_pitch", &DummyWalk::trunk_pitch)
       .def_readwrite("support_left", &DummyWalk::support_left)
-      .def_readwrite("lift_height", &DummyWalk::lift_height)
+      .def_readwrite("lift_spline", &DummyWalk::lift_spline)
       .def_readonly("dx", &DummyWalk::dx)
       .def_readonly("dy", &DummyWalk::dy)
       .def_readonly("dtheta", &DummyWalk::dtheta)

{placo-0.9.9 → placo-0.9.11}/pyproject.toml

@@ -3,7 +3,7 @@ build-backend = "cmeel"
 requires = [
   "cmeel[build]",
   "eiquadprog >= 1.2.6, < 2",
-  "pin[build] ==  3.7.0",
+  "pin[build]==3.4.0",
   "rhoban-cmeel-jsoncpp",
   "doxystub >= 0.1.7",
   "cmake<4"
@@ -14,7 +14,7 @@ authors = [{ email = "team@rhoban.com", name = "Rhoban team" }]
 classifiers = []
 dependencies = [
   "eiquadprog >= 1.2.6, < 2",
-  "pin == 3.7.0",
+  "pin==3.4.0",
   "rhoban-cmeel-jsoncpp",
   "meshcat",
   "ischedule"
@@ -22,8 +22,8 @@ dependencies = [
 description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
-requires-python = ">= 3.9"
-version = "0.9.9"
+requires-python = ">= 3.8"
+version = "0.9.11"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.9.9 → placo-0.9.11}/src/placo/humanoid/dummy_walk.cpp

@@ -2,7 +2,8 @@
 
 namespace placo::humanoid
 {
-DummyWalk::DummyWalk(model::RobotWrapper& robot) : robot(robot), solver(robot)
+DummyWalk::DummyWalk(model::RobotWrapper& robot, humanoid::HumanoidParameters& parameters)
+  : robot(robot), parameters(parameters), solver(robot), footsteps_planner(parameters)
 {
   // Initializing solver
   solver.enable_velocity_limits(true);
@@ -25,8 +26,8 @@ void DummyWalk::reset(bool support_left_)
   // Initializing lift trajectory
   lift_spline.clear();
   lift_spline.add_point(0, 0, 0);
-  lift_spline.add_point(0.3, lift_height, 0);
-  lift_spline.add_point(0.7, lift_height, 0);
+  lift_spline.add_point(0.5 - parameters.walk_foot_rise_ratio / 2, parameters.walk_foot_height, 0);
+  lift_spline.add_point(0.5 + parameters.walk_foot_rise_ratio / 2, parameters.walk_foot_height, 0);
   lift_spline.add_point(1, 0, 0);
 
   robot.reset();
@@ -34,8 +35,8 @@ void DummyWalk::reset(bool support_left_)
 
   support_left = support_left_;
 
-  T_world_left = translation(0, feet_spacing / 2, 0);
-  T_world_right = translation(0, -feet_spacing / 2, 0);
+  T_world_left = translation(0, parameters.feet_spacing / 2, 0);
+  T_world_right = translation(0, -parameters.feet_spacing / 2, 0);
 
   compute_next_support(0.0, 0.0, 0.0);
   update(0.0);
@@ -74,8 +75,8 @@ void DummyWalk::update(double t)
 
   Eigen::Affine3d T_world_mid = placo::tools::interpolate_frames(tools::flatten_on_floor(T_world_left_),
                                                                  tools::flatten_on_floor(T_world_right_), 0.5);
-  Eigen::Affine3d T_world_trunk = T_world_mid * translation(trunk_x_offset, 0, trunk_height) *
-                                  Eigen::AngleAxisd(trunk_pitch, Eigen::Vector3d::UnitY());
+  Eigen::Affine3d T_world_trunk = T_world_mid * translation(trunk_x_offset, 0, parameters.walk_com_height) *
+                                  Eigen::AngleAxisd(parameters.walk_trunk_pitch, Eigen::Vector3d::UnitY());
 
   left_foot_task.set_T_world_frame(T_world_left_);
   right_foot_task.set_T_world_frame(T_world_right_);
@@ -110,9 +111,11 @@ void DummyWalk::compute_next_support(double dx_, double dy_, double dtheta_)
   dy = dy_;
   dtheta = dtheta_;
 
-  double spacing = support_left ? -feet_spacing : feet_spacing;
-  T_world_next = support_left ? T_world_left : T_world_right;
-  T_world_next = T_world_next * translation(dx, spacing + dy, 0) * Eigen::AngleAxisd(dtheta, Eigen::Vector3d::UnitZ());
+  footsteps_planner.configure(dx, dy, dtheta, 2);
+  std::vector<FootstepsPlanner::Footstep> footsteps = footsteps_planner.plan(
+      support_left ? HumanoidRobot::Side::Right : HumanoidRobot::Side::Left, T_world_left, T_world_right);
+
+  T_world_next = footsteps[2].frame;
 }
 
 Eigen::Affine3d DummyWalk::translation(double x, double y, double z) const

{placo-0.9.9 → placo-0.9.11}/src/placo/humanoid/dummy_walk.h

@@ -3,13 +3,15 @@
 #include <Eigen/Dense>
 #include "placo/kinematics/kinematics_solver.h"
 #include "placo/tools/cubic_spline.h"
+#include "placo/humanoid/humanoid_parameters.h"
+#include "placo/humanoid/footsteps_planner_repetitive.h"
 
 namespace placo::humanoid
 {
 class DummyWalk
 {
 public:
-  DummyWalk(model::RobotWrapper& robot);
+  DummyWalk(model::RobotWrapper& robot, humanoid::HumanoidParameters& parameters);
 
   /**
    * @brief Reset the robot with a given support
@@ -43,35 +45,20 @@ public:
   model::RobotWrapper& robot;
 
   /**
-   * @brief Kinematics solver
-   */
-  kinematics::KinematicsSolver solver;
-
-  /**
-   * @brief Feet spacing [m]
-   */
-  double feet_spacing = 0.12;
-
-  /**
-   * @brief Trunk height [m]
+   * @brief Humanoid parameters
    */
-  double trunk_height = 0.4;
+  humanoid::HumanoidParameters& parameters;
 
   /**
-   * @brief Trunk pitch angle [rad]
+   * @brief Kinematics solver
    */
-  double trunk_pitch = 0.0;
+  kinematics::KinematicsSolver solver;
 
   /**
    * @brief Trunk x-offset [m]
    */
   double trunk_x_offset = 0.05;
 
-  /**
-   * @brief Lift height [m]
-   */
-  double lift_height = 0.04;
-
   /**
    * @brief Whether the current support is left or right
    */
@@ -121,6 +108,11 @@ protected:
   void compute_next_support(double dx, double dy, double dtheta);
   Eigen::Affine3d translation(double x, double y, double z) const;
 
+  /**
+   * @brief Internal footsteps planner
+   */
+  humanoid::FootstepsPlannerRepetitive footsteps_planner;
+
   /**
    * @brief Solve the internal kinematics problem
    */