pr2-ikfast 0.0.1__tar.gz → 0.0.2__tar.gz

{pr2_ikfast-0.0.1 → pr2_ikfast-0.0.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pr2_ikfast
-Version: 0.0.1
+Version: 0.0.2
 Summary: Python bindings for the PR2 IKFast library
 Requires-Python: >=3.8
 Requires-Dist: numpy

{pr2_ikfast-0.0.1 → pr2_ikfast-0.0.2}/README.md

@@ -3,7 +3,7 @@ cpp codes are fetched from https://github.com/caelan/pybullet-planning (MIT Lice
 
 ## Installation
 ```bash
-pip install .
+pip install pr2-ikfast
 ```
 
 ## Usage

{pr2_ikfast-0.0.1 → pr2_ikfast-0.0.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "pr2_ikfast"
-version = "0.0.1"
+version = "0.0.2"
 description = "Python bindings for the PR2 IKFast library"
 requires-python = ">=3.8"
 dependencies = ["numpy"]

{pr2_ikfast-0.0.1 → pr2_ikfast-0.0.2}/src/pr2_ikfast/__init__.py

@@ -20,10 +20,10 @@ def solve_right_ik(trans: List[float], rot: List[float], free_vals: List[float])
 
 
 @dataclass
-class UnoformSampler:
+class UniformSampler:
     n_size: int = 72
-    lb: float = 0.5 * -np.pi
-    ub: float = 0.5 * np.pi
+    lb: float = -np.pi
+    ub: float = np.pi
 
     def __call__(self) -> np.ndarray:
         return np.random.uniform(self.lb, self.ub, size=(self.n_size,))
@@ -40,13 +40,18 @@ def solve_ik(
     predicate: Optional[Callable[[np.ndarray], bool]] = None,
     ) -> Optional[np.ndarray]:
 
+    # use -0.051, because original cpp code is compiled wrt baes_footprint
+    trans_modif = [trans[0], trans[1], trans[2] - 0.051]
+
     if sampler is None:
-        sampler = UnoformSampler()
+        sampler = UniformSampler()
     fn = solve_right_ik if is_rarm else solve_left_ik
     upper_arm_roll_joint_vals = sampler()
     for val2 in upper_arm_roll_joint_vals:
         free_vals = [torso_value, val2]
-        retall = fn(trans, rot, free_vals)
+        retall = fn(trans_modif, rot, free_vals)
+        if retall is None:
+            continue
         if lb is not None and ub is not None:
             for ret in retall:
                 if np.all(ret[1:] >= lb) and np.all(ret[1:] <= ub):

{pr2_ikfast-0.0.1 → pr2_ikfast-0.0.2}/src/pr2_ikfast.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pr2_ikfast
-Version: 0.0.1
+Version: 0.0.2
 Summary: Python bindings for the PR2 IKFast library
 Requires-Python: >=3.8
 Requires-Dist: numpy