robotic 0.2.7__cp312-cp312-manylinux2014_x86_64.whl → 0.2.8.dev0__cp312-cp312-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -3,7 +3,7 @@ rai data generators
 """
 from __future__ import annotations
 import _robotic
-__all__ = ['RndStableConfigs', 'ShapenetGrasps']
+__all__ = ['RndStableConfigs', 'ShapenetGrasps', 'sampleGraspCandidate']
 class RndStableConfigs:
     """
     A generator of random stable configurations
@@ -76,3 +76,7 @@ class ShapenetGrasps:
         """
         set options
         """
+def sampleGraspCandidate(C: _robotic.Config, ptsFrame: str, refFrame: str, pregraspNormalSdv: float = 0.2, verbose: int = 1) -> arr:
+    """
+    sample random grasp candidates on an object represented as points
+    """

robotic/_robotic.pyi

@@ -263,6 +263,10 @@ class Config:
         """
         add a new frame to C; optionally make this a child to the given parent; use the Frame methods to set properties of the new frame
         """
+    def addH5Object(self, framename: str, filename: str, verbose: int = 0) -> Frame:
+        """
+        add the contents of the file to C
+        """
     def animate(self) -> None:
         """
         displays while articulating all dofs in a row
@@ -452,6 +456,14 @@ class ConfigurationViewer:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
+    def savePng(self, saveVideoPath: str = 'z.vid/', count: int = -1) -> None:
+        """
+        save enumerated pngs in a path - for video making
+        """
+    def visualsOnly(self, _visualsOnly: bool = True) -> None:
+        """
+        display only visuals (no markers/transparent/text)
+        """
 class ControlMode:
     """
     Members:
@@ -778,13 +790,17 @@ class Frame:
         """
         attach a point cloud shape
         """
-    def setPose(self, arg0: str) -> None:
+    def setPose(self, arg0: arr) -> None:
+        ...
+    def setPoseByText(self, arg0: str) -> None:
         ...
     def setPosition(self, arg0: arr) -> Frame:
         ...
     def setQuaternion(self, arg0: arr) -> Frame:
         ...
-    def setRelativePose(self, arg0: str) -> None:
+    def setRelativePose(self, arg0: arr) -> None:
+        ...
+    def setRelativePoseByText(self, arg0: str) -> None:
         ...
     def setRelativePosition(self, arg0: arr) -> Frame:
         ...

robotic/include/rai/DataGen/shapenetGrasps.h

@@ -43,3 +43,5 @@ private:
   void addSceneGripper();
   bool addSceneObject(const char* file, int idx, bool rndPose=true, bool visual=false);
 };
+
+arr sampleGraspCandidate(rai::Configuration& C, const char *ptsFrame, const char* refFrame, double pregraspNormalSdv=.2, int verbose=1);

robotic/manipulation.py

@@ -388,13 +388,15 @@ class KOMO_ManipulationHelper():
     #     cout <<'  == scroll through solution in display window using SHIFT-scroll' <<endl
         self.komo.view(True, f'debug: {info}\n{self.ret}')
 
-    def play(self, C: ry.Config, duration=1.):
+    def play(self, C: ry.Config, duration=1., savePngs=False):
         dofs = C.getJointIDs()
         path = self.komo.getPath(dofs)
         for t in range(self.path.shape[0]):
             C.setJointState(path[t])
             C.view(False, f'step {t}\n{self.info}')
             time.sleep(duration/self.path.shape[0])
+            if savePngs:
+                C.get_viewer().savePng()
 
     def sub_motion(self, phase, fixEnd=True, homing_scale=1e-2, acceleration_scale=1e-1, accumulated_collisions=True, quaternion_norms=False):
         (C, q0, q1) = self.komo.getSubProblem(phase)

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.7'
+__version__ = '0.2.8.dev0'

{robotic-0.2.7.dist-info → robotic-0.2.8.dev0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.7
+Version: 0.2.8.dev0
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.7.dist-info → robotic-0.2.8.dev0.dist-info}/RECORD

@@ -1,9 +1,9 @@
-robotic/DataGen.pyi,sha256=2IncN1yBCB_YgCzBoL8MoonOlMMMxENny_hqbJNmlTw,3051
+robotic/DataGen.pyi,sha256=RnCd33h0g0RGAHe2OwmkIxJrs9c-aQl6-9IxRRgQqms,3294
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-robotic/_robotic.pyi,sha256=1y2Z5sHqRAcKFtH9cAN7OH6iHZeeF8VSvskQEy31rzg,70731
-robotic/_robotic.so,sha256=qMFNLmCPHlSFatYCgAF2ruopLmia5SmdKapx1D8O8fw,1177312
-robotic/librai.so,sha256=TmuLoBZ0kkhWNS-sNbVVp2MmZ71JuMX5PQadyWxOy3E,40126344
-robotic/manipulation.py,sha256=UgH3Fy2FjuCL3ip0s1q--JzqlBLU74eRiOWMOnCM-Ys,22355
+robotic/_robotic.pyi,sha256=MziTcOdR7VbPqcsI4p7ot-nEijdOIkKd8nkywoquYjk,71316
+robotic/_robotic.so,sha256=NlPigqoYVLjj8f0i-cDP-BceOINxRNag8NeVZjxnWm0,1189600
+robotic/librai.so,sha256=aWvvQqbM7qwBA2M_dH4276T-JueUMdT4WQQeHMC1qGI,40126344
+robotic/manipulation.py,sha256=vdjmj-wXm278xZnFzpxk4Qqk0CMsdPJ0wkwQgU-MRxY,22437
 robotic/meshTool,sha256=2SpKcToxKHD8M6me_GRWu9vi1G4jauEOZSgZWWwisug,43928
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -16,7 +16,7 @@ robotic/ry-urdf2rai,sha256=88CFu5ikKsjy4wQixvCZqtNOqCheBiT18cjZfOsJA8A,7736
 robotic/ry-urdf2yaml,sha256=D36MR8Ui6Ry9V0TqJOBaPCWC89OZa43Fytz4P7Y4v0w,8543
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=e3cfQy_iVs9ILsymUalJnJu5D_dd7HuUVoVwKKurcL0,22
+robotic/version.py,sha256=3EUIyFRw8VHlP7yCEv2I7yl7ZnfmBAdVRaYG6DNQS4M,27
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
@@ -59,7 +59,7 @@ robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73Zw
 robotic/include/rai/Core/lapack/clapack.h,sha256=8rLteHzzGpKhJZXv4Eom9mk8lzbwRwjJuIqJuR1eePc,343373
 robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8zBgFUJB1phuwM,1045408
 robotic/include/rai/DataGen/rndStableConfigs.h,sha256=bIz2RovkruMjYaaDwJIkyevsF6oV16y7dhyKm6sp_6s,391
-robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NXOnjUhE-KpCHDQq7BFvwYgq8QYdQ2imtZ-kanypoPA,1411
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=ZPAC97sdGez4tKiJwoqQ4FvOMtUpVp_NQepzsYccjfg,1549
 robotic/include/rai/Geo/assimpInterface.h,sha256=bTLjLN7_6unykJ-erIxyyb2RZtmcFxkygUws8N5MlNI,1039
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=iNdxNc_DSOgYCLyCajxP8lxdnrNcyoKQmjUlVmjxjQM,940
@@ -396,15 +396,15 @@ robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/UpperArm.ply,sha2
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist1.ply,sha256=Qmlgt3g046pi8GPzlUBKbDcR-4JehZkXfSRNabe_RVI,282487
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist2.ply,sha256=br9zVxfiGNlEMAuVm36e2dJ0chDKpVMe3H1MCh-318E,784726
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist3.ply,sha256=el2jO6EOzwgz3ybkKjz9XcjCIQJWCpOCgTA7DSFHz6U,25593
-robotic-0.2.7.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.2.7.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.2.7.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.2.7.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
-robotic-0.2.7.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.7.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
-robotic-0.2.7.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.2.7.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.2.7.dist-info/METADATA,sha256=sJOsa-sTnum4Wl0vHproqYztL1KP6qMMCAnkCwXdIcw,6689
-robotic-0.2.7.dist-info/WHEEL,sha256=aDUArjEbIuDQzblE24IvdIsBzRhJEjiXmuNUYQ-gpaA,104
-robotic-0.2.7.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.7.dist-info/RECORD,,
+robotic-0.2.8.dev0.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.2.8.dev0.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.2.8.dev0.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.2.8.dev0.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
+robotic-0.2.8.dev0.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
+robotic-0.2.8.dev0.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
+robotic-0.2.8.dev0.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.2.8.dev0.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.2.8.dev0.dist-info/METADATA,sha256=jAN0kHZDUDCtdGtLV_USBqRb3Amcx52ftSAKaciw560,6694
+robotic-0.2.8.dev0.dist-info/WHEEL,sha256=aDUArjEbIuDQzblE24IvdIsBzRhJEjiXmuNUYQ-gpaA,104
+robotic-0.2.8.dev0.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.2.8.dev0.dist-info/RECORD,,