robotic 0.2.7__cp38-cp38-manylinux2014_x86_64.whl → 0.2.8.dev1__cp38-cp38-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
@@ -68,7 +68,7 @@ class ShapenetGrasps:
         """
         (direct interface) set (relative) pose of grasp candidate
         """
-    def setOptions(self, verbose: int = 1, filesPrefix: ... = 'shapenet/models/', numShapes: int = -1, startShape: int = 0, simVerbose: int = 0, optVerbose: int = 0, simTau: float = 0.01, gripperCloseSpeed: float = 0.001, moveSpeed: float = 0.005, pregraspNormalSdv: float = 0.2) -> ShapenetGrasps:
+    def setOptions(self, verbose: int = 1, filesPrefix: ... = 'shapenet/models/', endShape: int = -1, startShape: int = 0, simVerbose: int = 0, optVerbose: int = 0, simTau: float = 0.01, gripperCloseSpeed: float = 0.001, moveSpeed: float = 0.005, pregraspNormalSdv: float = 0.2) -> ShapenetGrasps:
         """
         set options
         """
@@ -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

@@ -6,7 +6,7 @@ import numpy
 import typing
 from . import DataGen
 from . import test
-__all__ = ['Actions2KOMO_Translator', 'ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_Tool', 'NLP', 'NLP_Factory', 'NLP_Sampler', 'NLP_Solver', 'NLP_SolverID', 'NLP_SolverOptions', 'OT', 'OptBench_Skeleton_Handover', 'OptBench_Skeleton_Pick', 'OptBench_Skeleton_StackAndBalance', 'OptBenchmark_InvKin_Endeff', 'RRT_PathFinder', 'ST', 'SY', 'Simulation', 'SimulationEngine', 'Skeleton', 'SolverReturn', 'TAMP_Provider', 'compiled', 'default_Actions2KOMO_Translator', 'default_TAMP_Provider', 'depthImage2PointCloud', 'params_add', 'params_clear', 'params_file', 'params_print', 'raiPath', 'setRaiPath', 'test']
+__all__ = ['Actions2KOMO_Translator', 'ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_Tool', 'NLP', 'NLP_Factory', 'NLP_Sampler', 'NLP_Solver', 'NLP_SolverID', 'NLP_SolverOptions', 'OT', 'OptBench_Skeleton_Handover', 'OptBench_Skeleton_Pick', 'OptBench_Skeleton_StackAndBalance', 'OptBenchmark_InvKin_Endeff', 'Quaternion', 'RRT_PathFinder', 'ST', 'SY', 'Simulation', 'SimulationEngine', 'Skeleton', 'SolverReturn', 'TAMP_Provider', 'compiled', 'default_Actions2KOMO_Translator', 'default_TAMP_Provider', 'depthImage2PointCloud', 'params_add', 'params_clear', 'params_file', 'params_print', 'raiPath', 'setRaiPath', 'test']
 class Actions2KOMO_Translator:
     """
     Actions2KOMO_Translator
@@ -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
@@ -295,9 +299,9 @@ class Config:
         """
         evaluate a feature -- see https://marctoussaint.github.io/robotics-course/tutorials/features.html
         """
-    def frame(self, frameName: str, warnIfNotExist: bool = True) -> Frame:
+    def frame(self, frameID: int) -> Frame:
         """
-        get access to a frame by name; use the Frame methods to set/get frame properties
+        get access to a frame by index (< getFrameDimension)
         """
     def getCollidablePairs(self) -> StringA:
         """
@@ -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:
@@ -772,19 +784,27 @@ class Frame:
         """
     def setMeshAsLines(self, arg0: list[float]) -> None:
         ...
+    def setMeshFile(self, filename: ...) -> Frame:
+        """
+        attach a mesh shape from a file
+        """
     def setParent(self, parent: Frame, keepAbsolutePose_and_adaptRelativePose: bool = False, checkForLoop: bool = False) -> Frame:
         ...
     def setPointCloud(self, points: arr, colors: ... = ..., normals: arr = ...) -> 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:
         ...
@@ -798,7 +818,7 @@ class Frame:
         ...
     def setTensorShape(self, data: ..., size: arr) -> Frame:
         ...
-    def transformToDiagInertia(self) -> ...:
+    def transformToDiagInertia(self, arg0: bool) -> ...:
         ...
     def unLink(self) -> Frame:
         ...
@@ -934,7 +954,7 @@ class KOMO:
         * order: Do we penalize the jointState directly (order=0: penalizing sqr distance to qHome, order=1: penalizing sqr distances between consecutive configurations (velocities), order=2: penalizing accelerations across 3 configurations)
         * scale: as usual, but modulated by a factor 'sqrt(delta t)' that somehow ensures total control costs in approximately independent of the choice of stepsPerPhase
         """
-    def addFrameDof(self, name: str, parent: str, jointType: JT, stable: bool, initName: str = None, initFrame: Frame = None) -> Frame:
+    def addFrameDof(self, name: str, parent: str, jointType: JT, stable: bool, originFrameName: str = None, originFrame: Frame = None) -> Frame:
         """
         complicated...
         """
@@ -1421,6 +1441,62 @@ class OptBenchmark_InvKin_Endeff:
         ...
     def get(self) -> NLP:
         ...
+class Quaternion:
+    """
+    """
+    @staticmethod
+    def _pybind11_conduit_v1_(*args, **kwargs):
+        ...
+    def __init__(self) -> None:
+        """
+        non-initialized
+        """
+    def append(self, q: Quaternion) -> None:
+        ...
+    def applyOnPointArray(self, pts: arr) -> None:
+        ...
+    def flipSign(self) -> None:
+        ...
+    def getArr(self) -> arr:
+        ...
+    def getJacobian(self) -> arr:
+        ...
+    def getLog(self) -> Vector:
+        ...
+    def getMatrix(self) -> arr:
+        ...
+    def getRad(self) -> float:
+        ...
+    def getRollPitchYaw(self) -> arr:
+        ...
+    def invert(self) -> None:
+        ...
+    def multiply(self, f: float) -> None:
+        ...
+    def normalize(self) -> None:
+        ...
+    def set(self, q: arr) -> Quaternion:
+        ...
+    def setDiff(self, from: Vector, to: Vector) -> Quaternion:
+        ...
+    def setExp(self, vector_w: Vector) -> Quaternion:
+        ...
+    def setInterpolateEmbedded(self, t: float, from: Quaternion, to: Quaternion) -> Quaternion:
+        ...
+    def setInterpolateProper(self, t: float, from: Quaternion, to: Quaternion) -> Quaternion:
+        ...
+    def setMatrix(self, R: arr) -> Quaternion:
+        ...
+    def setRad(self, radians: float, axis: Vector) -> Quaternion:
+        ...
+    def setRandom(self) -> Quaternion:
+        ...
+    def setRollPitchYaw(self, roll_pitch_yaw: Vector) -> Quaternion:
+        ...
+    def setZero(self) -> Quaternion:
+        ...
+    def sqrNorm(self) -> float:
+        ...
 class RRT_PathFinder:
     """
     todo doc

robotic/include/rai/Core/h5.h

@@ -13,6 +13,8 @@
 
 namespace H5 { class H5File; }
 
+namespace rai {
+
 //===========================================================================
 
 struct H5_Writer {
@@ -37,3 +39,4 @@ struct H5_Reader {
   bool exists(const char* name);
 };
 
+} //namespace

robotic/include/rai/Core/util.h

@@ -187,6 +187,7 @@ struct String : public std::iostream {
   void prepend(const String& s);
   void replace(uint i, uint n, const char* xp, uint xN);
   void removePrefix(const char* prefix);
+  void removePostfix(const char* postfix);
 
   String& setRandom();
 
@@ -218,6 +219,7 @@ struct String : public std::iostream {
 stdPipes(String)
 
 inline String operator+(const String& a, const char* b) { String s=a; s <<b; return s; }
+  //template<class T> String operator+(const String& a, const T& b) { String s=a; s <<b; return s; }
 
 } //namespace
 

robotic/include/rai/DataGen/shapenetGrasps.h

@@ -7,8 +7,8 @@
 struct ShapenetGrasps_Options {
   RAI_PARAM("ShapenetGrasps/", int, verbose, 1)
   RAI_PARAM("ShapenetGrasps/", rai::String, filesPrefix, "shapenet/models/")
-  RAI_PARAM("ShapenetGrasps/", int, numShapes, -1)
-  RAI_PARAM("ShapenetGrasps/", int, startShape, 0)
+  RAI_PARAM("ShapenetGrasps/", int, startShape, 3)
+  RAI_PARAM("ShapenetGrasps/", int, endShape, 5)
   RAI_PARAM("ShapenetGrasps/", int, simVerbose, 0)
   RAI_PARAM("ShapenetGrasps/", int, optVerbose, 0)
   RAI_PARAM("ShapenetGrasps/", double, simTau, .01)
@@ -29,7 +29,8 @@ struct ShapenetGrasps{
   void displaySamples(const arr& X, const uintA& shapes, const arr& Scores={});
 
   //-- direct interfaces
-  bool loadObject(uint shape, bool rndPose=true);
+  bool loadObject(uint shape, bool rndOrientation=true);
+  void resetObjectPose(int idx=0, bool rndOrientation=true);
   arr getPointCloud();
   arr sampleGraspPose();
   void setGraspPose(const arr& pose, const char* objPts="objPts0");
@@ -37,9 +38,11 @@ struct ShapenetGrasps{
 
 
   rai::Configuration C;
-private:
   StringA files;
+
+private:
   void clearScene();
-  void addSceneGripper();
-  bool addSceneObject(const char* file, int idx, bool rndPose=true, bool visual=false);
+  bool addSceneObject(const char* file, int idx, bool rndOri=true, bool visual=false);
 };
+
+arr sampleGraspCandidate(rai::Configuration& C, const char *ptsFrame, const char* refFrame, double pregraspNormalSdv=.2, int verbose=1);

robotic/include/rai/Geo/assimpInterface.h

@@ -19,7 +19,7 @@ struct AssimpLoader {
   std::string directory;
   int verbose=0;
 
-  AssimpLoader(std::string const& path, bool flipYZ=true, bool relativeMeshPoses=false);
+  AssimpLoader(const std::string& path, bool flipYZ=true, bool relativeMeshPoses=false, int _verbose=0);
   AssimpLoader(const struct aiScene* scene);
 
   rai::Mesh getSingleMesh();

robotic/include/rai/Geo/geo.h

@@ -111,27 +111,26 @@ struct Quaternion {
   double* p() { return &w; }
 
   double& operator()(uint i) { CHECK(i<4, "out of range"); return (&w)[i]; }
-  void set(double w, double x, double y, double z);
-  void set(const arr& q);
-  void set(const std::vector<double>& x) { CHECK_EQ(x.size(), 4, "");  set(x.data()); }
-  void set(const double* p);
-  void setZero();
-  void setRandom();
-  void setExp(const Vector& w);
-  void setDeg(double degree, double axis0, double axis1, double axis2);
-  void setDeg(double degree, const Vector& axis);
-  void setRad(double radians, double axis0, double axis1, double axis2);
-  void setRad(double radians, const Vector& axis);
-  void setRadX(double radians);
-  void setRadY(double radians);
-  void setRadZ(double radians);
-  void setRollPitchYaw(double roll, double pitch, double yaw);
-  void setVector(const Vector& w){ setExp(w); }
-  void setMatrix(double* m);
-  void setMatrix(const arr& R) { CHECK_EQ(R.N, 9, ""); setMatrix(R.p); }
-  void setDiff(const Vector& from, const Vector& to);
-  void setInterpolateEmbedded(double t, const Quaternion& from, const Quaternion to);
-  void setInterpolateProper(double t, const Quaternion& from, const Quaternion to);
+  Quaternion& set(double w, double x, double y, double z);
+  Quaternion& set(const arr& q);
+  Quaternion& set(const std::vector<double>& x) { CHECK_EQ(x.size(), 4, "");  return set(x.data()); }
+  Quaternion& set(const double* p);
+  Quaternion& setZero();
+  Quaternion& setRandom();
+  Quaternion& setExp(const Vector& w);
+  Quaternion& setRad(double radians, double axis0, double axis1, double axis2);
+  Quaternion& setRad(double radians, const Vector& axis);
+  Quaternion& setDeg(double degree, double axis0, double axis1, double axis2){ return setRad(degree*RAI_PI/180., axis0, axis1, axis2); }
+  Quaternion& setRadX(double radians);
+  Quaternion& setRadY(double radians);
+  Quaternion& setRadZ(double radians);
+  Quaternion& setRollPitchYaw(const Vector& rpy);
+  Quaternion& setVector(const Vector& w){ return setExp(w); }
+  Quaternion& setMatrix(double* m);
+  Quaternion& setMatrix(const arr& R) { CHECK_EQ(R.N, 9, ""); return setMatrix(R.p); }
+  Quaternion& setDiff(const Vector& from, const Vector& to);
+  Quaternion& setInterpolateEmbedded(double t, const Quaternion& from, const Quaternion to);
+  Quaternion& setInterpolateProper(double t, const Quaternion& from, const Quaternion to);
   void invert();
   void flipSign();
   void uniqueSign();
@@ -150,15 +149,14 @@ struct Quaternion {
   bool isNormalized() const;
   Vector getLog() const;
   Vector getVector() const { return getLog(); }
-  double getDeg() const;
   double getRad() const;
-  void getDeg(double& degree, Vector& axis) const;
+  double getDeg() const{ return 180./RAI_PI*getRad(); }
   void getRad(double& angle, Vector& axis) const;
   Vector getX() const;
   Vector getY() const;
   Vector getZ() const;
   arr    getMatrix() const;
-  arr    getArr4d() const { return arr(&w, 4, false); }
+  arr    getArr() const { return arr(&w, 4, false); }
   double* getMatrix(double* m) const;
   double* getMatrixOde(double* m) const; //in Ode foramt: 3x4 memory storae
   double* getMatrixGL(double* m) const;  //in OpenGL format: transposed 4x4 memory storage

robotic/include/rai/Geo/mesh.h

@@ -32,10 +32,8 @@ struct Mesh {
   uintA T;              ///< triangles (faces, empty -> point cloud)
   arr   Tn;             ///< triangle normals (optional)
 
-  uintA Tt;             ///< triangle texture indices (pointing into coordinates)
-  arr tex;              ///< texture coordinates
+  arr texCoords;            ///< texture coordinates for each vertex, dimensionality (V.d0, 2)
   byteA texImg;         ///< texture image
-  int texture=-1;       ///< GL texture name created with glBindTexture
 
   uintA cvxParts;
   uintAA graph;         ///< for every vertex, the set of neighboring vertices
@@ -134,7 +132,6 @@ struct Mesh {
 
   //[preliminary]]
   void skin(uint i);
-  void deleteGlTexture();
 
   /// @name IO
   void write(std::ostream&) const; ///< only writes generic info

robotic/include/rai/Gui/RenderData.h

@@ -24,9 +24,11 @@ struct Render_Options {
 enum RenderType { _solid, _shadow, _tensor, _text, _marker, _transparent, _all };
 
 struct RenderAsset{
-  floatA vertices, colors, normals, texture;
+  floatA vertices, colors, normals;  //for 2D textures: colors are vertex-wise texture coordinates
+  byteA texture;
   GLuint vao, vertexBuffer, colorBuffer, normalBuffer, textureBuffer;
   GLenum mode=GL_TRIANGLES;
+  uint textureDim=0;
   bool initialized=false;
   bool isTransparent=false;
   int version=-1;
@@ -38,8 +40,8 @@ struct RenderAsset{
   void tensor(const floatA& vol, const arr& size={1.,1.,1.});
 
   //engine specific -> should be refactored
-  void glRender();
   void glInitialize();
+  void glRender();
 };
 
 //an asset can be drawn multiple times in a scene, with different poses -> each time it is drawn is a RenderItem
@@ -83,8 +85,8 @@ struct RenderQuad {
 
   ~RenderQuad();
   //engine specific -> should be refactored
-  void glRender();
   void glInitialize();
+  void glRender();
 };
 
 struct DistMarkers {
@@ -115,7 +117,7 @@ struct RenderData {
   struct ContextIDs{
     bool initialized=false;
     GLuint shadowFramebuffer, shadowTexture;
-    GLuint prog_ID, prog_Projection_W, prog_ModelT_WM, prog_eyePosition_W, prog_ShadowProjection_W, prog_useShadow, prog_shadowMap, prog_numLights, prog_lightDirection_W, prog_FlatColor;
+    GLuint prog_ID, prog_Projection_W, prog_ModelT_WM, prog_eyePosition_W, prog_ShadowProjection_W, prog_useShadow, prog_shadowMap, prog_numLights, prog_lightDirection_W, prog_FlatColor, prog_textureDim, prog_textureImage;
     GLuint progShadow, progShadow_ShadowProjection_W, progShadow_ModelT_WM;
     GLuint progTensor, progTensor_Projection_W, progTensor_ModelT_WM, progTensor_ModelScale, progTensor_eyePosition_W, progTensor_tensorTexture;
     GLuint progMarker, progMarker_Projection_W, progMarker_ModelT_WM;
@@ -135,7 +137,7 @@ struct RenderData {
   void setText(const char* text);
   void addQuad(const byteA& img, float x, float y, float w, float h);
 
-  RenderData& addStandardScene();
+  RenderData& addStandardScene(bool addFloor=true);
   RenderData& clear();
 
   //engine specific -> should be refactored
@@ -145,7 +147,7 @@ struct RenderData {
   void visualsOnly(bool _visualsOnly=true){ if(_visualsOnly) renderUntil=_tensor; else renderUntil=_all; }
 
 //private:
-  void renderObjects(GLuint idT_WM, const uintA& sortedObjIDs, RenderType type, GLint idFlatColor=-1, GLint idScale=-1);
+  void renderObjects(GLuint idT_WM, const uintA& sortedObjIDs, RenderType type, GLint idFlatColor=-1, GLint idScale=-1, GLint idTextureDim=-1);
 
   void report(std::ostream& os);
 };

robotic/include/rai/KOMO/komo.h

@@ -19,6 +19,7 @@ struct FclInterface;
 enum SwitchInitializationType : int;
 enum SkeletonSymbol : int;
 enum JointType : int;
+enum ForceExchangeType : int;
 }
 typedef rai::Array<ObjectiveType> ObjectiveTypeA;
 struct SolverReturn;
@@ -214,7 +215,8 @@ struct KOMO : NonCopyable {
   // internal (kind of private)
   //
 
-  rai::Frame* addFrameDof(const char* name, const char* parent, rai::JointType jointType, bool stable, const char* initName=0, rai::Frame* initFrame=0);
+  rai::Frame* addFrameDof(const char* name, const char* parent, rai::JointType jointType, bool stable, const char* originFrameName=0, rai::Frame* originFrame=0, const rai::Transformation& relOrigin=0);
+  void addForceExchangeDofs(const arr& times, const char* onto, const char* from,  rai::ForceExchangeType _type, const arr& initPoa={}, const arr& initForce={});
   void set_x(const arr& x, const uintA& selectedConfigurationsOnly= {});           ///< set the state trajectory of all configurations
 private:
   void selectJointsBySubtrees(const StringA& roots, const arr& times= {}, bool notThose=false);

robotic/include/rai/Kin/F_collisions.h

@@ -31,6 +31,16 @@ struct F_PairCollision : Feature {
   virtual uint dim_phi(const FrameL& F);
 };
 
+//===========================================================================
+
+struct F_PairNormalAlign : Feature {
+  double dir = 1.;
+  F_PairNormalAlign(double _dir=1.){ dir=_dir; }
+  virtual arr phi(const FrameL& F);
+  virtual uint dim_phi(const FrameL& F){ return 3; }
+};
+
+
 //===========================================================================
 
 struct F_PairFunctional : Feature {

robotic/include/rai/Kin/F_forces.h

@@ -91,6 +91,20 @@ struct F_Energy : Feature {
 //===========================================================================
 // force geometry, complementarity, velocities
 
+struct F_fex_POAAtFrame : Feature {
+  arr phi(const FrameL& F);
+  uint dim_phi(const FrameL& F) { return 3; }
+};
+
+struct F_fex_ForceInFrameCone : Feature {
+  double mu;
+  F_fex_ForceInFrameCone(double _mu=.5) : mu(_mu) {}
+  arr phi(const FrameL& F);
+  uint dim_phi(const FrameL& F) { return 1; }
+};
+
+//===========================================================================
+
 struct F_fex_ForceIsNormal : Feature {
   arr phi(const FrameL& F);
   uint dim_phi(const FrameL& F) { return 3; }

robotic/include/rai/Kin/F_pose.h

@@ -22,6 +22,8 @@ struct F_Zeros : Feature {
 //===========================================================================
 
 struct F_Position : Feature {
+  rai::Vector relPos;
+  F_Position(const rai::Vector& _relPos=0) : relPos(_relPos) {}
   virtual arr phi(const FrameL& F);
   virtual uint dim_phi(const FrameL& F) { return 3; }
 };

robotic/include/rai/Kin/dof_direction.h

@@ -24,7 +24,7 @@ struct DirectionDof : Dof, NonCopyable {
   virtual void setDofs(const arr& q_full, uint qIndex=0);
   virtual arr calcDofsFromConfig() const;
   void read(const Graph& ats);
-  void write(Graph& ats);
+  void write(Graph& ats) const;
 
   void kinVec(arr& y, arr& J) const;
 

robotic/include/rai/Kin/dof_forceExchange.h

@@ -17,7 +17,7 @@ struct PairCollision;
 
 //===========================================================================
 
-enum ForceExchangeType { FXT_none=-1, FXT_poa=0, FXT_torque=1, FXT_force, FXT_forceZ, FXT_poaOnly };
+enum ForceExchangeType : int { FXT_none=-1, FXT_poa=0, FXT_torque=1, FXT_force, FXT_forceZ, FXT_poaOnly };
 
 ///Description of a ForceExchange
 struct ForceExchangeDof : Dof, NonCopyable {

robotic/include/rai/Kin/dof_path.h

@@ -28,6 +28,5 @@ struct PathDof : Dof, NonCopyable {
 
   void getJacobians(arr& Jpos, arr& Jang) const;
 };
-stdOutPipe(PathDof)
 
 }

robotic/include/rai/Kin/frame.h

@@ -145,14 +145,14 @@ struct Frame : NonCopyable {
   void prefixSubtree(const char* prefix);
 
   //composed object manipulation
-  Transformation transformToDiagInertia();
+  Transformation transformToDiagInertia(bool transformOwnMesh=false);
   Frame& computeCompoundInertia(bool clearChildInertias=true);
   Frame& convertDecomposedShapeToChildFrames();
 
   //I/O
   void read(const Graph& ats);
-  void write(Graph& G);
-  void write(std::ostream& os) const;
+  void write(Graph& G) const;
+  void write(std::ostream& os) const { Graph G; write(G); G.write(os); }
 
   //-- HIGHER LEVEL USER INTERFACE
   Frame& setShape(rai::ShapeType shape, const arr& size);
@@ -166,6 +166,7 @@ struct Frame : NonCopyable {
   Frame& setRelativeRotationMatrix(const arr& R);
   Frame& setMesh2(const rai::Mesh& m);
   Frame& setMesh(const arr& verts, const uintA& tris, const byteA& colors={}, const uintA& cvxParts={});
+  Frame& setMeshFile(str file);
   Frame& setLines(const arr& verts, const byteA& colors={});
   Frame& setPointCloud(const arr& points, const byteA& colors= {}, const arr& normals= {});
   Frame& setConvexMesh(const arr& points, const byteA& colors= {}, double radius=0.);
@@ -184,11 +185,11 @@ struct Frame : NonCopyable {
 
   arr getPose() { return ensure_X().getArr7d(); }
   arr getPosition() { return ensure_X().pos.getArr(); }
-  arr getQuaternion() { return ensure_X().rot.getArr4d(); }
+  arr getQuaternion() { return ensure_X().rot.getArr(); }
   arr getTransform() { return ensure_X().getMatrix(); }
   arr getRelativePose() const { return get_Q().getArr7d(); }
   arr getRelativePosition() const { return get_Q().pos.getArr(); }
-  arr getRelativeQuaternion() const { return get_Q().rot.getArr4d(); }
+  arr getRelativeQuaternion() const { return get_Q().rot.getArr(); }
   arr getRelativeTransform() { return get_Q().getMatrix(); }
   arr getSize() const ;
   ShapeType getShapeType() const;
@@ -233,7 +234,7 @@ struct Dof {
   arr getDofState();
   virtual String name() const = 0;
 
-  void copyParameters(Dof* copy) {
+  void copyParameters(const Dof* copy) {
     qIndex=copy->qIndex; dim=copy->dim;
     limits=copy->limits; q0=copy->q0;
     active=copy->active;
@@ -246,9 +247,8 @@ struct Dof {
   const Joint* joint() const;
   const ForceExchangeDof* fex() const;
 
-  virtual void write(std::ostream& os) const;
+  virtual void write(Graph& ats) const;
 };
-stdOutPipe(Dof)
 
 //===========================================================================
 
@@ -294,10 +294,8 @@ struct Joint : Dof, NonCopyable {
   void flip();
 
   void read(const Graph& ats);
-  void write(Graph& g);
-  void write(std::ostream& os) const;
+  void write(Graph& ats) const;
 };
-stdOutPipe(Joint)
 
 //===========================================================================
 
@@ -315,6 +313,7 @@ struct Inertia : NonCopyable {
   void setZero() { mass=0; com=0; matrix=0; }
   void add(const Inertia& I, const rai::Transformation& rel);
   void defaultInertiaByShape();
+  void scaleTo(double _mass){ matrix*=_mass/mass; mass=_mass; }
 
   rai::Transformation getDiagTransform(arr& diag);
 

robotic/include/rai/ry/py-Quaternion.h

@@ -0,0 +1,17 @@
+/*  ------------------------------------------------------------------
+    Copyright (c) 2011-2024 Marc Toussaint
+    email: toussaint@tu-berlin.de
+
+    This code is distributed under the MIT License.
+    Please see <root-path>/LICENSE for details.
+    --------------------------------------------------------------  */
+
+#pragma once
+
+#ifdef RAI_PYBIND
+
+#include <pybind11/pybind11.h>
+
+void init_Quaternion(pybind11::module& m);
+
+#endif

robotic/include/rai/ry/types.h

@@ -12,6 +12,7 @@
 
 #include "../Core/array.h"
 #include "../Core/graph.h"
+#include "../Geo/geo.h"
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
@@ -90,6 +91,17 @@ template<class T> rai::Array<T> arr2list(const rai::Array<T>& X) {
   return Y;
 }
 
+template<class T> rai::Vector numpy2Vector(const pybind11::array_t<T>& X) {
+  CHECK_EQ(X.ndim(), 1, "");
+  CHECK_EQ(X.shape()[0], 3, "");
+  auto ref = X.unchecked();
+  return rai::Vector(ref(0), ref(1), ref(2));
+}
+
+inline pybind11::array_t<double> Vector2numpy(const rai::Vector v) {
+  return pybind11::array_t<double>({3}, &v.x);
+}
+
 inline StringA strvec2StringA(const std::vector<std::string>& x) {
   StringA y(x.size());
   for(uint i=0; i<y.N; i++) y(i) = x[i];
@@ -269,6 +281,23 @@ template <class T> struct type_caster<rai::Array<T>> {
   }
 };
 
+//== Vector -- numpy
+template <> struct type_caster<rai::Vector> {
+  PYBIND11_TYPE_CASTER(rai::Vector, _("Vector"));
+
+  bool load(pybind11::handle src, bool) {
+    auto buf = pybind11::array_t<double>::ensure(src);
+    if(!buf) return false;
+    value = numpy2Vector<double>(buf);
+    return !PyErr_Occurred();
+  }
+
+  static handle cast(const rai::Vector& src, return_value_policy, handle) {
+    pybind11::array_t<double> ret = Vector2numpy(src);
+    return ret.release();
+  }
+};
+
 //== rai::Graph -- pybind11::dict
 template <> struct type_caster<rai::Graph> {
   PYBIND11_TYPE_CASTER(rai::Graph, _("rai::Graph"));

robotic/manipulation.py

@@ -268,11 +268,8 @@ class KOMO_ManipulationHelper():
         '''
         inequality on distance between pairs of objects
         '''
-        while len(objs) > 1:
-            comp = objs[0]
-            del objs[0]
-            for obj in objs:
-                self.komo.addObjective(time_interval, ry.FS.negDistance, [comp, obj], ry.OT.ineq, [scale], [-margin])
+        for i in range(0, len(objs), 2):
+            self.komo.addObjective(time_interval, ry.FS.negDistance, [objs[i], objs[i+1]], ry.OT.ineq, [scale], [-margin])
 
     def freeze_joint(self, time_interval, joints):
         '''
@@ -388,13 +385,15 @@ 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/rai-robotModels/scenarios/ballFinger.g

@@ -2,4 +2,4 @@ base { X:[0 0 .5], multibody, multibody_gravity: false }
 jointX(base){ joint:transX, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .1, sampleUniform: 1. }
 jointY(jointX){ joint:transY, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .1, sampleUniform: 1. }
 jointZ(jointY){ joint:transZ, limits: [-1.,1.], motorLambda: .01, motorMass: .1, sampleUniform: 1. }
-finger(jointZ){ shape:sphere, size:[.2], color:[.5 1 1], contact:1, mass:.1 }
+finger(jointZ){ shape:sphere, size:[.2], color:[.5 1 1], contact:1, mass: .5 }

robotic/rai-robotModels/scenarios/pandaFloatingGripper.g

@@ -7,7 +7,7 @@ floatBall (floatZ){ joint:quatBall, limits:[-1 -1 -1 -1 1 1 1 1], mass:.01 }
 
 Include: <../panda/panda_gripper.g>
 
-gripper_base(floatBall): { Q:"t(0 0 .1035) d(180 1 0 0) d(-90 0 0 1)", shape: marker, size: [.1] }
+gripper_base(floatBall): { Q:"t(0 0 .1035) d(180 1 0 0) d(-90 0 0 1)", shape: marker, size: [.03] }
 Edit panda_hand(gripper_base): {}
 
 ## define a gripper, palm and fingers

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.7'
+__version__ = '0.2.8.dev1'

robotic-0.2.8.dev1.data/scripts/ry-h5info

@@ -0,0 +1,28 @@
+#!python
+
+import argparse
+import h5py
+
+parser = argparse.ArgumentParser(description='h5-file info')
+
+parser.add_argument('FILE', type=str,
+                    help='h5-file name')
+
+def print_attrs(name, obj):
+    if isinstance(obj, h5py.Dataset):
+        print('   ', name, obj.name, obj.shape, obj.dtype)
+    else:
+        print('---', name)
+
+def main():
+    args = parser.parse_args()
+
+    print('=== file', args.FILE)
+    try:
+        with h5py.File(args.FILE, 'r') as fil:
+            fil.visititems(print_attrs)
+    except KeyboardInterrupt:
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()

{robotic-0.2.7.dist-info → robotic-0.2.8.dev1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.2.7
+Version: 0.2.8.dev1
 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.dev1.dist-info}/RECORD

@@ -1,14 +1,14 @@
-robotic/DataGen.pyi,sha256=2IncN1yBCB_YgCzBoL8MoonOlMMMxENny_hqbJNmlTw,3051
+robotic/DataGen.pyi,sha256=m1e5j8laihgDWOGAFbXEc5zM_Qq87y11gzj2obgSdXY,3293
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-robotic/_robotic.pyi,sha256=1y2Z5sHqRAcKFtH9cAN7OH6iHZeeF8VSvskQEy31rzg,70731
-robotic/_robotic.so,sha256=XPVjw5XHPJilrmndm3pHMG7rJvmkLefaTAQdjA6MLlc,1164992
-robotic/librai.so,sha256=TmuLoBZ0kkhWNS-sNbVVp2MmZ71JuMX5PQadyWxOy3E,40126344
-robotic/manipulation.py,sha256=UgH3Fy2FjuCL3ip0s1q--JzqlBLU74eRiOWMOnCM-Ys,22355
-robotic/meshTool,sha256=2SpKcToxKHD8M6me_GRWu9vi1G4jauEOZSgZWWwisug,43928
+robotic/_robotic.pyi,sha256=bn_N5aB290VEAbyAC7CUyHFk1wXdfP8Hh4x_azYzrDo,72942
+robotic/_robotic.so,sha256=t1oNT9DmB9Ez9EVWVbNeLJorXpsp1SfkfxLV3tY7X9Y,1205984
+robotic/librai.so,sha256=Tvf7LwXu7WQUDYjNNlAcT3mRc-41i1dxbCPMQS5qyso,40163304
+robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
+robotic/meshTool,sha256=Dssd8R2xExwxcH_Qk7rNfcV8QNTBAYmp6ahfjjDJgY0,52168
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
-robotic/ry-h5info.py,sha256=YrkBvLAadxAgTmx0hlcm9h_KXy-KaNV_zp4raSXXdYY,620
+robotic/ry-h5info,sha256=YrkBvLAadxAgTmx0hlcm9h_KXy-KaNV_zp4raSXXdYY,620
 robotic/ry-info,sha256=GRj4oMCgTCGRF2wxtYxiFvETROB92rwwtUFb6S_Eo7g,439
 robotic/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
 robotic/ry-test,sha256=JZJ_h4NxLkkkrcV9IYdXzYHn9eEZDPFPBAzo1jIv278,976
@@ -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=rb-FgRm7ATGsW94hOY7BGKKSKdhF8udjtUpWZnvfXG4,27
 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
@@ -50,21 +50,21 @@ robotic/include/rai/Core/array.ipp,sha256=hdyULakmWOdt6Gi_-4338uzkWbrkw2_eCh-H3n
 robotic/include/rai/Core/arrayDouble.h,sha256=ACvesIGz_0UP3G-x7-LlfGzodKB7EVsGeX5z2RbMFx8,28869
 robotic/include/rai/Core/defines.h,sha256=hBTgf5EiJ50rQYW1saGw8Ox87aKVFOYVKnFw0jojVW0,6894
 robotic/include/rai/Core/graph.h,sha256=Eo0j8q8IbY_M7V2FwzKAi9E8makxgRBvrFcPfJKuCtE,20890
-robotic/include/rai/Core/h5.h,sha256=3dlhKBfrWpfZEhvhz9ceFe5ewF4LXAK4ykq-Yk4s9Ro,1026
+robotic/include/rai/Core/h5.h,sha256=FzIP0eLL7XYg5eRjJgfPIt9SwY5HBaazy4ddoCcpkSU,1057
 robotic/include/rai/Core/thread.h,sha256=wjwvXACwI8B6rhZSf2UDruWUb8kT9Xjm-VE-OnUQpwk,18248
-robotic/include/rai/Core/util.h,sha256=lISHJcHh0aZ0pifea_MKEkKJ7F4nU55_pssuUiotzDA,19370
+robotic/include/rai/Core/util.h,sha256=KhBcYsprUaZXt2BMpsOACoOcmEWLEtOG4WM9Dcooamc,19514
 robotic/include/rai/Core/util.ipp,sha256=soCVdpzWTpLL9i6rilFPNGozHZP40yhkmuXul7gHC7o,2157
 robotic/include/rai/Core/lapack/blaswrap.h,sha256=jl8W6GwBGMiU-ND9ILeKqWlIvryw7AsIydPUCQGT_ew,3750
 robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73ZwmfydSpaBdk,32367
 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/Geo/assimpInterface.h,sha256=bTLjLN7_6unykJ-erIxyyb2RZtmcFxkygUws8N5MlNI,1039
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=QWv85YMGtW_X9ldKu4eZuoRNdQeIYtVTx1XIsk3Pbvg,1589
+robotic/include/rai/Geo/assimpInterface.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg-LhMlWcjiF_o,1055
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=iNdxNc_DSOgYCLyCajxP8lxdnrNcyoKQmjUlVmjxjQM,940
-robotic/include/rai/Geo/geo.h,sha256=_Ahf2k5-2iyzhQMf_MGsqJ40L5kZFaPv-fsrWYrHWys,14545
-robotic/include/rai/Geo/mesh.h,sha256=OP7owWT7B_EUXq5Pji2qJA4W0e1xO8z17622c8nW6QQ,6575
+robotic/include/rai/Geo/geo.h,sha256=Lyoy1YbDtrscHZxza6CYXIa_R7aaFmgpHrG3rLpBqTk,14672
+robotic/include/rai/Geo/mesh.h,sha256=gq3K-_TbJbrGMVl8V-n2qB5_vDT88PmKxaxOUGgkBxY,6441
 robotic/include/rai/Geo/pairCollision.h,sha256=kFEtQpkgPV_VKJ6YBDBKdb3ko62_s7HKDUti0kB2yYI,4374
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
 robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
@@ -86,12 +86,12 @@ robotic/include/rai/Geo/ccd_rai/support.h,sha256=B9KBuOctG7Hx-e1TXpnkU667WVH7SP4
 robotic/include/rai/Geo/ccd_rai/vec3.h,sha256=ARkNnQz8yWf_Cs3vgt22zclN1cLeGmwWPTVHVpvmfEA,8115
 robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisqvOeI,9384
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
-robotic/include/rai/Gui/RenderData.h,sha256=uQWRwAAh7eN8RjGR0cVkcKGL00oRRzsy_o0-qr2GiEU,4606
+robotic/include/rai/Gui/RenderData.h,sha256=FPN7ApW8SK-MAI5wIoCU8_ezJbJogUMxfhAvK6GSAJ4,4775
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
 robotic/include/rai/Gui/opengl.h,sha256=sRvOz-QGHwgrf11UiQV4At4G2FjClveTTJorXyer1Fw,9036
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=SHyG2X0F0RVAxUlRhaYBVKzccwru9m6pQfvXuh9bEB0,13008
+robotic/include/rai/KOMO/komo.h,sha256=5TR2IVJzMkWB6oH7NCl1X5OiYtM_OERmf_UPLBaEOlQ,13249
 robotic/include/rai/KOMO/komo_NLP.h,sha256=kSzUMDmw4yzAXtpNB2v38dpw2tBS8n8R_op_T3yS3DQ,3681
 robotic/include/rai/KOMO/manipTools.h,sha256=CoIL9ElNFHAV-AU95wUtSgDWH9ceNx6WmGVTP8DZvaw,4173
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
@@ -102,20 +102,20 @@ robotic/include/rai/KOMO/splined.h,sha256=G_fu9gXCboJLkwhwu77F6F3Ei6deqzbvkgP8r9
 robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVPYR1g,1850
 robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=rlVH4U8PeaSLl6hrDApQQnSd4JR5SA-FrA4jETTu9CU,2453
 robotic/include/rai/Kin/F_LeapCost.h,sha256=wNAUNgAJjLirMurF67BlFLHtjyuXy1EPr--9XLBe6Wk,556
-robotic/include/rai/Kin/F_collisions.h,sha256=pWjq-0jR-i814KquLndMHyFjkLWio7dtqgfDEKIlMq8,1814
-robotic/include/rai/Kin/F_forces.h,sha256=7qFg_5JZSxaq8GpjHrGojLWPrHOO1cxOhRGcc27oVks,6315
+robotic/include/rai/Kin/F_collisions.h,sha256=Atq9LPVOkEuMF-kSHk78cGjaJYwDIbvrTxHmLBJw3yk,2092
+robotic/include/rai/Kin/F_forces.h,sha256=xUPLO0g3AU0nemQfPqElvt4SuGfqU2pV-7olCVBCkmM,6694
 robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx7GQbfbRrI,2146
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
-robotic/include/rai/Kin/F_pose.h,sha256=37Atdsxnb1CdnIFcRUjkBqEQRNRWkC2p6BpTrrMBfvI,5166
+robotic/include/rai/Kin/F_pose.h,sha256=QlZnpS4ZTNFBZlH-lpe6sTt2gdbxbjsZTHPqk0T_4AI,5252
 robotic/include/rai/Kin/F_qFeatures.h,sha256=x4cfFGaVBQSmj9ZetcC25qiGxnvfNMPsWh9zbPa5owE,2212
 robotic/include/rai/Kin/cameraview.h,sha256=byzJyTxP4Irh0A6gi8ZNndvJ0UFDD8leLfbW9B7laJI,2478
-robotic/include/rai/Kin/dof_direction.h,sha256=HRdl3-r8TeAtW8qU00PEZVKCL7GASkGjVF4HKVU956c,825
-robotic/include/rai/Kin/dof_forceExchange.h,sha256=Apf95urslSgX0PZmU-u-u6goxWWtwlWC7EE9-Q9039M,1817
+robotic/include/rai/Kin/dof_direction.h,sha256=9tio7VXxXAv-ZAxA6QskjD5rMH2LHU4hIGAG6TC0RaY,831
+robotic/include/rai/Kin/dof_forceExchange.h,sha256=ZjtIbaO0MU5AGsvtMJdAQJh3Ghfn8XrZavAx1WH4MZk,1823
 robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACDgnLrei2s8g,790
-robotic/include/rai/Kin/dof_path.h,sha256=0vHnPER8XnrCufXF27hCWd8Nq9_J31MNoksNLhZvv2g,812
+robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV1xDtQ,792
 robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
 robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
-robotic/include/rai/Kin/frame.h,sha256=KgNJBbfkaeNd-CfKnRmT5pxyDaaFzGk_ikhh4ySsSe8,14225
+robotic/include/rai/Kin/frame.h,sha256=8fqG2axtA0-kezy5fVeMFR9j30XRoU30Ous9P040vSk,14321
 robotic/include/rai/Kin/kin.h,sha256=hhjYI9RF55PjgJvdXhV4omyQK1iRG6MTi8B_GG9yYqM,15594
 robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
 robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
@@ -184,10 +184,11 @@ robotic/include/rai/ry/py-Frame.h,sha256=ssIlaHBHBreB_3C22bgnv8tPVtLO1jsGPLBxypI
 robotic/include/rai/ry/py-KOMO.h,sha256=AMa2vw8HUP-S11C4MF5d0CLT5kegYQN_SSCL467gLjI,514
 robotic/include/rai/ry/py-LGP.h,sha256=0NBErJFTg41xAQcHbRhr6RNeDIy4EJl3DtuUR595Rx8,430
 robotic/include/rai/ry/py-Optim.h,sha256=xvLv7tvE0hOocX64eQi2wa84of9H55GVUctZlFIYtQw,432
+robotic/include/rai/ry/py-Quaternion.h,sha256=EydIMfUB_Zf9H21x29dhBjDm7472Ge_XD6edyRALQY0,437
 robotic/include/rai/ry/py-Simulation.h,sha256=Kc4e6pK1yQyxDMCQu1HvXOYt9IlUiojBYFdqv3PP1AY,437
 robotic/include/rai/ry/py-Spline.h,sha256=gR8Cvwt5PlzlolxegS1wUEEOQj9RydOp1gS67Zxm0jk,433
 robotic/include/rai/ry/py-tests.h,sha256=-l_0V-yRqeOEztqCo_BAdcKCAMovyd8-9tnrytM5pQM,432
-robotic/include/rai/ry/types.h,sha256=2hZJJsSlNAD6_mEyHNLkIccgao7sSgjhTwB94vDnegs,7557
+robotic/include/rai/ry/types.h,sha256=DUTmlv6e8VaXEyJVVzIu7xNADwacBoxh0dSw2n0SB-A,8396
 robotic/rai-robotModels/baxter/baxter.g,sha256=asYXGjk7sqUF20wSMtW0unGRGZa4N0YOPVhsggEjXj0,2654
 robotic/rai-robotModels/baxter/baxter_clean.g,sha256=lTNROJfGXwhCzIJG9HmfU9gpPXjHzD9TD2AhrkBOiso,20777
 robotic/rai-robotModels/baxter/baxter_clean2.g,sha256=rZ7ImZNJnoGP7e-6_XjjSt7csr80C6UGCGKYyYpqgMQ,21191
@@ -356,7 +357,7 @@ robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_outer_knuckle.ply
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_pad.ply,sha256=SjbdAIaUjNlUX7okwcDJWwfd0NaT6fazQwerbevKlbI,464
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_ft300.ply,sha256=0zn76K_SIR85pVNO8hmbnflRsmeFKHCuCykpVTfQf6s,38626
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_gripper_coupling.ply,sha256=ef10q5MdRRn2wjWPZTc3nrSVW401x9fHgkEdB_bdECA,30421
-robotic/rai-robotModels/scenarios/ballFinger.g,sha256=BALhO2h83-r6AIoTy3LS-blB43MNibrKyl7JuN7xqho,456
+robotic/rai-robotModels/scenarios/ballFinger.g,sha256=Qz69o30vKIpv2VAxR7wStafBMyOHnG055ftSGzgUx6Y,457
 robotic/rai-robotModels/scenarios/climber.g,sha256=fUbSlFq_PVev2AxqLgytyfud6NUxvyO5NSon9wXSOJo,2016
 robotic/rai-robotModels/scenarios/climber2.g,sha256=xYGBfNgcLfPfI6WOxOOFpGCVkusoH7gVECEGj2bwc-4,2349
 robotic/rai-robotModels/scenarios/gripper.g,sha256=-yvc-cxVMxz7OmqVzhg6dyh21hBk9hD9wo5Uc2c4roY,447
@@ -366,7 +367,7 @@ robotic/rai-robotModels/scenarios/kswing.g,sha256=k1bND_Hr-lE5sklOraw58HdUye6iW8
 robotic/rai-robotModels/scenarios/liftRing.g,sha256=fRKPEfUH_kDL4r7PmpO0kB2t1KeLV9QypxEEN_BNrqQ,1349
 robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_eUa_Z76l5_h-B0wjY,1158
 robotic/rai-robotModels/scenarios/mobilePanda.g,sha256=AxH1JQJUgwnaLfrojvpP6DO83h_I6Vt3-la10TFpk0Y,608
-robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=62swwmxuYPd_DWT1ANw5qE-cCxjvSqURX_lAz0rK_jQ,1497
+robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=zYo9T6aFWREpP2gnME0iFwOErKR8Ram2gndnZ9s-xXA,1498
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
 robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=77KlkNgYLNLz3YrO-OrWNK0QTpr9-KaxsV2F7JfpT_U,1561
@@ -396,15 +397,16 @@ 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
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-robotic-0.2.7.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.7.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
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-robotic-0.2.7.dist-info/RECORD,,
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