robotic 0.2.8.dev1__cp39-cp39-manylinux2014_x86_64.whl → 0.2.8.dev2__cp39-cp39-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -72,7 +72,7 @@ class ShapenetGrasps:
         """
         set options
         """
-    def setPhysxOptions(self, verbose: int = 1, yGravity: bool = False, angularDamping: float = 0.1, defaultFriction: float = 1.0, defaultRestitution: float = 0.1, motorKp: float = 1000.0, motorKd: float = 100.0, gripperKp: float = 10000.0, gripperKd: float = 100.0) -> ShapenetGrasps:
+    def setPhysxOptions(self, verbose: int = 1, yGravity: bool = False, angularDamping: float = 0.1, defaultFriction: float = 1.0, defaultRestitution: float = 0.1, motorKp: float = 1000.0, motorKd: float = 100.0) -> ShapenetGrasps:
         """
         set options
         """

robotic/_robotic.pyi

@@ -1781,14 +1781,10 @@ class Simulation:
         ...
     def attach(self, gripper: Frame, obj: Frame) -> None:
         ...
-    def closeGripper(self, gripperFrameName: str, width: float = 0.05, speed: float = 0.3, force: float = 20.0) -> None:
-        ...
     def depthData2pointCloud(self, arg0: numpy.ndarray[numpy.float32], arg1: list[float]) -> numpy.ndarray[numpy.float64]:
         ...
     def detach(self, obj: Frame) -> None:
         ...
-    def getGripperIsGrasping(self, gripperFrameName: str) -> bool:
-        ...
     def getGripperWidth(self, gripperFrameName: str) -> float:
         ...
     def getImageAndDepth(self) -> tuple:
@@ -1807,7 +1803,9 @@ class Simulation:
         ...
     def get_qDot(self) -> arr:
         ...
-    def openGripper(self, gripperFrameName: str, width: float = 0.075, speed: float = 0.3) -> None:
+    def gripperIsDone(self, gripperFrameName: str) -> bool:
+        ...
+    def moveGripper(self, gripperFrameName: str, width: float, speed: float = 0.3) -> None:
         ...
     def pushConfigurationToSimulator(self, frameVelocities: arr = ..., jointVelocities: arr = ...) -> None:
         """

robotic/include/rai/KOMO/manipTools.h

@@ -59,7 +59,7 @@ struct ManipulationModelling {
   void retractPush(const arr& time_interval, const char* gripper, double dist=.02);
   void approachPush(const arr& time_interval, const char* gripper, double dist=.05, str helper= {});
 
-  arr solve(int verbose=1);
+  std::shared_ptr<SolverReturn> solve(int verbose=1);
   arr sample(const char* sampleMethod=0, int verbose=1);
   void debug(bool listObjectives=true, bool plotOverTime=false);
 

robotic/include/rai/Kin/kin_physx.h

@@ -19,8 +19,6 @@ struct PhysX_Options {
   RAI_PARAM("physx/", double, defaultRestitution, .1) //restitution=1 should be elastic...
   RAI_PARAM("physx/", double, motorKp, 1000.)
   RAI_PARAM("physx/", double, motorKd, 100.)
-  RAI_PARAM("physx/", double, gripperKp, 10000.)
-  RAI_PARAM("physx/", double, gripperKd, 100.)
 };
 }//namespace
 

robotic/include/rai/Kin/simulation.h

@@ -35,7 +35,7 @@ struct Simulation {
   FrameL grasps;
   std::shared_ptr<TeleopCallbacks> teleopCallbacks;
 
-  Simulation(Configuration& _C, Engine _engine, int _verbose=2);
+  Simulation(Configuration& _C, Engine _engine=_physx, int _verbose=2);
   ~Simulation();
 
   //== controller interface

robotic/rai-robotModels/scenarios/ballFinger.g

@@ -1,5 +1,5 @@
 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: .5 }
+jointX(base){ joint:transX, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointY(jointX){ joint:transY, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointZ(jointY){ joint:transZ, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+finger(jointZ){ shape:sphere, size:[.02], color:[.5 1 1], contact:1, mass: .1 }

robotic/rai-robotModels/scenarios/{mobilePanda.g → panda_ranger.g}

@@ -1,11 +1,6 @@
-world: {}
-ranger_origin(world): { joint:transXYPhi, shape:marker, size:[.1] }
-
 Include: <../ranger/ranger.g>
 
-Edit ranger_base_link(ranger_origin) { Q:[0, 0, .315, 1, 0, 0, -1] }
-
-## two pandas
+## pandas
 Prefix: "l_"
 Include: <../panda/panda.g>
 #Prefix: "r_"
@@ -13,7 +8,7 @@ Include: <../panda/panda.g>
 Prefix: False
 
 ## position them on the table
-Edit l_panda_base (ranger_base_link): { Q: "t(-.25 .0 .04) d(180 0 0 1)", joint: rigid }
+Edit l_panda_base (ranger_base_link): { Q: "t(-.25 .0 .04) d(180 0 0 1)", joint: none, multibody: false }
 #Edit r_panda_base (ranger_base_link): { Q: "t( .22 .05 .02) d(0 0 0 1)", joint: rigid }
 
 ## box

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev1'
+__version__ = '0.2.8.dev2'

{robotic-0.2.8.dev1.dist-info → robotic-0.2.8.dev2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.8.dev1
+Version: 0.2.8.dev2
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev1.dist-info → robotic-0.2.8.dev2.dist-info}/RECORD

@@ -1,8 +1,8 @@
-robotic/DataGen.pyi,sha256=m1e5j8laihgDWOGAFbXEc5zM_Qq87y11gzj2obgSdXY,3293
+robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-robotic/_robotic.pyi,sha256=bn_N5aB290VEAbyAC7CUyHFk1wXdfP8Hh4x_azYzrDo,72942
-robotic/_robotic.so,sha256=m90lbq0cHdlJZlE9yejpc_ZJapV8_QSrsRdoYEydvNY,1210112
-robotic/librai.so,sha256=Tvf7LwXu7WQUDYjNNlAcT3mRc-41i1dxbCPMQS5qyso,40163304
+robotic/_robotic.pyi,sha256=OgL0esa9N3UzjOZDO5Q5H6d8PmsLg5G_QmgypNfY4KM,72794
+robotic/_robotic.so,sha256=98rVcBpt1_j0I04L5xphI4R8LBVi36DKM1xoLqwVPnk,1206016
+robotic/librai.so,sha256=7Y-Dl6DQ_Gx84jdpA2EaHv18YMUFKmj3d7B5gK8Y4m0,40163304
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
 robotic/meshTool,sha256=Dssd8R2xExwxcH_Qk7rNfcV8QNTBAYmp6ahfjjDJgY0,52168
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
@@ -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=rb-FgRm7ATGsW94hOY7BGKKSKdhF8udjtUpWZnvfXG4,27
+robotic/version.py,sha256=R6Li3YcJ6YXEEU4IMr2ok4Ylen5Yx0Nxp6clpfToZWo,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
@@ -93,7 +93,7 @@ robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0x
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
 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/manipTools.h,sha256=0TZnMmecX389H5ezPuirGUgjUvZ--2HEf5DKXuUQfxY,4199
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
 robotic/include/rai/KOMO/pathTools.h,sha256=w0Wq6BGLBxG1LAZQBDmmPWTXzwxW3RHj2EX1cm92WeE,3288
 robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2YvEigI,4437
@@ -120,9 +120,9 @@ robotic/include/rai/Kin/kin.h,sha256=hhjYI9RF55PjgJvdXhV4omyQK1iRG6MTi8B_GG9yYqM
 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
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
-robotic/include/rai/Kin/kin_physx.h,sha256=EdZdS5feDjvhSuUWy_gdnSgdsh6iGBOVev0r8JtZDIY,1967
+robotic/include/rai/Kin/kin_physx.h,sha256=A39_BMDTMGixK_37sdlofFHtV-Pf0n5JtcYpmdWNWMw,1871
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=ImOsxqc1l9ygiJIAPhoHQPOyqZEVccyJvu1jFREwFaU,5132
+robotic/include/rai/Kin/simulation.h,sha256=oMUHHgg1e7okFtYagCG_-vXJeo6tRtHynSWW1ECgS1U,5139
 robotic/include/rai/Kin/viewer.h,sha256=jpP9MltococoD9hYS5GvJ99y-u75M4qVNX59rrwxVtQ,2071
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
 robotic/include/rai/LGP/LGP_Tool.h,sha256=vcQ3ixwJ4wepPDX8ZGkDBKGIpchJQWMOoMu82_cS_8I,4230
@@ -357,7 +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=Qz69o30vKIpv2VAxR7wStafBMyOHnG055ftSGzgUx6Y,457
+robotic/rai-robotModels/scenarios/ballFinger.g,sha256=-Ew0Lp4sS5r7DQqWVAG5W_7mdolaksrfs8IMyd9c-D8,461
 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 +366,6 @@ robotic/rai-robotModels/scenarios/k00.g,sha256=Bjei9rYaLLwOhOSHFjaDGc7LFDraL8sxQ
 robotic/rai-robotModels/scenarios/kswing.g,sha256=k1bND_Hr-lE5sklOraw58HdUye6iW8jTdjBUwbyRCRM,3995
 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=zYo9T6aFWREpP2gnME0iFwOErKR8Ram2gndnZ9s-xXA,1498
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
@@ -374,6 +373,7 @@ robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=77KlkNgYLNLz3YrO-OrW
 robotic/rai-robotModels/scenarios/panda_mobile.g,sha256=Om5rU2C6_GBKcZcRBZ0cTsk2gKxzwoSE-32dxBMQa-8,713
 robotic/rai-robotModels/scenarios/panda_moveGripper.g,sha256=HyyzCAg8ksvqGxjVrAqh6r16lvifGyjQd7Txa0wkR-Q,1920
 robotic/rai-robotModels/scenarios/panda_noGripper.g,sha256=FL5vq3ysYJl7f_y9xOBfSTYuB6btJO22f6g2Z-HU1tw,670
+robotic/rai-robotModels/scenarios/panda_ranger.g,sha256=SpLnjGlW5qyBaVvhZ2IZw2eLnYvj3mVuDy_VmRAyhiA,472
 robotic/rai-robotModels/scenarios/pandasTable-calibrated.g,sha256=Bt6jEu-OUGclBJFBs2Ga2j6qTmP2Nqwecj9k0CH2cNY,467
 robotic/rai-robotModels/scenarios/pandasTable.g,sha256=BhXqZdyujDDnTCbsyHtwabTF6rRKW7WFJztmMhq2grQ,827
 robotic/rai-robotModels/scenarios/pendulum.g,sha256=bViHSQAV_y2uMzM0Wl7jfBiJioICtJ8V2d73_wtKX7o,669
@@ -397,16 +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-0.2.8.dev1.dist-info/RECORD,,
+robotic-0.2.8.dev2.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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