robotic 0.2.8.dev2__cp312-cp312-manylinux2014_x86_64.whl → 0.2.8.dev3__cp312-cp312-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -387,6 +387,10 @@ class Config:
         ...
     def set_viewer(self, arg0: ...) -> None:
         ...
+    def simplify(self, pruneNamed: bool, pruneNonContactNonMarker: bool, pruneTransparent: bool) -> None:
+        """
+        structurally simplify the Configuration (deleting frames, relinking to minimal tree)
+        """
     def view(self, pause: bool = False, message: str = None) -> int:
         """
         open a view window for the configuration
@@ -441,7 +445,7 @@ class Config:
         """
         write the full configuration in a ply mesh file
         """
-    def writeMeshes(self, pathPrefix: str) -> None:
+    def writeMeshes(self, pathPrefix: ...) -> None:
         """
         write all object meshes in a directory
         """
@@ -456,7 +460,7 @@ class ConfigurationViewer:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
-    def savePng(self, saveVideoPath: str = 'z.vid/', count: int = -1) -> None:
+    def savePng(self, saveVideoPath: ... = 'z.vid/', count: int = -1) -> None:
         """
         save enumerated pngs in a path - for video making
         """
@@ -784,7 +788,7 @@ class Frame:
         """
     def setMeshAsLines(self, arg0: list[float]) -> None:
         ...
-    def setMeshFile(self, filename: ...) -> Frame:
+    def setMeshFile(self, filename: ..., scale: float = 1.0) -> Frame:
         """
         attach a mesh shape from a file
         """

robotic/include/rai/KOMO/manipTools.h

@@ -13,7 +13,7 @@
 
 //===========================================================================
 
-struct ManipulationModelling {
+struct ManipulationHelper {
   std::shared_ptr<KOMO> komo;
   str info;
 
@@ -22,8 +22,8 @@ struct ManipulationModelling {
   arr qTarget;
   arr path;
 
-  ManipulationModelling(const str& _info={});
-  ManipulationModelling(const std::shared_ptr<KOMO>& _komo, const str& _info = str{});
+  ManipulationHelper(const str& _info={});
+  ManipulationHelper(const std::shared_ptr<KOMO>& _komo, const str& _info = str{});
 
   KOMO& k() { return *komo; }
 
@@ -63,7 +63,7 @@ struct ManipulationModelling {
   arr sample(const char* sampleMethod=0, int verbose=1);
   void debug(bool listObjectives=true, bool plotOverTime=false);
 
-  std::shared_ptr<ManipulationModelling> sub_motion(uint phase, bool fixEnd=true, double homing_scale=1e-2, double acceleration_scale=1e-1, bool accumulated_collisions=true, bool joint_limits=true, bool quaternion_norms=false, const StringA& activeDofs={});
+  std::shared_ptr<ManipulationHelper> sub_motion(uint phase, bool fixEnd=true, double homing_scale=1e-2, double acceleration_scale=1e-1, bool accumulated_collisions=true, bool joint_limits=true, bool quaternion_norms=false, const StringA& activeDofs={});
   std::shared_ptr<rai::RRT_PathFinder> sub_rrt(uint phase, const StringA& explicitCollisionPairs= {}, const StringA& activeDofs={});
 
   void play(rai::Configuration& C, double duration=1.);

robotic/include/rai/Kin/frame.h

@@ -166,7 +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& setMeshFile(str file, double scale=1.);
   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.);

robotic/include/rai/Kin/kin.h

@@ -95,6 +95,7 @@ struct Configuration {
   /// @name initializations, building configurations
   Frame* addFrame(const char* name, const char* parent=nullptr, const char* args=nullptr, bool warnDuplicateName=true);
   Frame* addFile(const char* filename, const char* namePrefix=0);
+  Frame& addDict(const Graph& G);
   Frame* addAssimp(const char* filename);
   Frame* addH5Object(const char* framename, const char* filename, int verbose);
   Frame* addCopy(const FrameL& F, const DofL& _dofs, const str& prefix= {});
@@ -177,10 +178,11 @@ struct Configuration {
   void flipFrames(Frame* a, Frame* b);
   void pruneRigidJoints();        ///< delete rigid joints -> they become just links
   void pruneInactiveJoints();        ///< delete rigid joints -> they become just links
+  void pruneEmptyShapes();
   void reconnectShapesToParents();
   void reconnectLinksToClosestJoints();        ///< re-connect all links to closest joint
-  void pruneUselessFrames(bool pruneNamed=false, bool pruneNonContactNonMarker=false, bool pruneNonVisible=false);  ///< delete frames that have no name, joint, and shape
-  void optimizeTree(bool _pruneRigidJoints=false, bool pruneNamed=false, bool pruneNonContactNonMarker=false, bool pruneNonVisible=false);        ///< call the three above methods in this order
+  void pruneUselessFrames(bool pruneNamed=false, bool pruneNonContactNonMarker=false, bool pruneTransparent=false);  ///< delete frames that have no name, joint, and shape
+  void simplify(bool pruneNamed=false, bool pruneNonContactNonMarker=false, bool pruneTransparent=false);        ///< call the three above methods in this order
   void sortFrames();
   void makeObjectsFree(const StringA& objects, double H_cost=0.);
   void addTauJoint();
@@ -285,7 +287,7 @@ public:
   void write(Graph& G) const;
   void writeURDF(std::ostream& os, const char* robotName="myrobot") const;
   void writeCollada(const char* filename, const char* format="collada") const;
-  void writeMeshes(const char* pathPrefix="meshes/") const;
+  void writeMeshes(str pathPrefix="meshes/") const;
   void writeMesh(const char* filename="z.ply") const;
   void read(std::istream& is);
   Graph getGraph() const;
@@ -301,7 +303,6 @@ public:
   void reportLimits(std::ostream& os=cout) const;
 
  private:
-  void readFromGraph(const Graph& G, bool addInsteadOfClear=false);
   friend struct KinematicSwitch;
 };
 

robotic/include/rai/Kin/simulation.h

@@ -46,6 +46,7 @@ struct Simulation {
   //-- adapt the spline reference to genreate motion (default way)
   void setSplineRef(const arr& _q, const arr& _times, bool append=true);
   void setPositionRef(rai::Dof* dof, const arr&q_ref, double cap=-1.);
+  void setForceRef(const arr& f_ref, const arr& Jf, double kf, double cap);
   void resetSplineRef();
 
   //-- send a gripper command

robotic/include/rai/Kin/viewer.h

@@ -37,9 +37,8 @@ struct ConfigurationViewer : RenderData {
   rai::Camera& displayCamera();   ///< access to the display camera to change the view
   byteA getRgb();
   floatA getDepth();
-  void savePng(const char* saveVideoPath="z.vid/", int count=-1);
+  void savePng(str saveVideoPath="z.vid/", int count=-1);
 
-  int update(bool watch=false);
   void raiseWindow();
   void glDraw(OpenGL&);
   void setCamera(rai::Frame* cam);

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev2'
+__version__ = '0.2.8.dev3'

{robotic-0.2.8.dev2.dist-info → robotic-0.2.8.dev3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.8.dev2
+Version: 0.2.8.dev3
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev2.dist-info → robotic-0.2.8.dev3.dist-info}/RECORD

@@ -1,8 +1,8 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-robotic/_robotic.pyi,sha256=OgL0esa9N3UzjOZDO5Q5H6d8PmsLg5G_QmgypNfY4KM,72794
-robotic/_robotic.so,sha256=9Qu3F_LIOm-Nyf3x1I5HNbKKY9fES-5joE4nxTyfsls,1218304
-robotic/librai.so,sha256=7Y-Dl6DQ_Gx84jdpA2EaHv18YMUFKmj3d7B5gK8Y4m0,40163304
+robotic/_robotic.pyi,sha256=u2vE6wgidlvf3pZbN4qrluEfa5WQicjW9pKyHOHBfG0,73037
+robotic/_robotic.so,sha256=Tqgyx570UEj0ahIYpsTnb6n5PADVZXKIGqMg92ap4m4,1218304
+robotic/librai.so,sha256=XNl92szEsGOIZpVXuLrQXMkPj4tjNTF0B-jSQ1YGHR4,40175592
 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=R6Li3YcJ6YXEEU4IMr2ok4Ylen5Yx0Nxp6clpfToZWo,27
+robotic/version.py,sha256=SW2YeWiPKW-Tot6fpOkpbGAhN4XnTi_t4C0wLP7hIgY,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=0TZnMmecX389H5ezPuirGUgjUvZ--2HEf5DKXuUQfxY,4199
+robotic/include/rai/KOMO/manipTools.h,sha256=FTD6sq6EqBx25O81cgaSWsavdVw0-nYGlB1aldyn7ak,4187
 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
@@ -115,15 +115,15 @@ robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACD
 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=8fqG2axtA0-kezy5fVeMFR9j30XRoU30Ous9P040vSk,14321
-robotic/include/rai/Kin/kin.h,sha256=hhjYI9RF55PjgJvdXhV4omyQK1iRG6MTi8B_GG9yYqM,15594
+robotic/include/rai/Kin/frame.h,sha256=AU2IosH9FP2KzefWlcwyV5cLF973xG3EYILW2jM_JoY,14338
+robotic/include/rai/Kin/kin.h,sha256=BFZAdY7RRHhBtcjSkZf32EFhJswot1u3mIUn3P13qt4,15547
 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=A39_BMDTMGixK_37sdlofFHtV-Pf0n5JtcYpmdWNWMw,1871
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=oMUHHgg1e7okFtYagCG_-vXJeo6tRtHynSWW1ECgS1U,5139
-robotic/include/rai/Kin/viewer.h,sha256=jpP9MltococoD9hYS5GvJ99y-u75M4qVNX59rrwxVtQ,2071
+robotic/include/rai/Kin/simulation.h,sha256=1zsYTtaZRW1L5l-YiHz7u1dL973XRRbtSQ6wNC6CwCI,5215
+robotic/include/rai/Kin/viewer.h,sha256=GzObhDzEnIBYH0Yu_wCX8Cm2GAN5wuk-El09b2Vy_8w,2031
 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
 robotic/include/rai/LGP/LGP_computers.h,sha256=paoCbDZnIo7OUeHKo5qkzTkKy1RIzDZocg4p6SXoObk,6480
@@ -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
-robotic-0.2.8.dev2.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.2.8.dev2.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
-robotic-0.2.8.dev2.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.2.8.dev2.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.2.8.dev2.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
-robotic-0.2.8.dev2.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.8.dev2.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
-robotic-0.2.8.dev2.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.2.8.dev2.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.2.8.dev2.dist-info/METADATA,sha256=OTgjAlrRShMecjIy1GkxXHHg_JUOnfZ5aQ19Z8CJ8HM,6694
-robotic-0.2.8.dev2.dist-info/WHEEL,sha256=aDUArjEbIuDQzblE24IvdIsBzRhJEjiXmuNUYQ-gpaA,104
-robotic-0.2.8.dev2.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.8.dev2.dist-info/RECORD,,
+robotic-0.2.8.dev3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.2.8.dev3.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
+robotic-0.2.8.dev3.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.2.8.dev3.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.2.8.dev3.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
+robotic-0.2.8.dev3.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
+robotic-0.2.8.dev3.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
+robotic-0.2.8.dev3.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.2.8.dev3.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.2.8.dev3.dist-info/METADATA,sha256=N550qC0WrrX1PHqQ0XN3tixAh3DGpcLKOLckdIHBXYg,6694
+robotic-0.2.8.dev3.dist-info/WHEEL,sha256=tOLjkKc8jTOST2UkvGV7NNle7DYgiJJymXz0pR15kJE,104
+robotic-0.2.8.dev3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.2.8.dev3.dist-info/RECORD,,

{robotic-0.2.8.dev2.dist-info → robotic-0.2.8.dev3.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.0)
+Generator: setuptools (75.8.2)
 Root-Is-Purelib: false
 Tag: cp312-cp312-linux_x86_64