robotic 0.2.8.dev3__cp38-cp38-manylinux2014_x86_64.whl → 0.2.8.dev5__cp38-cp38-manylinux2014_x86_64.whl

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', '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']
+__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_SolverOptions', 'OT', 'OptBench_Skeleton_Handover', 'OptBench_Skeleton_Pick', 'OptBench_Skeleton_StackAndBalance', 'OptBenchmark_InvKin_Endeff', 'OptMethod', '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
@@ -275,6 +275,10 @@ class Config:
         """
         animate with random spline in limits bounding box [T=#spline points]
         """
+    def asDict(self) -> dict:
+        """
+        return the configuration description as a dict, e.g. for file export
+        """
     def attach(self, arg0: str, arg1: str) -> None:
         """
         change the configuration by creating a rigid joint from frame1 to frame2, adopting their current relative pose. This also breaks the first joint that is parental to frame2 and reverses the topological order from frame2 to the broken joint
@@ -433,9 +437,9 @@ class Config:
         """
         launch a viewer that listents (inode) to changes of a file (made by you in an editor), and reloads, displays and animates the configuration whenever the file is changed
         """
-    def write(self) -> str:
+    def write(self) -> ...:
         """
-        write the full configuration in a string (roughly yaml), e.g. for file export
+        return the configuration description as a str (similar to YAML), e.g. for file export
         """
     def writeCollada(self, filename: str, format: str = 'collada') -> None:
         """
@@ -718,6 +722,8 @@ class Frame:
         """
         add/set attributes for the frame
         """
+    def asDict(self) -> dict:
+        ...
     def computeCompoundInertia(self, clearChildInertias: bool = True) -> Frame:
         ...
     def convertDecomposedShapeToChildFrames(self) -> Frame:
@@ -726,8 +732,12 @@ class Frame:
         """
         get frame attributes
         """
+    def getChildren(self) -> list[Frame]:
+        ...
     def getJointState(self) -> arr:
         ...
+    def getJointType(self) -> JT:
+        ...
     def getMesh(self) -> tuple:
         ...
     def getMeshColors(self) -> ...:
@@ -760,8 +770,6 @@ class Frame:
         ...
     def getTransform(self) -> arr:
         ...
-    def info(self) -> dict:
-        ...
     def makeRoot(self, untilPartBreak: bool) -> None:
         ...
     def setAttribute(self, arg0: str, arg1: float) -> Frame:
@@ -822,6 +830,10 @@ class Frame:
         ...
     def setTensorShape(self, data: ..., size: arr) -> Frame:
         ...
+    def setTextureFile(self, image_filename: ..., texCoords: arr = ...) -> Frame:
+        """
+        set the texture of the mesh of a shape
+        """
     def transformToDiagInertia(self, arg0: bool) -> ...:
         ...
     def unLink(self) -> Frame:
@@ -1236,7 +1248,7 @@ class NLP_Solver:
         ...
     def setPyProblem(self, arg0: typing.Any) -> None:
         ...
-    def setSolver(self, arg0: NLP_SolverID) -> NLP_Solver:
+    def setSolver(self, arg0: ...) -> NLP_Solver:
         ...
     def setTracing(self, arg0: bool, arg1: bool, arg2: bool, arg3: bool) -> NLP_Solver:
         ...
@@ -1244,73 +1256,6 @@ class NLP_Solver:
         """
         resampleInitialization=-1 means: only when not already solved
         """
-class NLP_SolverID:
-    """
-    Members:
-    
-      gradientDescent
-    
-      rprop
-    
-      LBFGS
-    
-      newton
-    
-      augmentedLag
-    
-      squaredPenalty
-    
-      logBarrier
-    
-      singleSquaredPenalty
-    
-      NLopt
-    
-      Ipopt
-    
-      Ceres
-    """
-    Ceres: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.Ceres: 11>
-    Ipopt: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.Ipopt: 10>
-    LBFGS: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.LBFGS: 2>
-    NLopt: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.NLopt: 9>
-    __members__: typing.ClassVar[dict[str, NLP_SolverID]]  # value = {'gradientDescent': <NLP_SolverID.gradientDescent: 0>, 'rprop': <NLP_SolverID.rprop: 1>, 'LBFGS': <NLP_SolverID.LBFGS: 2>, 'newton': <NLP_SolverID.newton: 3>, 'augmentedLag': <NLP_SolverID.augmentedLag: 4>, 'squaredPenalty': <NLP_SolverID.squaredPenalty: 5>, 'logBarrier': <NLP_SolverID.logBarrier: 6>, 'singleSquaredPenalty': <NLP_SolverID.singleSquaredPenalty: 7>, 'NLopt': <NLP_SolverID.NLopt: 9>, 'Ipopt': <NLP_SolverID.Ipopt: 10>, 'Ceres': <NLP_SolverID.Ceres: 11>}
-    augmentedLag: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.augmentedLag: 4>
-    gradientDescent: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.gradientDescent: 0>
-    logBarrier: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.logBarrier: 6>
-    newton: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.newton: 3>
-    rprop: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.rprop: 1>
-    singleSquaredPenalty: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.singleSquaredPenalty: 7>
-    squaredPenalty: typing.ClassVar[NLP_SolverID]  # value = <NLP_SolverID.squaredPenalty: 5>
-    @staticmethod
-    def _pybind11_conduit_v1_(*args, **kwargs):
-        ...
-    def __eq__(self, other: typing.Any) -> bool:
-        ...
-    def __getstate__(self) -> int:
-        ...
-    def __hash__(self) -> int:
-        ...
-    def __index__(self) -> int:
-        ...
-    def __init__(self, value: int) -> None:
-        ...
-    def __int__(self) -> int:
-        ...
-    def __ne__(self, other: typing.Any) -> bool:
-        ...
-    def __repr__(self) -> str:
-        ...
-    def __setstate__(self, state: int) -> None:
-        ...
-    def __str__(self) -> str:
-        ...
-    @property
-    def name(self) -> str:
-        ...
-    @property
-    def value(self) -> int:
-        ...
 class NLP_SolverOptions:
     """
     solver options
@@ -1362,8 +1307,6 @@ class OT:
     """
     Members:
     
-      none
-    
       f
     
       sos
@@ -1375,8 +1318,10 @@ class OT:
       ineqB
     
       ineqP
+    
+      none
     """
-    __members__: typing.ClassVar[dict[str, OT]]  # value = {'none': <OT.none: 6>, 'f': <OT.f: 0>, 'sos': <OT.sos: 1>, 'ineq': <OT.ineq: 2>, 'eq': <OT.eq: 3>, 'ineqB': <OT.ineqB: 4>, 'ineqP': <OT.ineqP: 5>}
+    __members__: typing.ClassVar[dict[str, OT]]  # value = {'f': <OT.f: 0>, 'sos': <OT.sos: 1>, 'ineq': <OT.ineq: 2>, 'eq': <OT.eq: 3>, 'ineqB': <OT.ineqB: 4>, 'ineqP': <OT.ineqP: 5>, 'none': <OT.none: 6>}
     eq: typing.ClassVar[OT]  # value = <OT.eq: 3>
     f: typing.ClassVar[OT]  # value = <OT.f: 0>
     ineq: typing.ClassVar[OT]  # value = <OT.ineq: 2>
@@ -1445,6 +1390,79 @@ class OptBenchmark_InvKin_Endeff:
         ...
     def get(self) -> NLP:
         ...
+class OptMethod:
+    """
+    Members:
+    
+      none
+    
+      gradientDescent
+    
+      rprop
+    
+      LBFGS
+    
+      newton
+    
+      augmentedLag
+    
+      squaredPenalty
+    
+      logBarrier
+    
+      singleSquaredPenalty
+    
+      slackGN
+    
+      NLopt
+    
+      Ipopt
+    
+      Ceres
+    """
+    Ceres: typing.ClassVar[OptMethod]  # value = <OptMethod.Ceres: 12>
+    Ipopt: typing.ClassVar[OptMethod]  # value = <OptMethod.Ipopt: 11>
+    LBFGS: typing.ClassVar[OptMethod]  # value = <OptMethod.LBFGS: 3>
+    NLopt: typing.ClassVar[OptMethod]  # value = <OptMethod.NLopt: 10>
+    __members__: typing.ClassVar[dict[str, OptMethod]]  # value = {'none': <OptMethod.none: 0>, 'gradientDescent': <OptMethod.gradientDescent: 1>, 'rprop': <OptMethod.rprop: 2>, 'LBFGS': <OptMethod.LBFGS: 3>, 'newton': <OptMethod.newton: 4>, 'augmentedLag': <OptMethod.augmentedLag: 5>, 'squaredPenalty': <OptMethod.squaredPenalty: 6>, 'logBarrier': <OptMethod.logBarrier: 7>, 'singleSquaredPenalty': <OptMethod.singleSquaredPenalty: 8>, 'slackGN': <OptMethod.slackGN: 9>, 'NLopt': <OptMethod.NLopt: 10>, 'Ipopt': <OptMethod.Ipopt: 11>, 'Ceres': <OptMethod.Ceres: 12>}
+    augmentedLag: typing.ClassVar[OptMethod]  # value = <OptMethod.augmentedLag: 5>
+    gradientDescent: typing.ClassVar[OptMethod]  # value = <OptMethod.gradientDescent: 1>
+    logBarrier: typing.ClassVar[OptMethod]  # value = <OptMethod.logBarrier: 7>
+    newton: typing.ClassVar[OptMethod]  # value = <OptMethod.newton: 4>
+    none: typing.ClassVar[OptMethod]  # value = <OptMethod.none: 0>
+    rprop: typing.ClassVar[OptMethod]  # value = <OptMethod.rprop: 2>
+    singleSquaredPenalty: typing.ClassVar[OptMethod]  # value = <OptMethod.singleSquaredPenalty: 8>
+    slackGN: typing.ClassVar[OptMethod]  # value = <OptMethod.slackGN: 9>
+    squaredPenalty: typing.ClassVar[OptMethod]  # value = <OptMethod.squaredPenalty: 6>
+    @staticmethod
+    def _pybind11_conduit_v1_(*args, **kwargs):
+        ...
+    def __eq__(self, other: typing.Any) -> bool:
+        ...
+    def __getstate__(self) -> int:
+        ...
+    def __hash__(self) -> int:
+        ...
+    def __index__(self) -> int:
+        ...
+    def __init__(self, value: int) -> None:
+        ...
+    def __int__(self) -> int:
+        ...
+    def __ne__(self, other: typing.Any) -> bool:
+        ...
+    def __repr__(self) -> str:
+        ...
+    def __setstate__(self, state: int) -> None:
+        ...
+    def __str__(self) -> str:
+        ...
+    @property
+    def name(self) -> str:
+        ...
+    @property
+    def value(self) -> int:
+        ...
 class Quaternion:
     """
     """
@@ -1483,6 +1501,8 @@ class Quaternion:
         ...
     def setDiff(self, from: Vector, to: Vector) -> Quaternion:
         ...
+    def setEuler(self, euler_zxz: Vector) -> Quaternion:
+        ...
     def setExp(self, vector_w: Vector) -> Quaternion:
         ...
     def setInterpolateEmbedded(self, t: float, from: Quaternion, to: Quaternion) -> Quaternion:

robotic/include/rai/Core/array.ipp

@@ -777,6 +777,7 @@ template<class T> Array<T> Array<T>::operator()(std::pair<int, int> I) const {
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) const {
+  if(i<0) i += d0;
   Array<T> z;
   z.referToRange(*this, i, J.first, J.second);
 //  if(J.size()==2)
@@ -788,6 +789,8 @@ template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) co
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, int j, std::initializer_list<int> K) const {
+  if(i<0) i += d0;
+  if(j<0) j += d1;
   Array<T> z;
   if(K.size()==2) z.referToRange(*this, i, j, K.begin()[0], K.begin()[1]);
   else if(K.size()==0) z.referToDim(*this, i, j);

robotic/include/rai/Core/graph.h

@@ -120,7 +120,6 @@ struct Graph : NodeL {
   //-- adding nodes
   template<class T> Node_typed<T>* add(const char* key);
   template<class T> Node_typed<T>* add(const char* key, const T& x);
-  template<class T> Node_typed<T>* add(const char* key, const T& x, const NodeL& parents);
   template<class T> Node_typed<T&>* addRef(const char* key, const T& x);
 
   //Node_typed<int>* add(const uintA& parentIdxs); ///< add 'vertex tupes' (like edges) where vertices are referred to by integers
@@ -138,6 +137,9 @@ struct Graph : NodeL {
   NodeL findNodesOfType(const std::type_info& type, const char* key, bool recurseUp=false, bool recurseDown=false) const;
   NodeL findGraphNodesWithTag(const char* tag) const;
 
+  //
+  template<class T> Node* set(const char* key, const T& x){ Node* n = findNodeOfType(typeid(T), key); if(n) n->as<T>()=x; else n=add<T>(key, x); return n; }
+
   //-- get nodes
   Node* operator[](const char* key) const { return findNode(key); } ///< returns nullptr if not found
   Node* getNode(const char* key) const { return findNode(key); } ///< returns nullptr if not found
@@ -369,12 +371,6 @@ struct Node_typed : Node {
     if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
   }
 
-  Node_typed(Graph& container, const char* key, const T& _value, const NodeL& parents)
-    : Node(typeid(T), container, key), value(_value) {
-    if(parents.N) setParents(parents);
-    if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
-  }
-
   virtual ~Node_typed() {
   }
 
@@ -409,7 +405,7 @@ struct Node_typed : Node {
       g.copy(graph());
       return g.isNodeOfGraph;
     }
-    return container.add<T>(key,  value, parents);
+    return container.add<T>(key,  value)->setParents(parents);
   }
 };
 } //namespace
@@ -536,10 +532,6 @@ template<class T> Node_typed<T>* Graph::add(const char* key, const T& x) {
   return new Node_typed<T>(*this, key, x);
 }
 
-template<class T> Node_typed<T>* Graph::add(const char* key, const T& x, const NodeL& parents) {
-  return new Node_typed<T>(*this, key, x, parents);
-}
-
 template<class T> Node_typed<T&>* Graph::addRef(const char* key, const T& x) {
   return new Node_typed<T&>(*this, key, (T&)x);
 }

robotic/include/rai/Geo/geo.h

@@ -124,6 +124,7 @@ struct Quaternion {
   Quaternion& setRadX(double radians);
   Quaternion& setRadY(double radians);
   Quaternion& setRadZ(double radians);
+  Quaternion& setEuler(const Vector& zxz);
   Quaternion& setRollPitchYaw(const Vector& rpy);
   Quaternion& setVector(const Vector& w){ return setExp(w); }
   Quaternion& setMatrix(double* m);

robotic/include/rai/Geo/mesh.h

@@ -17,6 +17,7 @@ namespace rai { struct Mesh; }
 typedef rai::Array<rai::Mesh> MeshA;
 typedef rai::Array<rai::Mesh*> MeshL;
 struct ANN;
+struct SharedTextureImage{ byteA img; uint glBufferID=UINT32_MAX; };
 
 namespace rai {
 
@@ -32,8 +33,10 @@ struct Mesh {
   uintA T;              ///< triangles (faces, empty -> point cloud)
   arr   Tn;             ///< triangle normals (optional)
 
-  arr texCoords;            ///< texture coordinates for each vertex, dimensionality (V.d0, 2)
-  byteA texImg;         ///< texture image
+  arr texCoords;        ///< texture coordinates for each vertex, dimensionality (V.d0, 2)
+  // byteA texImg;         ///< texture image
+  shared_ptr<SharedTextureImage> _texImg;
+  SharedTextureImage& texImg(const char* file=0);
 
   uintA cvxParts;
   uintAA graph;         ///< for every vertex, the set of neighboring vertices
@@ -174,5 +177,8 @@ arr MinkowskiSum(const arr& A, const arr& B);
 void inertiaSphere(double* Inertia, double& mass, double density, double radius);
 void inertiaBox(double* Inertia, double& mass, double density, double dx, double dy, double dz);
 void inertiaCylinder(double* Inertia, double& mass, double density, double height, double radius);
-void inertiaMesh(double* I, double& mass, double density, const rai::Mesh& m);
+
+void inertiaSphereSurface(double& mass, double* I, double radius, double density);
+void inertiaBoxSurface(double& mass, double* I, double dx, double dy, double dz, double density);
+void inertiaMeshSurface(double& mass, double* com, double* I, const rai::Mesh& m, double density);
 

robotic/include/rai/Geo/stbImage.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "../Core/array.h"
+
+namespace rai {
+
+byteA loadImage(const char* imgFile);
+
+}

robotic/include/rai/Gui/RenderData.h

@@ -25,8 +25,9 @@ enum RenderType { _solid, _shadow, _tensor, _text, _marker, _transparent, _all }
 
 struct RenderAsset{
   floatA vertices, colors, normals;  //for 2D textures: colors are vertex-wise texture coordinates
-  byteA texture;
-  GLuint vao, vertexBuffer, colorBuffer, normalBuffer, textureBuffer;
+  GLuint vao, vertexBuffer, colorBuffer, normalBuffer;
+  shared_ptr<SharedTextureImage> _texture;
+  SharedTextureImage& texture(){ if(!_texture) _texture=make_shared<SharedTextureImage>(); return *_texture; }
   GLenum mode=GL_TRIANGLES;
   uint textureDim=0;
   bool initialized=false;

robotic/include/rai/KOMO/testProblems_KOMO.h

@@ -26,7 +26,7 @@ struct Problem{
   std::shared_ptr<KOMO> komo;
   std::shared_ptr<NLP> nlp;
 
-  void load(str problem);
+  void load(str problem={});
 };
 
 //===========================================================================
@@ -40,7 +40,7 @@ struct SpherePacking : NLP{
 
   rai::Configuration disp; //for reporting/display only
 
-  SpherePacking(uint _n, double _rad, bool _ineqAccum=false);
+  SpherePacking(uint _n=50, double _rad=.21, bool _ineqAccum=false);
 
   void ineqAccumulation(uint phiIdx, arr& phi, arr& J, arr& g, const arr& Jg);
   void evaluate(arr& phi, arr& J, const arr &_x);
@@ -49,6 +49,21 @@ struct SpherePacking : NLP{
 
 //===========================================================================
 
+struct MinimalConvexCore : NLP {
+  double radius;
+  arr x, cen;
+
+  rai::Mesh M;
+  rai::Configuration disp; //for reporting/display only
+
+  MinimalConvexCore(const arr& X={}, double radius=.1);
+  arr getInitializationSample();
+  void evaluate(arr& phi, arr& J, const arr& _x);
+  void report(ostream &os, int verbose, const char *msg=0);
+};
+
+//===========================================================================
+
 struct OptBench_InvKin_Simple {
   OptBench_InvKin_Simple();
   shared_ptr<KOMO> komo;

robotic/include/rai/Kin/frame.h

@@ -167,6 +167,7 @@ struct Frame : NonCopyable {
   Frame& setMesh2(const rai::Mesh& m);
   Frame& setMesh(const arr& verts, const uintA& tris, const byteA& colors={}, const uintA& cvxParts={});
   Frame& setMeshFile(str file, double scale=1.);
+  Frame& setTextureFile(str imgFile, const arr& texCoords={});
   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.);
@@ -197,6 +198,7 @@ struct Frame : NonCopyable {
   uintA getMeshTriangles() const ;
   byteA getMeshColors() const ;
   arr getMeshCorePoints() const ;
+  rai::JointType getJointType() const;
   arr getJointState() const; ///< throws error if this frame is not also a joint
   Graph& getAts(){ if(!ats) ats=make_shared<Graph>(); return *ats; }
 

robotic/include/rai/Kin/kin.h

@@ -272,6 +272,7 @@ public:
   FeatherstoneInterface& fs();
   bool hasView();
   int view(bool pause=false, const char* txt=nullptr);
+  void view_savePng(str saveVideoPath="z.vid/", int count=-1);
   void saveVideoPic(uint& t, const char* pathPrefix="vid/");
   void glAdd(void (*call)(void*, OpenGL&), void* classP);
   int glAnimate();

robotic/include/rai/Kin/simulation.h

@@ -26,7 +26,8 @@ struct Simulation {
   std::unique_ptr<struct Simulation_self> self;
 
   Configuration& C;
-  double time;
+  double time=0.;
+  uint stepCount=0;
   Engine engine;
   Array<shared_ptr<SimulationImp>> imps; ///< list of (adversarial) imps doing things/perturbations/noise in addition to clean physics engine
   int verbose;

robotic/include/rai/Optim/NLP_GraphSolver.h

@@ -11,7 +11,7 @@
 #include "NLP_Solver.h"
 
 struct NLP_GraphSolver : NonCopyable {
-  NLP_Solver subSolver;
+  rai::NLP_Solver subSolver;
   arr x, dual;
   std::shared_ptr<NLP_Factored> P;
   rai::OptOptions opt;

robotic/include/rai/Optim/NLP_Solver.h

@@ -12,31 +12,12 @@
 #include "options.h"
 #include "../Core/graph.h"
 
-struct ConstrainedSolver;
-
-enum NLP_SolverID { NLPS_none=-1,
-                    NLPS_gradientDescent, NLPS_rprop, NLPS_LBFGS, NLPS_newton,
-                    NLPS_augmentedLag, NLPS_squaredPenalty, NLPS_logBarrier, NLPS_singleSquaredPenalty,
-                    NLPS_slackGN,
-                    NLPS_NLopt, NLPS_Ipopt, NLPS_Ceres
-                  };
+namespace rai {
 
-enum NLopt_SolverOption { _NLopt_LD_SLSQP,
-                          _NLopt_LD_MMA,
-                          _NLopt_LN_COBYLA,
-                          _NLopt_LD_AUGLAG,
-                          _NLopt_LD_AUGLAG_EQ,
-                          _NLopt_LN_NELDERMEAD,
-                          _NLopt_LD_LBFGS,
-                          _NLopt_LD_TNEWTON,
-                          _NLopt_LD_TNEWTON_RESTART,
-                          _NLopt_LD_TNEWTON_PRECOND,
-                          _NLopt_LD_TNEWTON_PRECOND_RESTART,
-                        };
+struct ConstrainedSolver;
 
 /** User Interface: Meta class to call several different solvers in a unified manner. */
 struct NLP_Solver : NonCopyable {
-  NLP_SolverID solverID=NLPS_augmentedLag;
   arr x, dual; //owner of decision variables, which are passed by reference to lower level solvers
   rai::OptOptions opt; //owner of options, which are passed by reference to lower level solvers
   std::shared_ptr<SolverReturn> ret;
@@ -46,7 +27,7 @@ struct NLP_Solver : NonCopyable {
   NLP_Solver();
   NLP_Solver(const shared_ptr<NLP>& _P, int verbose=-100) { setProblem(_P); if(verbose>-100) opt.verbose=verbose; }
 
-  NLP_Solver& setSolver(NLP_SolverID _solverID) { solverID=_solverID; return *this; }
+  NLP_Solver& setSolver(OptMethod _method) { opt.method=_method; return *this; }
   NLP_Solver& setProblem(const shared_ptr<NLP>& _P);
   NLP_Solver& setOptions(const rai::OptOptions& _opt) { opt = _opt; return *this; }
   NLP_Solver& setInitialization(const arr& _x) { x=_x; return *this; }
@@ -68,6 +49,8 @@ struct NLP_Solver : NonCopyable {
   rai::Graph reportLagrangeGradients(const StringA& featureNames);
   void gnuplot_costs() {
     FILE("z.opt.trace") <<getTrace_costs();
-    gnuplot("plot 'z.opt.trace' us 0:1 t 'sos', '' us 0:2 t 'ineq', '' us 0:3 t 'eq'");
+    gnuplot("plot 'z.opt.trace' us 0:1 t 'f', '' us 0:2 t 'sos', '' us 0:3 t 'ineq', '' us 0:4 t 'eq'");
   }
 };
+
+} //namespace

robotic/include/rai/Optim/constrained.h

@@ -11,6 +11,8 @@
 #include "lagrangian.h"
 #include "newton.h"
 
+namespace rai {
+
 extern const char* MethodName[];
 
 //==============================================================================
@@ -56,3 +58,4 @@ struct PhaseOneProblem : NLP {
   virtual void evaluate(arr& phi, arr& J, const arr& x);
 };
 
+} //namespace

robotic/include/rai/Optim/lagrangian.h

@@ -11,6 +11,8 @@
 #include "NLP.h"
 #include "options.h"
 
+namespace rai {
+
 //==============================================================================
 //
 // LagrangianProblem
@@ -56,3 +58,4 @@ struct LagrangianProblem : ScalarFunction, NLP {
   double hpenalty_dd(double h);
 };
 
+} //namespace

robotic/include/rai/Optim/options.h

@@ -12,7 +12,12 @@
 
 namespace rai {
 
-enum ConstrainedMethodType { noMethod=0, squaredPenalty, augmentedLag, logBarrier, anyTimeAula, squaredPenaltyFixed };
+enum OptMethod { M_none=0,
+		 M_gradientDescent, M_rprop, M_LBFGS, M_newton,
+		 M_augmentedLag, M_squaredPenalty, M_logBarrier, M_singleSquaredPenalty,
+		 M_slackGN,
+		 M_NLopt, M_Ipopt, M_Ceres };
+
 
 struct OptOptions {
   RAI_PARAM("opt/", int, verbose, 1)
@@ -39,7 +44,7 @@ struct OptOptions {
   RAI_PARAM("opt/", double, lambdaMax, -1.)
   RAI_PARAM("opt/", double, interiorPadding, 1e-2)
   RAI_PARAM("opt/", bool,   boundedNewton, true)
-  RAI_PARAM_ENUM("opt/", ConstrainedMethodType, constrainedMethod, augmentedLag)
+  RAI_PARAM_ENUM("opt/", OptMethod, method, M_augmentedLag)
 //  void write(std::ostream& os) const;
 };
 //stdOutPipe(OptOptions)

robotic/include/rai/Optim/primalDual.h

@@ -13,7 +13,7 @@
 #include "lagrangian.h"
 
 struct PrimalDualProblem : ScalarFunction {
-  LagrangianProblem L;
+  rai::LagrangianProblem L;
 
   //duality gap parameter (log barrier parameter) of the primal dual equation system
   double mu;

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev3'
+__version__ = '0.2.8.dev5'

{robotic-0.2.8.dev3.dist-info → robotic-0.2.8.dev5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.2.8.dev3
+Version: 0.2.8.dev5
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev3.dist-info → robotic-0.2.8.dev5.dist-info}/RECORD

@@ -1,10 +1,10 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-robotic/_robotic.pyi,sha256=u2vE6wgidlvf3pZbN4qrluEfa5WQicjW9pKyHOHBfG0,73037
-robotic/_robotic.so,sha256=oUYMkLeKPt0Yl2I-kgy_t83Y6mLVA0yoDt1_8GxanVw,1205984
-robotic/librai.so,sha256=XNl92szEsGOIZpVXuLrQXMkPj4tjNTF0B-jSQ1YGHR4,40175592
+robotic/_robotic.pyi,sha256=n3SGnLZXHD2OAYfdyUs7D_0exUox-4ZOY4Z2g_TrPx4,73626
+robotic/_robotic.so,sha256=FTuHYsuNONdAsUCk78bEf0b5hZGSY-6g6_YeCpwWmmk,1218272
+robotic/librai.so,sha256=W_YrlbvnMsVHG3BrSei6m4sN1A2mVDv-VRWvMdTWOoc,40175496
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=Dssd8R2xExwxcH_Qk7rNfcV8QNTBAYmp6ahfjjDJgY0,52168
+robotic/meshTool,sha256=VjGOnOwgoO0iujNEhKJ8D_AOscHs_mlIWi1tuWoCKVw,48072
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
@@ -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=SW2YeWiPKW-Tot6fpOkpbGAhN4XnTi_t4C0wLP7hIgY,27
+robotic/version.py,sha256=s5KdV62VO2S1RtYm6EQ3img4TW3bs_GI6AGDMl0qS_A,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
@@ -46,10 +46,10 @@ robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owh
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
 robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6KuaiO0Q,25290
-robotic/include/rai/Core/array.ipp,sha256=hdyULakmWOdt6Gi_-4338uzkWbrkw2_eCh-H3nXFwuo,58314
+robotic/include/rai/Core/array.ipp,sha256=ELRBdyAqrIi3taDBe74rjPQRDYp5MwYFn4eYAhwE8EI,58371
 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/graph.h,sha256=YlDZVq5woqF7nYSgqk2hn6ynVPpA4SJakjPic2cjA2c,20534
 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=KhBcYsprUaZXt2BMpsOACoOcmEWLEtOG4WM9Dcooamc,19514
@@ -63,11 +63,12 @@ robotic/include/rai/DataGen/shapenetGrasps.h,sha256=QWv85YMGtW_X9ldKu4eZuoRNdQeI
 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=Lyoy1YbDtrscHZxza6CYXIa_R7aaFmgpHrG3rLpBqTk,14672
-robotic/include/rai/Geo/mesh.h,sha256=gq3K-_TbJbrGMVl8V-n2qB5_vDT88PmKxaxOUGgkBxY,6441
+robotic/include/rai/Geo/geo.h,sha256=qZFXffvHa2sM2JsvvKWkRnlQ59gdD8qvsGyDtXrk_Oo,14715
+robotic/include/rai/Geo/mesh.h,sha256=cmEhGxaTaBc9K2Z7lOjm7ZFzH9teVYA6I_Kr1B3sxlg,6803
 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
+robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
 robotic/include/rai/Geo/stb_image.h,sha256=WnfQN6Iosji-LSuiVLoekjaY6NVnuy7XJnlkRTVR3KA,251786
 robotic/include/rai/Geo/testProblems_Geo.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
 robotic/include/rai/Geo/GJK/gjk.h,sha256=L4vvyYX7RYQLt8003G3ReMRhFu8MWsJZckeI-d7hzLc,15006
@@ -86,7 +87,7 @@ 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=FPN7ApW8SK-MAI5wIoCU8_ezJbJogUMxfhAvK6GSAJ4,4775
+robotic/include/rai/Gui/RenderData.h,sha256=PpNfJ6-k2mPTMv2CemQ8Ki8rPzQWrburopSgtosvb-k,4897
 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
@@ -100,7 +101,7 @@ robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2
 robotic/include/rai/KOMO/skeletonSymbol.h,sha256=mrPqRn_1i4PuqbkQBhKEYc5WPEGqPjBN6TvwZxZ5e7A,1261
 robotic/include/rai/KOMO/splined.h,sha256=G_fu9gXCboJLkwhwu77F6F3Ei6deqzbvkgP8r9kiNL8,903
 robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVPYR1g,1850
-robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=rlVH4U8PeaSLl6hrDApQQnSd4JR5SA-FrA4jETTu9CU,2453
+robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=zpujbYe9Q97Mx_m91LQcPhEW8YVSitzYO_7I8l7M3WI,2882
 robotic/include/rai/Kin/F_LeapCost.h,sha256=wNAUNgAJjLirMurF67BlFLHtjyuXy1EPr--9XLBe6Wk,556
 robotic/include/rai/Kin/F_collisions.h,sha256=Atq9LPVOkEuMF-kSHk78cGjaJYwDIbvrTxHmLBJw3yk,2092
 robotic/include/rai/Kin/F_forces.h,sha256=xUPLO0g3AU0nemQfPqElvt4SuGfqU2pV-7olCVBCkmM,6694
@@ -115,14 +116,14 @@ 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=AU2IosH9FP2KzefWlcwyV5cLF973xG3EYILW2jM_JoY,14338
-robotic/include/rai/Kin/kin.h,sha256=BFZAdY7RRHhBtcjSkZf32EFhJswot1u3mIUn3P13qt4,15547
+robotic/include/rai/Kin/frame.h,sha256=lYP6v7yZodtCQrfVg61H9qwtOsiYab9l7y2BHLOmeXY,14440
+robotic/include/rai/Kin/kin.h,sha256=IBnhAcpn1R6ubXCh1dSac-NBhKZA_i8-GCK7eJBwme4,15610
 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=1zsYTtaZRW1L5l-YiHz7u1dL973XRRbtSQ6wNC6CwCI,5215
+robotic/include/rai/Kin/simulation.h,sha256=rM08Epf72aiI26z2MPE0sZ6CrnNzolzdzZKhKxw5Zn8,5238
 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
@@ -138,19 +139,19 @@ robotic/include/rai/Optim/BayesOpt.h,sha256=GqOqGk5Y0USf513duMPtt--TBYGqujdsvY2q
 robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=WRaTFUrx0A1FO7d7shgZbJVaC5AWKZT5PTD8LnuPXiE,801
 robotic/include/rai/Optim/NLP.h,sha256=rWs2HDuaIQnrz2DZeiCuLjYrENb5mfdUiCcht6dQaus,8195
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
-robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=VE_3t8l-NThDSGFh7FCGxONNXYatzRbZv1HY9lgXF9s,1162
+robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=Wwq4YiU_35Wa0qERa9Pibo4EqzxzJcIYDTSh5Gol9so,1167
 robotic/include/rai/Optim/NLP_Sampler.h,sha256=JaOEc8YJwatW5toOviTFXlOoF3Dg8ZWPM9zejyW9ND8,4643
-robotic/include/rai/Optim/NLP_Solver.h,sha256=vPdZTjTJAX1mjtjLhtgS4jAc2qKGAaO73fyecfepJ3U,3359
+robotic/include/rai/Optim/NLP_Solver.h,sha256=Y07FfnrTjkVldXFU5HJ0SB0pOlGGivQ9k_4vpEM3YoA,2482
 robotic/include/rai/Optim/SlackGaussNewton.h,sha256=b5w2ti8AqqothZtCFevUNSs1Y5dz4LOLBJXZQvoKNmU,1338
-robotic/include/rai/Optim/constrained.h,sha256=62pWGQMt3TK_KvbaAuEpahcNv0cHadoYyEGmrEpN4QE,1446
+robotic/include/rai/Optim/constrained.h,sha256=k5RGe4TurTN4Af_I_jqhYhHpCM4mjvwrhwQK2yfO9ZE,1477
 robotic/include/rai/Optim/gradient.h,sha256=dtpGXdKffzufV3qxOmsp6u9u73pjRUXF0RoD3VbhtyI,1837
-robotic/include/rai/Optim/lagrangian.h,sha256=aG5MJvaZxGeE_Bfufjq4yJbAQZN62j__58WhuMkBHzQ,2377
+robotic/include/rai/Optim/lagrangian.h,sha256=cs0mq6KBTzmMhcEoecsQ1YiGmttWGe-THlx209s8hsI,2408
 robotic/include/rai/Optim/newton.h,sha256=3CLZn80ZOUQfdN3R3qkDVuOke9Tp5fDeRm9p932c2Xk,1150
 robotic/include/rai/Optim/opt-ceres.h,sha256=bB-k-tlIDAh6g0_6Tue8Lc_Tnxol76kIssS_5GQeMVI,960
 robotic/include/rai/Optim/opt-ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
 robotic/include/rai/Optim/opt-nlopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
-robotic/include/rai/Optim/options.h,sha256=YXgBVLacCkJ59fui2gJnYXhjlqNpDS8xcduusXiDnqE,1817
-robotic/include/rai/Optim/primalDual.h,sha256=BNotLDK43sveJ274eNojO_p14d2Fgqes4XEwXnFuJ30,1267
+robotic/include/rai/Optim/options.h,sha256=JSqHw6agqLkvfvw6kd54KHQ6Hz7xZyHeRkWAumYUag0,1876
+robotic/include/rai/Optim/primalDual.h,sha256=xHXhAPbZWPVj17ZGpDr4OrLJLYj_G1Wr_k4TCPFBiHc,1272
 robotic/include/rai/Optim/testProblems_Opt.h,sha256=GBzuiO5lI3tSh9sHzhQuf5bElr3eejFbYHWAXYiUAdg,6532
 robotic/include/rai/Optim/utils.h,sha256=lZcBjPtYl0JDY-DfjYOlOBBR-nRqu67XgYPF6nxfspU,3515
 robotic/include/rai/PathAlgos/ConfigurationProblem.h,sha256=xNtvq0sK9sTtpWd_c8X6yzoYmFkACOvv_9VIRbG6R8s,1311
@@ -397,16 +398,16 @@ 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.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
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