robotic 0.2.8.dev4__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl

robotic-0.3.4.dev5.data/scripts/ry-view

@@ -0,0 +1,46 @@
+#!python
+
+import robotic as ry
+import argparse
+import os
+
+parser = argparse.ArgumentParser(
+    description='View a file (.g .yml .h5 or some mesh file). If config file, you can edit while viewing')
+
+parser.add_argument('FILE', type=str,
+                    help='g-file name')
+parser.add_argument('-v', '--version', action='version',
+                    version=f'%(prog)s -- robotic package version: {ry.__version__}, {ry.compiled()}')
+
+def main():
+    args = parser.parse_args()
+
+    ext = os.path.splitext(args.FILE)[1]
+
+    print('=== viewing file:', args.FILE)
+
+    if ext in ['.g', '.yml']:
+        print('    assuming this is a configuration')
+        try:
+            C = ry.Config()
+            C.watchFile(args.FILE)
+        except KeyboardInterrupt:
+            exit(1)
+
+    elif ext in ['.h5']:
+        print('    assuming this is a h5 object (mesh & decomp & inertia)')
+        C = ry.Config()
+        C.addH5Object('object', args.FILE)
+        print(C.write())
+        C.view(True)
+
+    else:
+        print('    assuming this is a mesh file (using assimp to load)')
+        C = ry.Config()
+        f = C.addFrame('mesh')
+        f.setMeshFile(args.FILE)
+        print(C.write())
+        C.view(True)
+
+if __name__ == "__main__":
+    main()

{robotic-0.2.8.dev4.dist-info → robotic-0.3.4.dev5.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.8.dev4
+Version: 0.3.4.dev5
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -12,6 +12,7 @@ Dynamic: author-email
 Dynamic: description
 Dynamic: description-content-type
 Dynamic: home-page
+Dynamic: license-file
 Dynamic: summary
 
 # Robotic Control Interface & Manipulation Planning Library
@@ -35,8 +36,9 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 * The pip package was compiled for python3.8 .. 3.12, and most of the dependencies statically linked. A few are still loaded dynamically, which requires installing on Ubuntu:
 
-      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip
-      #latest Ubuntu: libglut3.12 and 'cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3'
+      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip
+      #in latest Ubuntu also:
+	  cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
 
 * Pip install:
 
@@ -45,35 +47,30 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 * Tests:
 
       ry-info
-
       ry-test
 
-      python3 -c 'import robotic as ry; ry.test.RndScene()'
-
-      ry-view `python3 -m site --user-site`/robotic/rai-robotModels/scenarios/pandaSingle.g
-
-* Run all tutorial notebooks as a test and showcase (takes long):
+* Run all tutorial notebooks as a test and showcase:
 
       pip install jupyter nbconvert matplotlib ipympl
       git clone https://github.com/MarcToussaint/rai-tutorials.git
       cd rai-tutorials
       make run -j1
+	  make run_demos -j1
 
-* Tested in latest ubuntu docker (using a venv):
+* Test in a clean ubuntu:latest docker (starting with `xhost +local:root && docker run -it --env="DISPLAY" --network host ubuntu:latest`):
 
-      alias sudo=
-      sudo apt install --yes liblapack3 freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
-      cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
-      cd
-      mkdir -p ~/.local
+      apt update
+      env DEBIAN_FRONTEND=noninteractive apt install --yes liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-venv
+      cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
       python3 -m venv ~/.local/venv
       source ~/.local/venv/bin/activate
       pip install robotic numpy
+      ry-info
       ry-test
 
 ## Installation from source with real Franka & realsense support
 
-This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
+This assumes a standard Ubuntu 24.04 (or 22.04, 20.04) machine.
 
 * Install Ubuntu and python packages:
 
@@ -84,7 +81,7 @@ This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
         libx11-dev libglu1-mesa-dev libglfw3-dev libglew-dev freeglut3-dev libpng-dev libassimp-dev \
         python3-dev python3 python3-pip
       
-      python3 -m pip install --user numpy pybind11 pybind11-stubgen
+      python3 -m pip install numpy pybind11 pybind11-stubgen
 
 * Install some external libs by source. You can skip librealsense and
   libfranka if you disable below. (To speed up compilation, e.g., set
@@ -99,14 +96,14 @@ This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
       ./install.sh libann
       ./install.sh physx
       ./install.sh librealsense
-      ./install.sh libfranka  ## for OLD frankas instead:   ./install.sh -v 0.7.1 libfranka
+      ./install.sh libfranka  ## for OLD frankas instead:   ./install.sh -v 0.8.0 libfranka (and you need to patch it...)
 
 * Clone, compile and install this repo (note the USE_REALSENSE and USE_LIBFRANKA options!):
 
       cd $HOME/git
       git clone --recursive https://github.com/MarcToussaint/robotic.git
       cd robotic
-      cp _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
+      cp _make/CMakeLists-ubuntu.txt CMakeLists.txt
       export PY_VERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
       cmake -DPY_VERSION=$PY_VERSION -DUSE_REALSENSE=ON -DUSE_LIBFRANKA=ON . -B build
       make -C build _robotic install
@@ -152,8 +149,8 @@ make wheels
 
 * Outside of docker, install locally with pip or push wheels to pypi
 ```
-python3.8 -m pip install --user dist/robotic-*cp38*.whl --force-reinstall
-python3.10 -m pip install --user dist/robotic-*cp310*.whl --force-reinstall
+python3.8 -m pip install dist/robotic-*cp38*.whl --force-reinstall
+python3.10 -m pip install dist/robotic-*cp310*.whl --force-reinstall
 # or
 twine upload dist/*.whl --repository robotic
 ```
@@ -164,7 +161,7 @@ twine upload dist/*.whl --repository robotic
 
 * Get the binary lib by installing the pip package:
 ```
-python3 -m pip install --user robotic
+python3 -m pip install robotic
 ```
 * Get the sources by cloning this repo recursively:
 ```

robotic-0.3.4.dev5.dist-info/RECORD

@@ -0,0 +1,386 @@
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{robotic-0.2.8.dev4.dist-info → robotic-0.3.4.dev5.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.2)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: false
 Tag: cp311-cp311-linux_x86_64