robotic 0.2.8.dev5__cp38-cp38-manylinux2014_x86_64.whl → 0.2.9.dev1__cp38-cp38-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -363,6 +363,14 @@ class Config:
         """
     def get_viewer(self, window_title: str = None, offscreen: bool = False) -> ...:
         ...
+    def processInertias(self, recomputeInertias: bool = True, transformToDiagInertia: bool = False) -> None:
+        """
+        collect all inertia at root frame of links, optionally reestimate all inertias based on standard surface density, optionally relocate the link frame to the COM with diagonalized I)
+        """
+    def processStructure(self, pruneNamed: bool, pruneNonContactNonMarker: bool, pruneTransparent: bool) -> None:
+        """
+        structurally simplify the Configuration (deleting frames, relinking to minimal tree)
+        """
     def report(self) -> str:
         """
         return a string with basic info (#frames, etc)
@@ -391,10 +399,6 @@ 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
@@ -449,7 +453,7 @@ class Config:
         """
         write the full configuration in a ply mesh file
         """
-    def writeMeshes(self, pathPrefix: ...) -> None:
+    def writeMeshes(self, pathPrefix: ..., copyTextures: bool) -> None:
         """
         write all object meshes in a directory
         """
@@ -724,7 +728,7 @@ class Frame:
         """
     def asDict(self) -> dict:
         ...
-    def computeCompoundInertia(self, clearChildInertias: bool = True) -> Frame:
+    def computeCompoundInertia(self) -> Frame:
         ...
     def convertDecomposedShapeToChildFrames(self) -> Frame:
         ...

robotic/include/rai/Core/graph.h

@@ -133,8 +133,8 @@ struct Graph : NodeL {
   //-- basic node retrieval -- users should use the higher-level wrappers below
   Node* findNode(const char* key, bool recurseUp=false, bool recurseDown=false) const;   ///< returns nullptr if not found
   NodeL findNodes(const char* key, bool recurseUp=false, bool recurseDown=false) const;
-  Node* findNodeOfType(const std::type_info& type, const char* key, bool recurseUp=false, bool recurseDown=false) const;
-  NodeL findNodesOfType(const std::type_info& type, const char* key, bool recurseUp=false, bool recurseDown=false) const;
+  Node* findNodeOfType(const std::type_info& type, const char* key=0, bool recurseUp=false, bool recurseDown=false) const;
+  NodeL findNodesOfType(const std::type_info& type, const char* key=0, bool recurseUp=false, bool recurseDown=false) const;
   NodeL findGraphNodesWithTag(const char* tag) const;
 
   //

robotic/include/rai/Geo/geo.h

@@ -91,7 +91,7 @@ struct Matrix {
 
   double diffZero() const;
 
-  bool isDiagonal() const { return !m01 && !m02 && !m10 && !m12 && !m20 && !m21; }
+  bool isDiagonal() const;
   void deleteOffDiagonal() { m01=m02=m10=m12=m20=m21=0.; }
 
   void write(std::ostream&) const;

robotic/include/rai/Geo/mesh.h

@@ -17,7 +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; };
+struct SharedTextureImage{ byteA img; charA file; uint glBufferID=UINT32_MAX; };
 
 namespace rai {
 
@@ -45,8 +45,6 @@ struct Mesh {
   rai::Transformation glX; ///< transform (only used for drawing! Otherwise use applyOnPoints)  (optional)
 
   int version = 0;
-  long parsing_pos_start;
-  long parsing_pos_end;
 
   uint _support_vertex=0;
   bool isArrayFormatted=false;

robotic/include/rai/Kin/frame.h

@@ -146,8 +146,9 @@ struct Frame : NonCopyable {
 
   //composed object manipulation
   Transformation transformToDiagInertia(bool transformOwnMesh=false);
-  Frame& computeCompoundInertia(bool clearChildInertias=true);
+  Frame& computeCompoundInertia();
   Frame& convertDecomposedShapeToChildFrames();
+  bool standardizeInertias(bool recomputeInertias=true, bool _transformToDiagInertia=false);
 
   //I/O
   void read(const Graph& ats);
@@ -306,7 +307,6 @@ struct Inertia : NonCopyable {
   Frame& frame;
   double mass=0.;
   Matrix matrix=0;
-  Enum<BodyType> type;
   Vector com=0;             ///< its center of mass
 
   Inertia(Frame& f, rai::Inertia* copyInertia=nullptr);

robotic/include/rai/Kin/kin.h

@@ -182,7 +182,8 @@ struct Configuration {
   void reconnectShapesToParents();
   void reconnectLinksToClosestJoints();        ///< re-connect all links to closest joint
   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 processStructure(bool pruneNamed=false, bool pruneNonContactNonMarker=false, bool pruneTransparent=false);        ///< call the three above methods in this order
+  void processInertias(bool recomputeInertias=true, bool transformToDiagInertia=false);
   void sortFrames();
   void makeObjectsFree(const StringA& objects, double H_cost=0.);
   void addTauJoint();
@@ -288,7 +289,7 @@ 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(str pathPrefix="meshes/") const;
+  void writeMeshes(str pathPrefix="meshes/", bool copyTextures=false) const;
   void writeMesh(const char* filename="z.ply") const;
   void read(std::istream& is);
   Graph getGraph() const;

robotic/include/rai/Kin/kin_physx.h

@@ -25,7 +25,7 @@ struct PhysX_Options {
 struct PhysXInterface {
   struct PhysXInterface_self* self=0;
 
-  PhysXInterface(const rai::Configuration& C, int verbose=1, const rai::PhysX_Options* _opt=0);
+  PhysXInterface(rai::Configuration& C, int verbose=1, const rai::PhysX_Options* _opt=0);
   ~PhysXInterface();
 
   void step(double tau=.01);
@@ -40,7 +40,6 @@ struct PhysXInterface {
   void addJoint(rai::Joint* j);
   void removeJoint(rai::Joint* j);
   void postAddObject(rai::Frame* f);
-  void setArticulatedBodiesKinematic(const rai::Configuration& C);
 
   void view(bool pause=false, const char* txt=nullptr);
 

robotic/rai-robotModels/panda/panda_clean.g

@@ -1,45 +1,45 @@
 panda_link0: {  }
-panda_link0_0(panda_link0): { shape: mesh, mesh: <franka_description/meshes/visual/link0.ply>, visual: True }
+panda_link0_0(panda_link0): { shape: mesh, mesh: <franka_description/meshes/visual/link0.ply>, mass: 1., visual: True }
 panda_joint1_origin(panda_link0): { rel: [0, 0, 0.333, 1, 0, 0, 0] }
 panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
 panda_link1(panda_joint1): {  }
-panda_link1_0(panda_link1): { shape: mesh, mesh: <franka_description/meshes/visual/link1.ply>, visual: True }
+panda_link1_0(panda_link1): { shape: mesh, mesh: <franka_description/meshes/visual/link1.ply>, mass: 1., visual: True }
 panda_joint2_origin(panda_link1): { rel: [0, 0, 0, 0.707107, -0.707107, 0, 0] }
 panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
 panda_link2(panda_joint2): {  }
-panda_link2_0(panda_link2): { shape: mesh, mesh: <franka_description/meshes/visual/link2.ply>, visual: True }
+panda_link2_0(panda_link2): { shape: mesh, mesh: <franka_description/meshes/visual/link2.ply>, mass: 1., visual: True }
 panda_joint3_origin(panda_link2): { rel: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] }
 panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
 panda_link3(panda_joint3): {  }
-panda_link3_0(panda_link3): { shape: mesh, mesh: <franka_description/meshes/visual/link3.ply>, visual: True }
+panda_link3_0(panda_link3): { shape: mesh, mesh: <franka_description/meshes/visual/link3.ply>, mass: 1., visual: True }
 panda_joint4_origin(panda_link3): { rel: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] }
 panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
 panda_link4(panda_joint4): {  }
-panda_link4_0(panda_link4): { shape: mesh, mesh: <franka_description/meshes/visual/link4.ply>, visual: True }
+panda_link4_0(panda_link4): { shape: mesh, mesh: <franka_description/meshes/visual/link4.ply>, mass: 1., visual: True }
 panda_joint5_origin(panda_link4): { rel: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] }
 panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
 panda_link5(panda_joint5): {  }
-panda_link5_0(panda_link5): { shape: mesh, mesh: <franka_description/meshes/visual/link5.ply>, visual: True }
+panda_link5_0(panda_link5): { shape: mesh, mesh: <franka_description/meshes/visual/link5.ply>, mass: 1., visual: True }
 panda_joint6_origin(panda_link5): { rel: [0, 0, 0, 0.707107, 0.707107, 0, 0] }
 panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
 panda_link6(panda_joint6): {  }
-panda_link6_0(panda_link6): { shape: mesh, mesh: <franka_description/meshes/visual/link6.ply>, visual: True }
+panda_link6_0(panda_link6): { shape: mesh, mesh: <franka_description/meshes/visual/link6.ply>, mass: 1., visual: True }
 panda_joint7_origin(panda_link6): { rel: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] }
 panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
 panda_link7(panda_joint7): {  }
-panda_link7_0(panda_link7): { shape: mesh, mesh: <franka_description/meshes/visual/link7.ply>, visual: True }
+panda_link7_0(panda_link7): { shape: mesh, mesh: <franka_description/meshes/visual/link7.ply>, mass: 1., visual: True }
 panda_joint8_origin(panda_link7): { rel: [0, 0, 0.107, 1, 0, 0, 0] }
 panda_joint8(panda_joint8_origin): { joint: rigid }
 panda_link8(panda_joint8): {  }
 panda_hand_joint_origin(panda_link8): { rel: [0, 0, 0, 0.92388, 0, 0, -0.382683] }
 panda_hand_joint(panda_hand_joint_origin): { joint: rigid }
 panda_hand(panda_hand_joint): {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, visual: True }
+panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, mass: .1, visual: True }
 panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
 panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
 panda_leftfinger(panda_finger_joint1): {  }
 panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
+panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
+panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }

robotic/rai-robotModels/ranger/meshes/cleanMeshes.mlx

@@ -0,0 +1,23 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Merge Close Vertices">
+  <Param tooltip="All the vertices that closer than this threshold are merged together. Use very small values, default values is 1/10000 of bounding box diagonal. " type="RichAbsPerc" description="Merging distance" min="0" value="0.001" name="Threshold" max="0.00938277"/>
+ </filter>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+ <filter name="Simplification: Quadric Edge Collapse Decimation">
+  <Param tooltip="The desired final number of faces." type="RichInt" description="Target number of faces" value="20000" name="TargetFaceNum"/>
+  <Param tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial size." type="RichFloat" description="Percentage reduction (0..1)" value="0" name="TargetPerc"/>
+  <Param tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5  penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" type="RichFloat" description="Quality threshold" value="0.3" name="QualityThr"/>
+  <Param tooltip="The simplification process tries to do not affect mesh boundaries during simplification" type="RichBool" description="Preserve Boundary of the mesh" value="false" name="PreserveBoundary"/>
+  <Param tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " type="RichFloat" description="Boundary Preserving Weight" value="1" name="BoundaryWeight"/>
+  <Param tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" type="RichBool" description="Preserve Normal" value="false" name="PreserveNormal"/>
+  <Param tooltip="Avoid all the collapses that should cause a topology change in the mesh (like closing holes, squeezing handles, etc). If checked the genus of the mesh should stay unchanged." type="RichBool" description="Preserve Topology" value="false" name="PreserveTopology"/>
+  <Param tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " type="RichBool" description="Optimal position of simplified vertices" value="true" name="OptimalPlacement"/>
+  <Param tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh, as a side effect, more triangles will be preserved in flat areas (allowing better shaped triangles)." type="RichBool" description="Planar Simplification" value="false" name="PlanarQuadric"/>
+  <Param tooltip="How much we should try to preserve the triangles in the planar regions. If you lower this value planar areas will be simplified more." type="RichFloat" description="Planar Simp. Weight" value="0.001" name="PlanarWeight"/>
+  <Param tooltip="Use the Per-Vertex quality as a weighting factor for the simplification. The weight is used as a error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified." type="RichBool" description="Weighted Simplification" value="false" name="QualityWeight"/>
+  <Param tooltip="After the simplification an additional set of steps is performed to clean the mesh (unreferenced vertices, bad faces, etc)" type="RichBool" description="Post-simplification cleaning" value="true" name="AutoClean"/>
+  <Param tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" type="RichBool" description="Simplify only selected faces" value="false" name="Selected"/>
+ </filter>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+</FilterScript>

robotic/rai-robotModels/ranger/meshes/cleanMeshes.sh

@@ -0,0 +1,8 @@
+for file in *.dae
+do
+    cmd="meshlabserver -i $file -o ${file%.*}.ply -s cleanMeshes.mlx -om"
+    echo $cmd
+    $cmd
+done
+
+# meshlabserver -i upper_forearm/W0.STL -o upper_forearm/W0.ply -s cleanMeshes.mlx -om

robotic/rai-robotModels/ranger/ranger.g

@@ -0,0 +1,33 @@
+## create standard base frame before including
+
+ranger_base { multibody: true, multibody_gravity: false }
+
+ranger_transX(ranger_base) { joint: transX, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+ranger_transY(ranger_transX) { joint: transY, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+#ranger_rot(ranger_trans) { joint: hingeZ, limits: [-5 5] }
+#ranger_rot(ranger_trans) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
+ranger_rot(ranger_transY) { }
+
+Prefix: ranger_
+Include: <ranger_clean.g>
+Prefix!
+
+ranger_coll(ranger_base_link) { Q:[0, 0, -.14], shape: ssBox, size: [.75, .5, .3, .05], color:[1.,1.,1.,.5], contact: 1 }
+
+Edit ranger_fr_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_fl_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_br_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_bl_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_base_link_0: { color:[.9] }
+
+Edit ranger_base_link(ranger_rot): { Q:[0, 0, .315], mass: 20 }
+
+Edit ranger_fr_joint: { limits: [-3, 3] },
+Edit ranger_fl_joint: { limits: [-3, 3] },
+Edit ranger_br_joint: { limits: [-3, 3] },
+Edit ranger_bl_joint: { limits: [-3, 3] },
+        
+Edit ranger_fr_joint: { joint: none },
+Edit ranger_fl_joint: { joint: none },
+Edit ranger_br_joint: { joint: none },
+Edit ranger_bl_joint: { joint: none },

robotic/rai-robotModels/ranger/ranger_clean.g

@@ -0,0 +1,18 @@
+base_link: { mass: 0.162716, inertia: [0.0007237, -1.55745e-08, -3.42379e-12, 0.000744047, 2.24935e-07, 2.14413e-05] },
+base_link_0(base_link): { Q: [0, 0, 0, 0.000796327, 1, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.ply>, visual: True },
+fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
+fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
+bl_joint_origin(base_link): { Q: [-0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+fr_joint(fr_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fl_joint(fl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+br_joint(br_joint_origin): { joint: hingeZ, joint_scale: -1 },
+bl_joint(bl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fr_Link(fr_joint): { mass: 2.2786, inertia: [0.0063625, -1.0581e-07, -4.0831e-07, 0.006363, -3.4944e-08, 0.010465] },
+fl_Link(fl_joint): { mass: 2.2786, inertia: [0.0063695, -2.1067e-08, -0.00016867, 0.006363, -1.0301e-08, 0.010458] },
+br_Link(br_joint): { mass: 2.2786, inertia: [0.0063627, -2.1069e-08, -1.587e-05, 0.006363, 9.3201e-09, 0.010465] },
+bl_Link(bl_joint): { mass: 2.2786, inertia: [0.0063656, -8.1498e-08, -0.00011049, 0.006363, 6.6847e-08, 0.010462] },
+fr_Link_0(fr_Link): { Q: [-0.248, -0.113, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
+fl_Link_0(fl_Link): { Q: [-0.248, 0.1265, 0.191, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True },
+br_Link_0(br_Link): { Q: [-0.241, -0.11, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
+bl_Link_0(bl_Link): { Q: [-0.241, 0.13, 0.2, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True }

robotic/ry-h5info

@@ -10,7 +10,11 @@ parser.add_argument('FILE', type=str,
 
 def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
-        print('   ', name, obj.name, obj.shape, obj.dtype)
+        print('   ', name, obj.name, obj.shape, obj.dtype, f'{obj.size*obj.dtype.itemsize/1024:.2f}kB')
+        if obj.dtype=='int8':
+            print(''.join([chr(x) for x in obj[()]]))
+        elif obj.size<20:
+            print(obj[()])
     else:
         print('---', name)
 

robotic/ry-test

@@ -16,7 +16,7 @@ q0 = C.getJointState()
 qT = q0
 qT[0] += 1.
 
-sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=1) #try verbose=2
+sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
 [X, q, V, qDot] = sim.getState()
 

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev5'
+__version__ = '0.2.9.dev1'

{robotic-0.2.8.dev5.data → robotic-0.2.9.dev1.data}/scripts/ry-h5info

@@ -10,7 +10,11 @@ parser.add_argument('FILE', type=str,
 
 def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
-        print('   ', name, obj.name, obj.shape, obj.dtype)
+        print('   ', name, obj.name, obj.shape, obj.dtype, f'{obj.size*obj.dtype.itemsize/1024:.2f}kB')
+        if obj.dtype=='int8':
+            print(''.join([chr(x) for x in obj[()]]))
+        elif obj.size<20:
+            print(obj[()])
     else:
         print('---', name)
 

{robotic-0.2.8.dev5.data → robotic-0.2.9.dev1.data}/scripts/ry-test

@@ -16,7 +16,7 @@ q0 = C.getJointState()
 qT = q0
 qT[0] += 1.
 
-sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=1) #try verbose=2
+sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
 [X, q, V, qDot] = sim.getState()
 

{robotic-0.2.8.dev5.dist-info → robotic-0.2.9.dev1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.2.8.dev5
+Version: 0.2.9.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev5.dist-info → robotic-0.2.9.dev1.dist-info}/RECORD

@@ -1,22 +1,23 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
-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/_robotic.pyi,sha256=ciAMUYT5hlp9mtKZz4V9T-82HkWmE0AzmcR5j7rahb8,73943
+robotic/_robotic.so,sha256=dUYJIF1q1232JiHQrngPsxROJDOIgKMAiIgzutiXJK8,1218272
+robotic/import.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+robotic/librai.so,sha256=W5eJcwygHdbcPCfKWLwr9-JuPMo-i7rW-F5SQpr3Ilk,38845120
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=VjGOnOwgoO0iujNEhKJ8D_AOscHs_mlIWi1tuWoCKVw,48072
+robotic/meshTool,sha256=tjJPwrNrLVjiINI1yKBEKQgJE_zpq-pBtUX1rb-LUN4,48072
 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,sha256=YrkBvLAadxAgTmx0hlcm9h_KXy-KaNV_zp4raSXXdYY,620
+robotic/ry-h5info,sha256=TivZP5k6Xj0oihWO4cCQQ8wS-dGH5hUMkRQ5nBeu_iE,802
 robotic/ry-info,sha256=GRj4oMCgTCGRF2wxtYxiFvETROB92rwwtUFb6S_Eo7g,439
 robotic/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic/ry-test,sha256=JZJ_h4NxLkkkrcV9IYdXzYHn9eEZDPFPBAzo1jIv278,976
+robotic/ry-test,sha256=yikBKckTos-lPTcazB5zCssW0H9qIj1-QPlRL39gQgs,981
 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=s5KdV62VO2S1RtYm6EQ3img4TW3bs_GI6AGDMl0qS_A,27
+robotic/version.py,sha256=ZnQmjVEmjmcgJEt_FqINJpnrHFupuBkYtD_UBEE_t9w,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
@@ -49,7 +50,7 @@ robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6Kuai
 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=YlDZVq5woqF7nYSgqk2hn6ynVPpA4SJakjPic2cjA2c,20534
+robotic/include/rai/Core/graph.h,sha256=x96tKYig_NpN4RxArNjvuQhcNx-EBfjZhJXJktClIuM,20538
 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
@@ -63,8 +64,8 @@ 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=qZFXffvHa2sM2JsvvKWkRnlQ59gdD8qvsGyDtXrk_Oo,14715
-robotic/include/rai/Geo/mesh.h,sha256=cmEhGxaTaBc9K2Z7lOjm7ZFzH9teVYA6I_Kr1B3sxlg,6803
+robotic/include/rai/Geo/geo.h,sha256=J4EgOUXRyPzwbaTJBesR8xHOQxG4-w8X7j2ppnoihro,14659
+robotic/include/rai/Geo/mesh.h,sha256=g_4mfHRP2d5ypqy990eU-u9xo1YvOWepQZDC7XI0MwE,6765
 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
@@ -116,12 +117,12 @@ 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=lYP6v7yZodtCQrfVg61H9qwtOsiYab9l7y2BHLOmeXY,14440
-robotic/include/rai/Kin/kin.h,sha256=IBnhAcpn1R6ubXCh1dSac-NBhKZA_i8-GCK7eJBwme4,15610
+robotic/include/rai/Kin/frame.h,sha256=ckmsEuTZEuqS8lMsvJCy0fQv9AuxrcZJPHurmLoQ57w,14482
+robotic/include/rai/Kin/kin.h,sha256=0c2QXQeiH4NC2B_BBTaBrAGrZLe2lkxJw3IqW205vFA,15731
 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/kin_physx.h,sha256=yVNvg-fh0-mbpSlhU2Jc74TM5cTqNnXHRQyhQ8OVhas,1798
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
 robotic/include/rai/Kin/simulation.h,sha256=rM08Epf72aiI26z2MPE0sZ6CrnNzolzdzZKhKxw5Zn8,5238
 robotic/include/rai/Kin/viewer.h,sha256=GzObhDzEnIBYH0Yu_wCX8Cm2GAN5wuk-El09b2Vy_8w,2031
@@ -280,7 +281,7 @@ robotic/rai-robotModels/objects/kitchen.g,sha256=PLi7un2u3I29Mcngc08-9J3ocTU_c5T
 robotic/rai-robotModels/objects/shelf.g,sha256=9_CH-LPhcvShNxmqOueMckNK70uWeRdkSFfanvp4z-w,817
 robotic/rai-robotModels/objects/tables.g,sha256=z9GifBjAaCbu3Y2ISmzhVyU9_mw2NlR87eAyj0vNYnI,455
 robotic/rai-robotModels/panda/panda.g,sha256=AKF2C2mQ8KNUcU4QJQY6Zb_cXnT4LI6jlB2baYOrxs8,2667
-robotic/rai-robotModels/panda/panda_clean.g,sha256=yqS8MZp38LCy3ZW2JDgXeifeDwu4-ApDYj5kDhfYDL4,3818
+robotic/rai-robotModels/panda/panda_clean.g,sha256=3lS3EOq9JYCXxA3gxj9bUS9q-wjG81pvcH-tdlPGeLE,3930
 robotic/rai-robotModels/panda/panda_deformable.g,sha256=DvkhnJYSXc1S_GRBM3iJOm6WovKYrsckzAW-rXxLqH8,6037
 robotic/rai-robotModels/panda/panda_gripper.g,sha256=WNEaU06yEJJGOVTsyS4l6ztTsteqgecqTgf1JWqinGI,943
 robotic/rai-robotModels/panda/panda_withoutCollisionModels.g,sha256=RPJawK8POmG_Hyc92XcprQbFArEryQWM8O6IB5zcSYQ,278
@@ -347,6 +348,13 @@ robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/elbow_flex.ply,s
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/forearm_roll.ply,sha256=tm0QfQgssjev648wWCbrVDodi1hMgi9kfBfCed6TPJM,19230
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/forearm_roll_L.ply,sha256=yykffZwhCqhqAG2sQi2hwiNBzfzeXBjxL2fr7YcWq5U,4459
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/upper_arm.ply,sha256=39sYPJsVZNWelcC4yX12toVRtQC3KKS1CMyyQNmNSUg,33860
+robotic/rai-robotModels/ranger/ranger.g,sha256=FFnALDKjUHIFh8qBMgjGSENlxqgwhGdXca2QeinaSkQ,1331
+robotic/rai-robotModels/ranger/ranger_clean.g,sha256=uvTXQ3Dp9DeZqNGVqst4i0FwaZpgxEDVuWOxYJEPpnc,2106
+robotic/rai-robotModels/ranger/meshes/cleanMeshes.mlx,sha256=owTpbxCg0SWiXs_xR5TrvsPZ0tcE38XyJh7_J6_fIkc,4155
+robotic/rai-robotModels/ranger/meshes/cleanMeshes.sh,sha256=JK8w118AZQl0GiN873DNZsNfB6Q61gsW3qnTcmREaQQ,211
+robotic/rai-robotModels/ranger/meshes/ranger_mini3.ply,sha256=OUhhCPG4dFCrpa-O95bbJ8E-wx-Gu8fGrjGgq2ZS91o,332381
+robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel.ply,sha256=W8__YI0o8dCDLKnPNfkOReN4ThCKhAOqqFKYxogR8bc,377953
+robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel_right.ply,sha256=s0IUxZqvsZmCNkXUXrtUT7bv5V38sRXczVTPiAnmwD8,376946
 robotic/rai-robotModels/robotiq/robotiq.g,sha256=C74qu9Ca7F1uNtSxyhQ9Er7g9XB1SVdoFrqihbI-NRU,1057
 robotic/rai-robotModels/robotiq/robotiq_clean.g,sha256=s1QwMa1s-Y29aB70IUfuK0s96gxnIUhTzvQZ31pvld8,3737
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_base_link.ply,sha256=Wsp8wg1vwELn1rUAAn3tosY9a6uLUy3C96OVoOtzB9k,299782
@@ -398,16 +406,16 @@ 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.dev5.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.2.8.dev5.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
-robotic-0.2.8.dev5.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.2.8.dev5.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.2.8.dev5.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
-robotic-0.2.8.dev5.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.8.dev5.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
-robotic-0.2.8.dev5.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.2.8.dev5.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.2.8.dev5.dist-info/METADATA,sha256=f-G4aCdTj47okUlEs2agCfbv0QyZ3SYYdnbQoO6xuhU,6565
-robotic-0.2.8.dev5.dist-info/WHEEL,sha256=QjksN8yqvEZiPRpkysvFl_zIoTPrHYtCPi208j7yd3I,102
-robotic-0.2.8.dev5.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.8.dev5.dist-info/RECORD,,
+robotic-0.2.9.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.2.9.dev1.data/scripts/ry-h5info,sha256=1qurqBvr2WEM23TZnqNY7tCoAQYrmuRCfr4S3JnsjQI,788
+robotic-0.2.9.dev1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.2.9.dev1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.2.9.dev1.data/scripts/ry-test,sha256=wM2TpyuPGCVtulIi3ux7Okc2beiljTH29lsETCLEKq8,967
+robotic-0.2.9.dev1.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
+robotic-0.2.9.dev1.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
+robotic-0.2.9.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.2.9.dev1.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.2.9.dev1.dist-info/METADATA,sha256=CoXZDFmi3CtscAU_QJX3jEqcjsQyNBdgFZvC9PSdcNY,6565
+robotic-0.2.9.dev1.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
+robotic-0.2.9.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.2.9.dev1.dist-info/RECORD,,

{robotic-0.2.8.dev5.dist-info → robotic-0.2.9.dev1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.3.0)
+Generator: setuptools (75.3.2)
 Root-Is-Purelib: false
 Tag: cp38-cp38-linux_x86_64