robotic 0.2.8.dev5__cp39-cp39-manylinux2014_x86_64.whl → 0.2.9__cp39-cp39-manylinux2014_x86_64.whl

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/version.py

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

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

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.8.dev5
+Version: 0.2.9
 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.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=n3SGnLZXHD2OAYfdyUs7D_0exUox-4ZOY4Z2g_TrPx4,73626
-robotic/_robotic.so,sha256=mCg3phHdqvAUD3b4L9GeRyybRuEYcuvBmA1ORb-xpnw,1218304
-robotic/librai.so,sha256=W_YrlbvnMsVHG3BrSei6m4sN1A2mVDv-VRWvMdTWOoc,40175496
+robotic/_robotic.so,sha256=N6QBsyo9EjWBxZKqn5esHBY59wMyy-BIjBv5KWWudow,1218304
+robotic/librai.so,sha256=0HQ3yE2-SI33rTLRc_NtLe2kcI_HCNIPHuPU5zyRiFM,40175496
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
 robotic/meshTool,sha256=VjGOnOwgoO0iujNEhKJ8D_AOscHs_mlIWi1tuWoCKVw,48072
 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=s5KdV62VO2S1RtYm6EQ3img4TW3bs_GI6AGDMl0qS_A,27
+robotic/version.py,sha256=bd8hlxKMc0Fh_2w5GWfqBtuwa8uTepTMjT8w7F-EKvY,22
 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
@@ -347,6 +347,13 @@ 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 +405,16 @@ 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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