robotic 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -48,10 +48,18 @@ class ShapenetGrasps:
         """
     def getConfig(self) -> _robotic.Config:
         ...
+    def getEvalGripperPoses(self) -> arr:
+        """
+        return the relative gripper after each motion phase: esp. poses[1] (after closing fingers) is interesting; the later ones allow you to estimate relative motion yourself)
+        """
     def getPointCloud(self) -> arr:
         """
         (direct interface) return pcl of loaded object
         """
+    def getPointNormals(self) -> arr:
+        """
+        (direct interface) return point normals of the pcl of loaded object
+        """
     def getSamples(self, nSamples: int) -> tuple[arr, uintA, arr]:
         """
         (batch interface) return three arrays: samples X, contexts Z, scores S (each row are scores for one sample - see evaluateSamples)
@@ -60,11 +68,13 @@ class ShapenetGrasps:
         """
         (direct interface) clear scene and load object and gripper
         """
+    def resetObjectPose(self, idx: int = 0, rndOrientation: bool = True) -> None:
+        ...
     def sampleGraspPose(self) -> arr:
         """
         (direct interface) return (relative) pose of random sampled grasp candidate
         """
-    def setGraspPose(self, pose: arr, objPts: str = 'objPts0') -> None:
+    def setGraspPose(self, pose: arr, objPts: str = 'obj0_pts') -> None:
         """
         (direct interface) set (relative) pose of grasp candidate
         """

robotic/__init__.py

@@ -9,5 +9,12 @@ from .version import __version__
 
 from .manipulation import KOMO_ManipulationHelper
 
+#from .src.mujoco_io import MujocoLoader
+#from .src.config_urdf import URDFLoader
+#from .src.mesh_helper import MeshHelper
+
+
 import os
-setRaiPath( os.path.abspath(os.path.dirname(__file__)) + '/rai-robotModels' )
+rai_path = os.path.abspath(os.path.dirname(__file__)) + '/rai-robotModels'
+os.environ["RAI_PATH"] = rai_path
+setRaiPath( rai_path )