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

{robotic-0.2.9.dev1.dist-info → robotic-0.3.4.dev5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.9.dev1
+Version: 0.3.4.dev5
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -36,8 +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:
 
@@ -46,35 +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:
 
@@ -85,7 +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
@@ -100,14 +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
@@ -153,8 +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
 ```
@@ -165,7 +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

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+robotic-0.3.4.dev5.dist-info/METADATA,sha256=9NY11KrQOZUXVQ-8bOzFecXERQMcxON0l_UySiIXkrM,6663
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{robotic-0.2.9.dev1.dist-info → robotic-0.3.4.dev5.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (77.0.3)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: false
 Tag: cp311-cp311-linux_x86_64
 

robotic/nlp.py

@@ -1,113 +0,0 @@
-import numpy as np
-
-class OT():
-    f = 0
-    sos = 1
-    ineq = 2
-    eq = 3
-
-class NLP():
-    """
-    Non-Linear Mathematical Program
-
-    min_x  1^T phi_f(x) + phi_sos(x)^T phi_sos(x)
-    s.t.     phi_eq(x) = 0
-             phi_ineq(x) <= 0
-             B[0] <= x <= B[1]
-
-    where:
-    x is a continous variable, in vector space R^n
-    phi_f is a vector of cost terms
-    phi_sos is a vector of least cost terms
-    phi_eq is a vector of equality constraints
-    phi_ineq is a vector of inequality constraints
-    B[0] and B[1] in R^n are, respectively, the lower and upper box bounds
-    """
-
-    def __init__(self, *args, **kwargs):
-        pass
-
-    def evaluate(self, x):
-        """
-        query the NLP at a point x; returns the tuple (phi,J), which is
-        the feature vector and its Jacobian; features define cost terms,
-        sum-of-square (sos) terms, inequalities, and equalities depending
-        on 'getFeatureTypes'.
-
-        If the returned Jacobian has 3 columns and #rows non-equal to
-        dim(phi) it should be interpreted by solvers as sparse in
-        triplet format; the C++ solvers exploit such sparse Jacobians,
-        e.g., to efficiently compute Gauss-Newton steps.
-
-        Parameters
-        ------
-        x: np.array, 1-D
-
-        Returns
-        ------
-        phi: np.array 1-D
-        J: np.array 2-D.  J[i,j] is derivative of feature i w.r.t variable j, potentially sparse
-        """
-        raise NotImplementedError()
-
-    def getDimension(self):
-        """
-        Returns
-        -----
-        output: dimensionality of x
-        """
-        raise NotImplementedError()
-
-    def getFeatureTypes(self):
-        """
-        Returns
-        -----
-        output: list of feature Types
-        """
-        return NotImplementedError()
-
-    def getBounds(self):
-        """
-        returns 2-times-n array, where n is the dimensionality of x
-        B[0] is the lower and B[1] the upper bounds, so that B[0] <= x <= B[1]
-
-        Returns
-        ------
-        B: np.array 2D (2-times-n)
-        """
-        n = self.getDimension()
-        return np.tile([[-1.], [+1.]], (1,n))
-
-    def getFHessian(self, x):
-        """
-        Optionally returns a Hessian of the sum of all phi_f objectives
-        The Hessian is by default approximated Gauss-Newton w.r.t. the phi_sos objectives; this
-        method allows to return an explicit Hessian also for phi_f objectives that is added to the
-        Gauss-Newton of phi_sos objectives. Needs to be sparse if $J$ is sparse. Default: empty array (zero).
-
-        Returns
-        -----
-        Hessian: np.array 2D, potentially sparse
-        """
-        return []
-
-    def getInitializationSample(self):
-        """
-        returns a sample to initialize an optimization, not necessarily feasible. Default: uniform within bounds
-
-        Returns
-        -----
-        x:  np.array 1-D
-        """
-        bounds = self.getBounds()
-        return np.random.uniform(low=bounds[0,:], high=bounds[1,:])
-
-    def report(self, verbose):
-        """
-        displays semantic information on the last query. Default: empty string
-
-        Returns
-        ----
-        output: string
-        """
-        return ''