robotic 0.2.9.dev2__cp312-cp312-manylinux2014_x86_64.whl → 0.3.0__cp312-cp312-manylinux2014_x86_64.whl

robotic/rai-robotModels/ur10/ur10_clean.g

@@ -1,32 +1,32 @@
 world: {  }
-world_joint_origin(world): { rel: [0, 0, 1, 1, 0, 0, 0] }
+world_joint_origin(world): { pose: [0, 0, 1, 1, 0, 0, 0] }
 world_joint(world_joint_origin): { joint: rigid }
 base_link(world_joint): { mass: 4, inertia: [0.00610633, 0.00610633, 0.01125] }
 base_link_0(base_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Base.dae>, visual: True }
-shoulder_pan_joint_origin(base_link): { rel: [0, 0, 0.1273, 1, 0, 0, 0] }
+shoulder_pan_joint_origin(base_link): { pose: [0, 0, 0.1273, 1, 0, 0, 0] }
 shoulder_pan_joint(shoulder_pan_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319, 2.16, -1, 330], ctrl_limits: [2.16, -1, 330] }
 shoulder_link(shoulder_pan_joint): { mass: 7.778, inertia: [0.0314743, 0.0314743, 0.0218756] }
 shoulder_link_0(shoulder_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Shoulder.dae>, visual: True }
-shoulder_lift_joint_origin(shoulder_link): { rel: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] }
+shoulder_lift_joint_origin(shoulder_link): { pose: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] }
 shoulder_lift_joint(shoulder_lift_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 2.16, -1, 330], ctrl_limits: [2.16, -1, 330] }
 upper_arm_link(shoulder_lift_joint): { mass: 12.93, inertia: [0.421754, 0.421754, 0.0363656] }
 upper_arm_link_0(upper_arm_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/UpperArm.dae>, visual: True }
-elbow_joint_origin(upper_arm_link): { rel: [0, -0.1719, 0.612, 1, 0, 0, 0] }
+elbow_joint_origin(upper_arm_link): { pose: [0, -0.1719, 0.612, 1, 0, 0, 0] }
 elbow_joint(elbow_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.15, -1, 150], ctrl_limits: [3.15, -1, 150] }
 forearm_link(elbow_joint): { mass: 3.87, inertia: [0.11107, 0.11107, 0.0108844] }
 forearm_link_0(forearm_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Forearm.dae>, visual: True }
-wrist_1_joint_origin(forearm_link): { rel: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] }
+wrist_1_joint_origin(forearm_link): { pose: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] }
 wrist_1_joint(wrist_1_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_1_link(wrist_1_joint): { mass: 1.96, inertia: [0.00510825, 0.00510825, 0.0055125] }
 wrist_1_link_0(wrist_1_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist1.dae>, visual: True }
-wrist_2_joint_origin(wrist_1_link): { rel: [0, 0.1149, 0, 1, 0, 0, 0] }
+wrist_2_joint_origin(wrist_1_link): { pose: [0, 0.1149, 0, 1, 0, 0, 0] }
 wrist_2_joint(wrist_2_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_2_link(wrist_2_joint): { mass: 1.96, inertia: [0.00510825, 0.00510825, 0.0055125] }
 wrist_2_link_0(wrist_2_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist2.dae>, visual: True }
-wrist_3_joint_origin(wrist_2_link): { rel: [0, 0, 0.1157, 1, 0, 0, 0] }
+wrist_3_joint_origin(wrist_2_link): { pose: [0, 0, 0.1157, 1, 0, 0, 0] }
 wrist_3_joint(wrist_3_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_3_link(wrist_3_joint): { mass: 0.202, inertia: [0.000526462, 0.000526462, 0.000568125] }
 wrist_3_link_0(wrist_3_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist3.dae>, visual: True }
-ee_fixed_joint_origin(wrist_3_link): { rel: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] }
+ee_fixed_joint_origin(wrist_3_link): { pose: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] }
 ee_fixed_joint(ee_fixed_joint_origin): { joint: rigid }
 ee_link(ee_fixed_joint): {  }

robotic/ry-h5info

@@ -12,9 +12,9 @@ def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
         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[()]]))
+            print('       ', ''.join([chr(x) for x in obj[()]]))
         elif obj.size<20:
-            print(obj[()])
+            print('       ', obj[()])
     else:
         print('---', name)
 

robotic/ry-urdfConvert.py

@@ -16,6 +16,7 @@ parser.add_argument('file', type=str, help='urdf file', nargs='?', default='none
 
 parser.add_argument('-view', help='view mesh', action="store_true", default=True)
 parser.add_argument('-flipDaeYZ', help='view mesh', action="store_true", default=False)
+parser.add_argument('-pruneRigidJoints', help='view mesh', action="store_true")
 parser.add_argument('-recomputeInertias', help='view mesh', action="store_true")
 parser.add_argument('-processMeshes', help='view mesh', action="store_true", default=True)
 parser.add_argument('-meshlab', help='apply meshlab filters', action="store_true", default=False)
@@ -39,9 +40,9 @@ def main():
 
     C = ry.URDFLoader(args.file, visualsOnly=True, meshPathRemove='package://').C
 
-    C.processStructure(False, True, False, False)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
     C.processInertias(args.recomputeInertias)
-    C.processStructure(False, True, False, False)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
 
     os.system('rm -Rf meshes/')
     C.writeMeshes('meshes/', copyTextures=True)

robotic/src/meshlabFilters.mlx

@@ -0,0 +1,20 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <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/src/{config_mujoco.py → mujoco_io.py}

@@ -7,8 +7,11 @@ from copy import copy
 
 class MujocoLoader():
 
-    def __init__(self, file, visualsOnly=True):
+    def __init__(self, file, visualsOnly=True, defaultConType='0', basePos=[0,0,0], baseQuat=[0,0,0,1]):
+        ry.params_add({'cd_into_mesh_files': False})
+
         self.visualsOnly = visualsOnly
+        self.defaultConType = defaultConType
         self.debug_counter = 0
         self.muj2rai_joint_map = {
             '1 0 0': ry.JT.hingeX,
@@ -32,7 +35,8 @@ class MujocoLoader():
         self.C = ry.Config()
         self.base = self.C.addFrame('base')
         self.base.addAttributes({'multibody':True})
-        self.base.setQuaternion([0,0,0,1])
+        self.base.setPosition(basePos)
+        self.base.setQuaternion(baseQuat)
         self.add_node(root, self.base, path, 0)
 
     def as_floats(self, input_string):
@@ -104,7 +108,7 @@ class MujocoLoader():
         for i, joint in enumerate(body.findall('./joint')):
             axis = joint.attrib.get('axis', None)
             limits = joint.attrib.get('range', None)
-            joint_name = joint.attrib.get('name', f'{body_name}_joint{i*'_'}')
+            joint_name = joint.attrib.get('name', f'{body_name}_joint{i*"_"}')
             f_origin = self.C.addFrame(f'{joint_name}_origin')
             f_origin.setParent(f_body)
             self.setRelativePose(f_origin, joint.attrib)
@@ -145,7 +149,7 @@ class MujocoLoader():
             f_body.setParent(f_parent, True)
 
         for i, geom in enumerate(body.findall('./geom')):
-            isColl = ('contype' in geom.attrib and geom.attrib.get('contype', '')!='0') or 'col' in geom.attrib.get('class','')
+            isColl = geom.attrib.get('contype', self.defaultConType)!='0' or 'coll' in geom.attrib.get('class','')
             if self.visualsOnly and isColl:
                 continue
 
@@ -185,23 +189,24 @@ class MujocoLoader():
 
                 elif geom.attrib['type']=='box':
                     assert len(size)==3
-                    f_shape.setShape(ry.ST.box, [2.*f for f in size])
+                    size = [2.*f for f in size]
+                    f_shape.setShape(ry.ST.box, size)
                     if geom.attrib.get('material', None):
                         texture_path = self.materials[geom.attrib.get('material', None)]
                         if len(texture_path.split()) == 4:  # Is a color rgba
                             f_shape.setColor(self.as_floats(texture_path))
                         else:
                             print('applying to box:', texture_path)
-                            #TODO incorperate <texrepeat> tag correctly    
+                            #TODO incorperate <texrepeat> tag correctly
                             uv_coords = np.array([
                             [0, 0],  # vertex 0
-                            [1, 0],  # vertex 1
-                            [1, 1],  # vertex 2
-                            [0, 1],  # vertex 3
-                            [0, 0],  # vertex 4
-                            [1, 0],  # vertex 5
-                            [1, 1],  # vertex 6
-                            [0, 1]   # vertex 7
+                            [size[0], 0],  # vertex 1
+                            [size[0], size[1]],  # vertex 2
+                            [0, size[1]],  # vertex 3
+                            [0, 0],  # vertex 0
+                            [size[0], 0],  # vertex 1
+                            [size[0], size[1]],  # vertex 2
+                            [0, size[1]],  # vertex 3
                             ])
                             
                             f_shape.setTextureFile(texture_path, uv_coords)

robotic/test.py

@@ -0,0 +1,15 @@
+import point_cloud_utils as pcu
+
+# v is a [n, 3] shaped NumPy array of vertices
+# f is a [m, 3] shaped integer NumPy array of indices into v
+# n is a [n, 3] shaped NumPy array of vertex normals
+v, f, n = pcu.load_mesh_vfn("bunny.ply")
+
+# Generate barycentric coordinates of random samples
+num_samples = 1000
+fid, bc = pcu.sample_mesh_random(v, f, num_samples)
+
+# Interpolate the vertex positions and normals using the returned barycentric coordinates
+# to get sample positions and normals
+rand_positions = pcu.interpolate_barycentric_coords(f, fid, bc, v)
+rand_normals = pcu.interpolate_barycentric_coords(f, fid, bc, n)

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.9.dev2'
+__version__ = '0.3.0'

{robotic-0.2.9.dev2.data → robotic-0.3.0.data}/scripts/ry-h5info

@@ -12,9 +12,9 @@ def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
         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[()]]))
+            print('       ', ''.join([chr(x) for x in obj[()]]))
         elif obj.size<20:
-            print(obj[()])
+            print('       ', obj[()])
     else:
         print('---', name)
 

robotic-0.3.0.data/scripts/ry-urdfConvert.py

@@ -0,0 +1,74 @@
+#!python
+
+# from config_mujoco import *
+# from config_urdf import *
+# from mesh_helper import *
+from robotic.src.yaml_helper import *
+import robotic as ry
+import argparse
+import glob
+import os
+
+parser = argparse.ArgumentParser(
+    description='Utility to clean meshes in meshes/')
+
+parser.add_argument('file', type=str, help='urdf file', nargs='?', default='none')
+
+parser.add_argument('-view', help='view mesh', action="store_true", default=True)
+parser.add_argument('-flipDaeYZ', help='view mesh', action="store_true", default=False)
+parser.add_argument('-pruneRigidJoints', help='view mesh', action="store_true")
+parser.add_argument('-recomputeInertias', help='view mesh', action="store_true")
+parser.add_argument('-processMeshes', help='view mesh', action="store_true", default=True)
+parser.add_argument('-meshlab', help='apply meshlab filters', action="store_true", default=False)
+
+def main():
+    args = parser.parse_args()
+
+    if args.file=='none':
+        # args.file = '/home/mtoussai/git/rai-robotModels/pr2/pr2.urdf'
+        args.file = '/home/mtoussai/git/rai-robotModels/panda/panda_arm_hand.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/g1/g1_description/g1_29dof.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/ranger/ranger_mini.urdf'
+
+    print('=== URDF CONVERT ===', args.file)
+
+    path, file = os.path.split(args.file)
+    filebase, _ = os.path.splitext(file)
+
+    if args.flipDaeYZ:
+        ry.params_add({'assimp/daeFlipYZ': False})
+
+    C = ry.URDFLoader(args.file, visualsOnly=True, meshPathRemove='package://').C
+
+    C.processStructure(args.pruneRigidJoints, True, False, False)
+    C.processInertias(args.recomputeInertias)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
+
+    os.system('rm -Rf meshes/')
+    C.writeMeshes('meshes/', copyTextures=True)
+
+    print('#frames: ', C.getFrameDimension())
+    with open(f'{filebase}_conv.g', 'w') as fil:
+        #yaml.dump(C.asDict(), file, default_flow_style=False)
+        fil.write(C.write())
+
+    yaml_write_dict(C.asDict(), f'{filebase}_conv.yml')
+
+    C.view(True)
+    # C.animate()
+
+    if args.processMeshes:
+        for file in sorted(glob.glob('meshes/*.h5')):
+
+            M = ry.MeshHelper(file)
+            if M.mesh is None:
+                continue
+
+            M.repair(mergeTolerance=1e-4)
+            print('  watertight:', M.mesh.is_watertight)
+            print('  oriented:', M.mesh.is_winding_consistent)
+            M.report()
+            M.export_h5()
+
+if __name__ == "__main__":
+    main()

{robotic-0.2.9.dev2.dist-info → robotic-0.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.9.dev2
+Version: 0.3.0
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -46,19 +46,15 @@ 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):
 
       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):
 
@@ -74,7 +70,7 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 ## 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:
 

{robotic-0.2.9.dev2.dist-info → robotic-0.3.0.dist-info}/RECORD

@@ -1,25 +1,23 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
-robotic/__init__.py,sha256=OkuazBQE-7JL2TRG45oMCeG0l1VLs5bciAN-ox1xz9M,422
-robotic/_robotic.pyi,sha256=dp4LZWFnddd6Eu_f56vxGhOkwJ5A9mF5GcGUU3wMYPw,74136
-robotic/_robotic.so,sha256=aCREl5EnDxcEvLjJZtscTkfVdyZEm2BTkC0coTWT9Q0,1234688
-robotic/cleanMeshes.py,sha256=42T9WwN_cn4u_s_BzN2eRfBQxmZTEQ6ZYPBtsesA5BM,1678
-robotic/librai.so,sha256=gEHvVF7zEMmq89zNpPWTLcS_yDzfUwLgCDCh3x7-aec,38787680
+robotic/__init__.py,sha256=ohFobv0RbIeS22ItTjsBuEh2SCmcXAGuUwu5A2j-foA,418
+robotic/_robotic.pyi,sha256=oJJcEuvL8aQGFTbdqmVdLNYTNIqz_KaxK8QYBVKBkrA,74164
+robotic/_robotic.so,sha256=Ew_OudXnP0_5eZLkYY_8kdL_P6EsFt-JCbX13jAC6dg,1226528
+robotic/librai.so,sha256=ZQ9kyklmvF399Nc97EguActdDxj3REaOcs-AwVxXxBQ,38705536
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=w48RDT5rQ_jrgp-fO3dwVrEGI7ONTFxW66XhwwrPToU,48072
+robotic/meshTool,sha256=AWNp8WLaNlttZMHFyrBxy7eKkeTXUzxQP_38mjNyBcQ,52176
 robotic/mujoco-import.py,sha256=6zZTUvl6GuxSQrTnMW2y4Iy8iL7RuRbfZET-KiqO1Fg,363
 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=TivZP5k6Xj0oihWO4cCQQ8wS-dGH5hUMkRQ5nBeu_iE,802
+robotic/ry-h5info,sha256=BRBpQSkzO13rcEJx4hJ8vNm_HXPHlSL_lmx9qDn-9LA,824
 robotic/ry-info,sha256=GRj4oMCgTCGRF2wxtYxiFvETROB92rwwtUFb6S_Eo7g,439
 robotic/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
 robotic/ry-test,sha256=yikBKckTos-lPTcazB5zCssW0H9qIj1-QPlRL39gQgs,981
-robotic/ry-urdf2rai,sha256=88CFu5ikKsjy4wQixvCZqtNOqCheBiT18cjZfOsJA8A,7736
-robotic/ry-urdf2yaml,sha256=D36MR8Ui6Ry9V0TqJOBaPCWC89OZa43Fytz4P7Y4v0w,8543
-robotic/ry-urdfConvert.py,sha256=0zJ9Y6ClrfHdEcBqHT39ZFz-ZntHu8fXgws25vc28a4,2444
+robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,2556
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
+robotic/test.py,sha256=8hiDRB2kB37hE5cZ7h26AJDnSGYb1y8DwOrcEGD_5Hc,620
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=Y-GMeX72OrmNR-dHSwKfIkJndwzU3txGbwJZkhNClWI,27
+robotic/version.py,sha256=3wVEs2QD_7OcTlD97cZdCeizd2hUbJJ0GeIO8wQIjrk,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
@@ -32,7 +30,7 @@ robotic/include/rai/Algo/hungarian.h,sha256=RcO0vEzy638pOCqKNv_xWJvOvB1XSAYYjj3C
 robotic/include/rai/Algo/kalman.h,sha256=c3i6ebYHZtyT5ReTmpJVx8aJ26JWLymqK_QRDY4-7GU,744
 robotic/include/rai/Algo/minimalSpanningTree.h,sha256=56zTSWdMi4TMjtQDVv7tHo4ahivfidTXWN4zp9NX-Jw,512
 robotic/include/rai/Algo/priorityQueue.h,sha256=nF-5_eSbGjXMmY2K3SpD-Hxwb3bhFA1ilr6IBsFq87Q,1938
-robotic/include/rai/Algo/rungeKutta.h,sha256=4j78OS20S_1Ai7S2i2IL_y65MltBk7H8YfPyo3DI208,1730
+robotic/include/rai/Algo/rungeKutta.h,sha256=Kbqeu-MauQDQnmKXSRk3VnOLUY_ngKzy-rqSskBqR9k,1761
 robotic/include/rai/Algo/spline.h,sha256=sc36vGI2Ypm1bAo1bgu1mB8D2I4pHlmvHKonmrQi4v4,4358
 robotic/include/rai/Control/CtrlMsgs.h,sha256=61lxkvpcVB2ZAL7qmB35CJ1KkhZUB27lUJ4ZMiFH0Co,2406
 robotic/include/rai/Control/CtrlObjective.h,sha256=fC-6cS0X0RR_7ooFm1xnAXlN2mgyF26qKfTjomUK45U,2591
@@ -43,17 +41,17 @@ robotic/include/rai/Control/CtrlTargets.h,sha256=FRjAi9KwDL2-5ziKYP5g_-uR234SdPw
 robotic/include/rai/Control/RTControllerSimulation.h,sha256=iDpVRfivTlGS7DVWxVrS-xzCdVWrag1pUHsczZEb0po,1254
 robotic/include/rai/Control/SecMPC.h,sha256=VpQBxibL9jI6bG31sm4U95vfJlYJDJxIqBDahppixN8,1916
 robotic/include/rai/Control/ShortPathMPC.h,sha256=bZQ9I7fklqPOk-PwCTvi3xgnLVdVBoJ2j5i1iWwNxfE,938
-robotic/include/rai/Control/TimingMPC.h,sha256=oRzYTDuF1kJ-74QGu-jS9pTyrFv-8m0-oogso2WHMXw,1702
+robotic/include/rai/Control/TimingMPC.h,sha256=smnQ72mSk2_FQ_k-rEwGIMdjA50Wa_1FCttyk8Oo7pw,1706
 robotic/include/rai/Control/WaypointMPC.h,sha256=Pa36-K1yMxszD9EFuLfLayaOe9pTK8cm1qAALLifdeM,811
 robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owhQWPxWXzo,765
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
-robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6KuaiO0Q,25290
-robotic/include/rai/Core/array.ipp,sha256=bDyJgme109oGzY7u7t2uQk-llz0Oqr2dPmf8jy9JfXs,58464
-robotic/include/rai/Core/arrayDouble.h,sha256=ACvesIGz_0UP3G-x7-LlfGzodKB7EVsGeX5z2RbMFx8,28869
+robotic/include/rai/Core/array.h,sha256=YcI48DcBMUYgdlXP4V1dV6juBUe1iCtbKoxWjp4nCxI,26125
+robotic/include/rai/Core/array.ipp,sha256=DNmfosznj0jF-5lXTb8NUejfrVfs_Fw3O0IvvnDfF7M,63560
+robotic/include/rai/Core/arrayDouble.h,sha256=9pr_9g50dFluF2dLgc29bl9o6ri9C84p69fNW2PYqXg,28724
 robotic/include/rai/Core/defines.h,sha256=hBTgf5EiJ50rQYW1saGw8Ox87aKVFOYVKnFw0jojVW0,6894
-robotic/include/rai/Core/graph.h,sha256=x96tKYig_NpN4RxArNjvuQhcNx-EBfjZhJXJktClIuM,20538
-robotic/include/rai/Core/h5.h,sha256=FzIP0eLL7XYg5eRjJgfPIt9SwY5HBaazy4ddoCcpkSU,1057
+robotic/include/rai/Core/graph.h,sha256=qIpLS_-ey89--kwJ1NbpQEJONTpWMV2FV90a_AgQRVw,20996
+robotic/include/rai/Core/h5.h,sha256=cfs8cew5QYpOxbWFZHV9TXVh5_dEJdFF1-aGZVR54EY,1162
 robotic/include/rai/Core/thread.h,sha256=wjwvXACwI8B6rhZSf2UDruWUb8kT9Xjm-VE-OnUQpwk,18248
 robotic/include/rai/Core/util.h,sha256=qcP8KmyVZ1Ht8pmqfAme_SRjQX5mDpuV4iKl56zyG2o,19453
 robotic/include/rai/Core/util.ipp,sha256=soCVdpzWTpLL9i6rilFPNGozHZP40yhkmuXul7gHC7o,2157
@@ -65,10 +63,10 @@ robotic/include/rai/DataGen/rndStableConfigs.h,sha256=bIz2RovkruMjYaaDwJIkyevsF6
 robotic/include/rai/DataGen/shapenetGrasps.h,sha256=QWv85YMGtW_X9ldKu4eZuoRNdQeIYtVTx1XIsk3Pbvg,1589
 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=H9DEqvd4-vL2gOJkY_UbnvCHpN43g_gJh3LefxhpCd4,14660
-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/fclInterface.h,sha256=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
+robotic/include/rai/Geo/geo.h,sha256=9_hpJsINF7Fpc6hb41LPsz9A_tCp48QgfB1HqAAeklU,14858
+robotic/include/rai/Geo/mesh.h,sha256=9tXbU-uuuBv56JUEHjZrGs_WZRCOC4HA2yd4Ex_P12g,6904
+robotic/include/rai/Geo/pairCollision.h,sha256=DOrRoKrYFHM_--h1Ubcgc7tc3xt6KyxA0ezLRCn5IaM,4256
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
 robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
 robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
@@ -90,14 +88,14 @@ robotic/include/rai/Geo/ccd_rai/support.h,sha256=B9KBuOctG7Hx-e1TXpnkU667WVH7SP4
 robotic/include/rai/Geo/ccd_rai/vec3.h,sha256=ARkNnQz8yWf_Cs3vgt22zclN1cLeGmwWPTVHVpvmfEA,8115
 robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisqvOeI,9384
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
-robotic/include/rai/Gui/RenderData.h,sha256=PpNfJ6-k2mPTMv2CemQ8Ki8rPzQWrburopSgtosvb-k,4897
+robotic/include/rai/Gui/RenderData.h,sha256=SQEJbq1lTdCBsbMx8Yo6Dk_EPpQ2pNxM5l9D9xVU-qk,4986
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
-robotic/include/rai/Gui/opengl.h,sha256=sRvOz-QGHwgrf11UiQV4At4G2FjClveTTJorXyer1Fw,9036
+robotic/include/rai/Gui/opengl.h,sha256=d0Ww1xnRb0JMxzGNzVwQT0F2MDQuD5VJCWOvDXYudm8,9024
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=5TR2IVJzMkWB6oH7NCl1X5OiYtM_OERmf_UPLBaEOlQ,13249
+robotic/include/rai/KOMO/komo.h,sha256=9p3lX7X1mr-EYclUzCWQDMagI_ac-Silo0LtTuOXoJY,13389
 robotic/include/rai/KOMO/komo_NLP.h,sha256=kSzUMDmw4yzAXtpNB2v38dpw2tBS8n8R_op_T3yS3DQ,3681
-robotic/include/rai/KOMO/manipTools.h,sha256=_QUzY5b29DQgVC-gv199sZuABXVfr1b1feB_y7wDt-A,4230
+robotic/include/rai/KOMO/manipTools.h,sha256=WMdCxQB2rTcb3kzbiW9CHDpmGJZcKRqAnT861_iTsH4,4233
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
 robotic/include/rai/KOMO/pathTools.h,sha256=w0Wq6BGLBxG1LAZQBDmmPWTXzwxW3RHj2EX1cm92WeE,3288
 robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2YvEigI,4437
@@ -107,24 +105,24 @@ robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVP
 robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=zpujbYe9Q97Mx_m91LQcPhEW8YVSitzYO_7I8l7M3WI,2882
 robotic/include/rai/Kin/F_LeapCost.h,sha256=wNAUNgAJjLirMurF67BlFLHtjyuXy1EPr--9XLBe6Wk,556
 robotic/include/rai/Kin/F_collisions.h,sha256=Atq9LPVOkEuMF-kSHk78cGjaJYwDIbvrTxHmLBJw3yk,2092
-robotic/include/rai/Kin/F_forces.h,sha256=xUPLO0g3AU0nemQfPqElvt4SuGfqU2pV-7olCVBCkmM,6694
+robotic/include/rai/Kin/F_forces.h,sha256=tHyBQcKhi4ZdsHoBU5bu7kLWVm611SfEYG_o-vMSDN0,6694
 robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx7GQbfbRrI,2146
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
 robotic/include/rai/Kin/F_pose.h,sha256=QlZnpS4ZTNFBZlH-lpe6sTt2gdbxbjsZTHPqk0T_4AI,5252
 robotic/include/rai/Kin/F_qFeatures.h,sha256=x4cfFGaVBQSmj9ZetcC25qiGxnvfNMPsWh9zbPa5owE,2212
 robotic/include/rai/Kin/cameraview.h,sha256=byzJyTxP4Irh0A6gi8ZNndvJ0UFDD8leLfbW9B7laJI,2478
 robotic/include/rai/Kin/dof_direction.h,sha256=9tio7VXxXAv-ZAxA6QskjD5rMH2LHU4hIGAG6TC0RaY,831
-robotic/include/rai/Kin/dof_forceExchange.h,sha256=ZjtIbaO0MU5AGsvtMJdAQJh3Ghfn8XrZavAx1WH4MZk,1823
+robotic/include/rai/Kin/dof_forceExchange.h,sha256=TM-DHiGxaw9g3O5IcN7M7VDWF_8LKKtie3qvPn8Y1dA,1931
 robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACDgnLrei2s8g,790
 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=b5ErTzV3nh5XJP-0j_1PauRuwesI55XquAlnKcSlzzM,14543
-robotic/include/rai/Kin/kin.h,sha256=lVaOD8oHfjffAOHdwG9EycWMT5lBDCwIib16ZN0CsDI,15790
+robotic/include/rai/Kin/frame.h,sha256=p7uRLEqhrxwKkCOEykOX8GYgl4lQqjG3hheKEAAi4XI,14585
+robotic/include/rai/Kin/kin.h,sha256=g-b4adXdOVmQcQ4gwQCWz1n-llhUCUVvm2JLBNa0DwA,16235
 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=yVNvg-fh0-mbpSlhU2Jc74TM5cTqNnXHRQyhQ8OVhas,1798
+robotic/include/rai/Kin/kin_physx.h,sha256=QfYi_-dIvVm7dFgG2SA3csHeb0peRMEhrf-I6pFOMPQ,1832
 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
@@ -136,7 +134,7 @@ robotic/include/rai/LGP/LGP_tree.h,sha256=J6W4Qypr70g0EZg30tTZBuca_6_O0sDQAGGv6O
 robotic/include/rai/LGP/Motif.h,sha256=-1cYCDDxJK3at3LKT2R-qRoum7o7CnziBg30yijt4Ls,592
 robotic/include/rai/LGP/initFol.h,sha256=m67VqzKUQzMN0kBFL0lWACu0ls7eYj8ExyXVFjuLtDA,507
 robotic/include/rai/Logic/fol.h,sha256=ubWsZacmrRPGeDPKQVGKDoGC_4GxYGdVLJ0K3a3eZu0,3598
-robotic/include/rai/Logic/folWorld.h,sha256=8tocnoOMORvfo23tsDBCD69KfrpbL467PAcCHnVVqkw,6063
+robotic/include/rai/Logic/folWorld.h,sha256=XpqTWOIvZbKlS_vsJkXOexrhjfy3_iywebFezJamhHA,6072
 robotic/include/rai/Logic/treeSearchDomain.h,sha256=sO5Y6o9wRTQxfST9YyJw3P0KcqGX7ISqbIN-uGQ5abU,3882
 robotic/include/rai/Optim/BayesOpt.h,sha256=GqOqGk5Y0USf513duMPtt--TBYGqujdsvY2qi17jVxI,1241
 robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=WRaTFUrx0A1FO7d7shgZbJVaC5AWKZT5PTD8LnuPXiE,801
@@ -155,11 +153,11 @@ robotic/include/rai/Optim/opt-ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJz
 robotic/include/rai/Optim/opt-nlopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
 robotic/include/rai/Optim/options.h,sha256=JSqHw6agqLkvfvw6kd54KHQ6Hz7xZyHeRkWAumYUag0,1876
 robotic/include/rai/Optim/primalDual.h,sha256=xHXhAPbZWPVj17ZGpDr4OrLJLYj_G1Wr_k4TCPFBiHc,1272
-robotic/include/rai/Optim/testProblems_Opt.h,sha256=GBzuiO5lI3tSh9sHzhQuf5bElr3eejFbYHWAXYiUAdg,6532
-robotic/include/rai/Optim/utils.h,sha256=lZcBjPtYl0JDY-DfjYOlOBBR-nRqu67XgYPF6nxfspU,3515
-robotic/include/rai/PathAlgos/ConfigurationProblem.h,sha256=xNtvq0sK9sTtpWd_c8X6yzoYmFkACOvv_9VIRbG6R8s,1311
+robotic/include/rai/Optim/testProblems_Opt.h,sha256=rYPVdz7y1pkmzJH6aIw3pQ6JqN2_HhJ50CAAdsL2r9A,6531
+robotic/include/rai/Optim/utils.h,sha256=VMTSVUcg3UWN8RhBYSSyqoBCa_AcUrZ_7zvcz3XWEC0,3517
+robotic/include/rai/PathAlgos/ConfigurationProblem.h,sha256=6Mr3MjD3T3lG3OCCDLKrPRA6WddIFpbRRl_O1gVFP5U,1329
 robotic/include/rai/PathAlgos/PathResult.h,sha256=xxZiD8ClGKO719mQR50BsIzOlHeoH0UH4QNzWifoz6c,1070
-robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=T_2Hvra_qWFOg32t--WONo6AEuc81JtP7Fb24Wksn44,3288
+robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=44ahBizEoW1HgXh5LPgIL9poCIgaaTiTUeHsfV8Q5kI,3282
 robotic/include/rai/Perception/audio.h,sha256=HQPC8bmOv4Mdfl8f71eUmKFlRE0_N_spY3bg6YJzduo,1105
 robotic/include/rai/Perception/avutil.h,sha256=RlxtNGw8mvKYrWI7Sy8neILBDb1SF2wuf4hFKjPx-4w,802
 robotic/include/rai/Perception/colorseg.h,sha256=1zax9KZGSJcTZ7MTnLZBSbHlZsJqQ1NkvU6cStzQ4vc,2314
@@ -193,8 +191,7 @@ robotic/include/rai/ry/py-Simulation.h,sha256=Kc4e6pK1yQyxDMCQu1HvXOYt9IlUiojBYF
 robotic/include/rai/ry/py-Spline.h,sha256=gR8Cvwt5PlzlolxegS1wUEEOQj9RydOp1gS67Zxm0jk,433
 robotic/include/rai/ry/py-tests.h,sha256=-l_0V-yRqeOEztqCo_BAdcKCAMovyd8-9tnrytM5pQM,432
 robotic/include/rai/ry/types.h,sha256=KQ_byer3O3iFnrtBNyg5sptEfCsujbEeo6edOHSNzaM,8495
-robotic/rai-robotModels/g1/g1.g,sha256=0bzOmI8Cb3cfQj5801khoVTjwDqbCQcpNWl6iy8vf3s,172
-robotic/rai-robotModels/g1/g1_29dof_conv.g,sha256=JGWXXdtj2diFPjGAh7yZ5EBcFc_HsZK6eBafGO9EsEY,13288
+robotic/rai-robotModels/g1/g1.g,sha256=9lA31eCRoFENw9Nbg04KoX3diIIQYKz981oRYNKLvO4,499
 robotic/rai-robotModels/g1/g1_clean.g,sha256=jXlPAlL02pPSybl5DgazO0Qf96wAg2tbVwXKYh9e5XQ,11883
 robotic/rai-robotModels/g1/meshes/head_link.h5,sha256=7Gnh6fTAHrUp_8O70hmKKGFVW3246-yUdHqCGEuzK14,253939
 robotic/rai-robotModels/g1/meshes/left_ankle_pitch_link.h5,sha256=2LKu5c-bPbGf8Q0tys5cHS0c38A7Nm39Vpa2ZyyE_Qc,23677
@@ -233,10 +230,11 @@ robotic/rai-robotModels/g1/meshes/waist_roll_link.h5,sha256=n98tspx87SX7J0lcHZMG
 robotic/rai-robotModels/g1/meshes/waist_support_link.h5,sha256=ixpmHi4U4F5Hl86aU4RwU13jBH_C_jEvbCkqkjEjMRM,45034
 robotic/rai-robotModels/g1/meshes/waist_yaw_link.h5,sha256=GXkMr0tmYUvKPW5iKv8xdHYtTSppV1FLAzjv3538NtE,94546
 robotic/rai-robotModels/objects/kitchen.g,sha256=PLi7un2u3I29Mcngc08-9J3ocTU_c5TYlXplYXTgQHU,1223
-robotic/rai-robotModels/objects/shelf.g,sha256=9_CH-LPhcvShNxmqOueMckNK70uWeRdkSFfanvp4z-w,817
+robotic/rai-robotModels/objects/shelf.g,sha256=ZZb8kTKrhIY9I4U_sFuGgf5V4GcNH_Zd-l7eHbAg54s,808
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 robotic/rai-robotModels/panda/panda_gripper.g,sha256=CB_rY6PUTdpgNsSvvAQ967t2Sm6r0B59rUqaVCZCmvA,862
@@ -251,10 +249,10 @@ robotic/rai-robotModels/panda/meshes/link4.h5,sha256=BLYmj5sOiAAfKGNJdoXII0Sl2Ie
 robotic/rai-robotModels/panda/meshes/link5.h5,sha256=TbrDtvaUYwrFJO8KKhCSF0fOZ8e6rC7GQ5xGtMrxud4,254542
 robotic/rai-robotModels/panda/meshes/link6.h5,sha256=vWc78TMcfY5l8_dTLmypJiKsQx9Llb47BcfACXd2tOA,309727
 robotic/rai-robotModels/panda/meshes/link7.h5,sha256=x-xcLQT0g3vrvdYhaVbX57LRrz9DT8nZFW6YN6oT0-0,172303
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 robotic/rai-robotModels/pr2/pr2_modify_fixLeft.g,sha256=ZKceDnAvEaxIBX0eraFrUddhlEdP7pfIeNeGCVMXp08,364
@@ -294,14 +292,13 @@ robotic/rai-robotModels/pr2/meshes/wheel_color.png,sha256=TTnLNSv7bJ6o4Qoip3WLTC
 robotic/rai-robotModels/pr2/meshes/wrist_color.png,sha256=b_6yenGLjF7OI0PbvD6KlSEnrE-8COO7Mr7IYqxhN5s,24950
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 robotic/rai-robotModels/ranger/ranger_clean.g,sha256=Ps3u1n0gBorsqs_dfKnXmI-pfOEmB6QY6FWP_MskZmY,2093
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 robotic/rai-robotModels/ranger/meshes/ranger_mini3.h5,sha256=Af2ppMf2YGOUkw7S0jHxFyvBTAsAZVFGeUcgaG5ArAU,235957
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 robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel_right.h5,sha256=Rs3a7mj3SHgRa31iNNa5RmOMGBdXrpr73GrqaIqRmqs,270937
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 robotic/rai-robotModels/robotiq/robotiq_clean.g,sha256=0EyQ_jt7YCRqGqrtXiWKhUcp7LBEmE_9KcWIj17LqV8,3899
 robotic/rai-robotModels/robotiq/meshes/robotiq_arg2f_85_base_link.h5,sha256=papTdqkLlRzo_svqTXwd9Cp2qJHw2Wnt-Ct31lQCAKQ,331303
 robotic/rai-robotModels/robotiq/meshes/robotiq_arg2f_85_inner_finger.h5,sha256=TYBns07SFdffSCNRZNh45_jOtprZAAIAO1WDHbvMMi0,34288
@@ -321,7 +318,7 @@ robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_
 robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=zYo9T6aFWREpP2gnME0iFwOErKR8Ram2gndnZ9s-xXA,1498
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
-robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=77KlkNgYLNLz3YrO-OrWNK0QTpr9-KaxsV2F7JfpT_U,1561
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 robotic/rai-robotModels/scenarios/panda_mobile.g,sha256=Om5rU2C6_GBKcZcRBZ0cTsk2gKxzwoSE-32dxBMQa-8,713
 robotic/rai-robotModels/scenarios/panda_moveGripper.g,sha256=HyyzCAg8ksvqGxjVrAqh6r16lvifGyjQd7Txa0wkR-Q,1920
 robotic/rai-robotModels/scenarios/panda_noGripper.g,sha256=FL5vq3ysYJl7f_y9xOBfSTYuB6btJO22f6g2Z-HU1tw,670
@@ -336,12 +333,12 @@ robotic/rai-robotModels/scenarios/walker1.g,sha256=FTi0HxqU2fsKgqLCkdq5VCuc3Q9py
 robotic/rai-robotModels/scenarios/walker3.g,sha256=zODCp1jzoFNLWs5f98qCkKeEcXxm8TKZ0RzPBFH1qq4,796
 robotic/rai-robotModels/scenarios/workshop.g,sha256=2Xjh6cPk2xKbdvtDC89eDHZcRv8CxCnvDB2qR7AQWyY,5633
 robotic/rai-robotModels/scenarios/workshopTable.g,sha256=zDvlVXHQlZV5Ppc9XbUJ6q5XjW1Fni-OsE2NHMdkGpY,4440
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 robotic/rai-robotModels/tests/compound.g,sha256=kwI7G0K5M-EEJDsEq37aEBR-BQGSIzroFUPD2OZGrcU,555
 robotic/rai-robotModels/tests/pr2Shelf.g,sha256=axlVxDwuLMsNGdOga40nbzK3e6dWEthQEXm25XewNTw,329
 robotic/rai-robotModels/tests/thin.g,sha256=1bWARayk8TJutfO8CZs3GWCcBwr_oL2SRLLCP1lDMRQ,222
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 robotic/rai-robotModels/ur10/ur10_conv.g,sha256=2Ohq3b3UpA31-4f431zt0YUyYl9Jlh3TJh3kfGcFp30,2301
 robotic/rai-robotModels/ur10/meshes/base.h5,sha256=sbQdK1120CLJI_LDR5asAq9b1IGu1WfK1SbDb12IbCI,31330
 robotic/rai-robotModels/ur10/meshes/forearm.h5,sha256=yuIHTdkov2nXep2mOKlSSXRDHk5urpfw86yH5hm30J4,359953
@@ -350,20 +347,21 @@ robotic/rai-robotModels/ur10/meshes/upperarm.h5,sha256=7EscqPPAzKSzbtSCMrgbI_uGh
 robotic/rai-robotModels/ur10/meshes/wrist1.h5,sha256=4r7yAEKKx5zYoC2NbqL0yjGvX4ilafjrpuNP3oDKsU8,185725
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 robotic/rai-robotModels/ur10/meshes/wrist3.h5,sha256=F8FrYVVp8YBdkgJ6EHKb5r_rm0kyhxf6b8KbwHjeegk,20770
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 robotic/src/config_urdf.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/mesh_helper.py,sha256=AMSOz3Eew9uJkDm5tFThbfJKcEQCmGyRLN4bZphISNk,16691
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 robotic/src/yaml_helper.py,sha256=eCUK6w4FCRpBqNgP7FdVDbJf2H7Y1bfIGzs89nOrAsY,637
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