robotic 0.2.9__cp312-cp312-manylinux2014_x86_64.whl → 0.2.9.dev1__cp312-cp312-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/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__ = '0.2.9'
+__version__ = '0.2.9.dev1'

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

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.9
+Version: 0.2.9.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -12,6 +12,7 @@ Dynamic: author-email
 Dynamic: description
 Dynamic: description-content-type
 Dynamic: home-page
+Dynamic: license-file
 Dynamic: summary
 
 # Robotic Control Interface & Manipulation Planning Library

{robotic-0.2.9.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=FcF2Idtg2cFVAHBbdMOD6E4lhxnpiq0-aL3GDDhHdXk,1230592
-robotic/librai.so,sha256=0HQ3yE2-SI33rTLRc_NtLe2kcI_HCNIPHuPU5zyRiFM,40175496
+robotic/_robotic.pyi,sha256=ciAMUYT5hlp9mtKZz4V9T-82HkWmE0AzmcR5j7rahb8,73943
+robotic/_robotic.so,sha256=15q6AjdgkwIpHQ5IuEb0rS_55QvH03uLkLNzSR7hibA,1230592
+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=bd8hlxKMc0Fh_2w5GWfqBtuwa8uTepTMjT8w7F-EKvY,22
+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
@@ -405,16 +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-0.2.9.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.2.9.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
-robotic-0.2.9.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.2.9.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.2.9.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
-robotic-0.2.9.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.9.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
-robotic-0.2.9.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.2.9.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.2.9.dist-info/METADATA,sha256=V-QbtPFkkEHRjHB4hKvKz02v75r6KWr_eFYFudutdxs,6689
-robotic-0.2.9.dist-info/WHEEL,sha256=tOLjkKc8jTOST2UkvGV7NNle7DYgiJJymXz0pR15kJE,104
-robotic-0.2.9.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.9.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/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.2.9.dev1.dist-info/METADATA,sha256=4j1WT2MO9-TiZkwmwGSPuKtG-aGbHy07t3Y64EHkUKs,6716
+robotic-0.2.9.dev1.dist-info/WHEEL,sha256=tbSHfZPQeHIQwbWfzA_wHUt1bdArVM4lE_M5Rm8mIxU,104
+robotic-0.2.9.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.2.9.dev1.dist-info/RECORD,,

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

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.2)
+Generator: setuptools (77.0.3)
 Root-Is-Purelib: false
 Tag: cp312-cp312-linux_x86_64