robotic 0.3.0__cp311-cp311-manylinux2014_x86_64.whl → 0.3.1__cp311-cp311-manylinux2014_x86_64.whl

robotic/__init__.py

@@ -9,9 +9,9 @@ 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
+#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' )

robotic/_robotic.pyi

@@ -1477,13 +1477,17 @@ class Quaternion:
         """
         non-initialized
         """
+    def __mul__(self, arg0: Quaternion) -> Quaternion:
+        """
+        concatenation (quaternion multiplication) of two transforms
+        """
     def append(self, q: Quaternion) -> None:
         ...
     def applyOnPointArray(self, pts: arr) -> None:
         ...
-    def flipSign(self) -> None:
+    def asArr(self) -> arr:
         ...
-    def getArr(self) -> arr:
+    def flipSign(self) -> None:
         ...
     def getJacobian(self) -> arr:
         ...
@@ -1843,6 +1847,8 @@ class Simulation:
         """
         reset the spline reference, i.e., clear the current spline buffer and initialize it to constant spline at current position (to which setSplineRef can append)
         """
+    def resetTime(self) -> None:
+        ...
     def selectSensor(self, sensorName: str) -> ...:
         ...
     def setSplineRef(self, path: arr, times: arr, append: bool = True) -> None:

robotic/include/rai/Core/graph.h

@@ -140,6 +140,7 @@ struct Graph : NodeL {
 
   //
   template<class T> Node* set(const char* key, const T& x){ Node* n = findNodeOfType(typeid(T), key); if(n) n->as<T>()=x; else n=add<T>(key, x); return n; }
+  Node* set(Node* _n){ Node* n = findNodeOfType(_n->type, _n->key); if(n) n->copyValue(_n); else n=_n->newClone(*this); return n; }
 
   //-- get nodes
   BracketOp operator[](const char* key); ///< returns nullptr if not found

robotic/include/rai/Kin/simulation.h

@@ -92,6 +92,7 @@ struct Simulation {
   //== management interface
 
   //-- store and reset the state of the simulation
+  void resetTime();
   void getState(arr& frameState, arr& q=NoArr, arr& frameVelocities=NoArr, arr& qDot=NoArr);
   void setState(const arr& frameState, const arr& q=NoArr, const arr& frameVelocities=NoArr, const arr& qDot=NoArr);
   void pushConfigurationToSimulator(const arr& frameVelocities=NoArr, const arr& qDot=NoArr);

robotic/mujoco-import.py

@@ -1,10 +1,8 @@
-from config_mujoco import *
-import sysconfig
+import robotic as ry
+from robotic.src.mujoco_io import *
 
-pysite = sysconfig.get_paths()["purelib"]
-file = pysite+"/gymnasium_robotics/envs/assets/kitchen_franka/kitchen_assets/kitchen_env_model.xml"
-# file = '/home/mtoussai/git/MuJoCo2Rai/kitchen_dataset/RUSTIC_ONE_WALL_SMALL.xml'
+file = '../../rai-robotModels/kitchens/models/MEDITERRANEAN_ONE_WALL_SMALL.xml'
 
 print('=====================', file)
-C = Config_Mujoco(file, visualsOnly=True)
-C.view(True)
+M = MujocoLoader(file, visualsOnly=True)
+M.C.view(True)

robotic/rai-robotModels/g1/g1_29dof_conv.yml

@@ -0,0 +1,64 @@
+pelvis: {shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/pelvis.h5>, mass: 3.814, inertia: [0.010549099999999999, 0.0, 2.1e-06, 0.009309, 0.0, 0.0079185]}
+left_hip_pitch_joint_origin (pelvis): {pose: [0.0, 0.064452, -0.1027]}
+right_hip_pitch_joint_origin (pelvis): {pose: [0.0, -0.064452, -0.1027]}
+waist_yaw_joint (pelvis): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_yaw_link.h5>, mass: 0.244, inertia: [9.9587e-05, -1.833e-06, -1.2617e-05, 0.00012411, -1.18e-07, 0.00015586]}
+pelvis_contour_link_0 (pelvis): {shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/pelvis_contour_link.h5>}
+left_hip_pitch_joint (left_hip_pitch_joint_origin): {joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/left_hip_pitch_link.h5>, mass: 1.35, inertia: [0.001811, 3.68e-05, -3.44e-05, 0.0014193, 0.000171, 0.0012812]}
+right_hip_pitch_joint (right_hip_pitch_joint_origin): {joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/right_hip_pitch_link.h5>, mass: 1.35, inertia: [0.001811, -3.68e-05, -3.44e-05, 0.0014193, -0.000171, 0.0012812]}
+waist_roll_joint_origin (waist_yaw_joint): {pose: [-0.0039635, 0.0, 0.035]}
+left_hip_roll_joint_origin (left_hip_pitch_joint): {pose: [0.0, 0.052, -0.030465, 0.9961786849744957, 0.0, -0.08733858026373247, 0.0]}
+right_hip_roll_joint_origin (right_hip_pitch_joint): {pose: [0.0, -0.052, -0.030465, 0.9961786849744957, 0.0, -0.08733858026373247, 0.0]}
+waist_roll_joint (waist_roll_joint_origin): {joint: hingeX, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_roll_link.h5>, mass: 0.047, inertia: [7.515e-06, 0.0, 0.0, 6.398e-06, 9.9e-08, 3.988e-06]}
+left_hip_roll_joint (left_hip_roll_joint_origin): {joint: hingeX, limits: [-0.5236, 2.9671], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_hip_roll_link.h5>, mass: 1.52, inertia: [0.0023773, -3.8e-06, -0.0003908, 0.0024123, 1.84e-05, 0.0016595]}
+right_hip_roll_joint (right_hip_roll_joint_origin): {joint: hingeX, limits: [-2.9671, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_hip_roll_link.h5>, mass: 1.52, inertia: [0.0023773, 3.8e-06, -0.0003908, 0.0024123, -1.84e-05, 0.0016595]}
+waist_pitch_joint_origin (waist_roll_joint): {pose: [0.0, 0.0, 0.019]}
+left_hip_yaw_joint_origin (left_hip_roll_joint): {pose: [0.025001, 0.0, -0.12412]}
+right_hip_yaw_joint_origin (right_hip_roll_joint): {pose: [0.025001, 0.0, -0.12412]}
+waist_pitch_joint (waist_pitch_joint_origin): {joint: hingeY, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/torso_link.h5>, mass: 9.599999999999998, com: [0.00042855343750000007, 0.0, -0.005838750000000002], inertia: [0.072459751385, -8.851300000000001e-05, -0.0016085661752787497, 0.060434677554607075, 8.3173e-05, 0.032630779169607084]}
+left_hip_yaw_joint (left_hip_yaw_joint_origin): {joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_hip_yaw_link.h5>, mass: 1.702, inertia: [0.0057774, -0.0005411, -0.0023948, 0.0076124, -0.0007072, 0.003149]}
+right_hip_yaw_joint (right_hip_yaw_joint_origin): {joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_hip_yaw_link.h5>, mass: 1.702, inertia: [0.0057774, 0.0005411, -0.0023948, 0.0076124, 0.0007072, 0.003149]}
+left_shoulder_pitch_joint_origin (waist_pitch_joint): {pose: [0.0039563, 0.10022, 0.23778, 0.9902640751049538, 0.13920147853022313, 4.054181625451359e-05, -9.103785623530919e-05]}
+right_shoulder_pitch_joint_origin (waist_pitch_joint): {pose: [0.0039563, -0.10021, 0.23778, 0.9902640751049538, -0.13920147853022313, 4.054181625451359e-05, 9.103785623530919e-05]}
+logo_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/logo_link.h5>}
+head_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/head_link.h5>}
+waist_support_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_support_link.h5>}
+left_knee_joint_origin (left_hip_yaw_joint): {pose: [-0.078273, 0.0021489, -0.17734, 0.9961786849744957, 0.0, 0.08733858026373247, 0.0]}
+right_knee_joint_origin (right_hip_yaw_joint): {pose: [-0.078273, -0.0021489, -0.17734, 0.9961786849744957, 0.0, 0.08733858026373247, 0.0]}
+left_shoulder_pitch_joint (left_shoulder_pitch_joint_origin): {joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_pitch_link.h5>, mass: 0.718, inertia: [0.0004291, -9.2e-06, 6.4e-06, 0.000453, 2.26e-05, 0.000423]}
+right_shoulder_pitch_joint (right_shoulder_pitch_joint_origin): {joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_pitch_link.h5>, mass: 0.718, inertia: [0.0004291, 9.2e-06, 6.4e-06, 0.000453, -2.26e-05, 0.000423]}
+left_knee_joint (left_knee_joint_origin): {joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_knee_link.h5>, mass: 1.932, inertia: [0.011329, 4.82e-05, -4.49e-05, 0.011277, -0.0007146, 0.0015168]}
+right_knee_joint (right_knee_joint_origin): {joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_knee_link.h5>, mass: 1.932, inertia: [0.011329, -4.82e-05, 4.49e-05, 0.011277, 0.0007146, 0.0015168]}
+left_shoulder_roll_joint_origin (left_shoulder_pitch_joint): {pose: [0.0, 0.038, -0.013831, 0.9902682552548409, -0.1391717738427347, 0.0, 0.0]}
+right_shoulder_roll_joint_origin (right_shoulder_pitch_joint): {pose: [0.0, -0.038, -0.013831, 0.9902682552548409, 0.1391717738427347, 0.0, 0.0]}
+left_ankle_pitch_joint_origin (left_knee_joint): {pose: [0.0, -9.4445e-05, -0.30001]}
+right_ankle_pitch_joint_origin (right_knee_joint): {pose: [0.0, 9.4445e-05, -0.30001]}
+left_shoulder_roll_joint (left_shoulder_roll_joint_origin): {joint: hingeX, limits: [-1.5882, 2.2515], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_roll_link.h5>, mass: 0.643, inertia: [0.0006177, -1.0e-06, 8.7e-06, 0.0006912, -5.3e-06, 0.0003894]}
+right_shoulder_roll_joint (right_shoulder_roll_joint_origin): {joint: hingeX, limits: [-2.2515, 1.5882], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_roll_link.h5>, mass: 0.643, inertia: [0.0006177, 1.0e-06, 8.7e-06, 0.0006912, 5.3e-06, 0.0003894]}
+left_ankle_pitch_joint (left_ankle_pitch_joint_origin): {joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_ankle_pitch_link.h5>, mass: 0.074, inertia: [8.4e-06, 0.0, -2.9e-06, 1.89e-05, 0.0, 1.26e-05]}
+right_ankle_pitch_joint (right_ankle_pitch_joint_origin): {joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_ankle_pitch_link.h5>, mass: 0.074, inertia: [8.4e-06, 0.0, -2.9e-06, 1.89e-05, 0.0, 1.26e-05]}
+left_shoulder_yaw_joint_origin (left_shoulder_roll_joint): {pose: [0.0, 0.00624, -0.1032]}
+right_shoulder_yaw_joint_origin (right_shoulder_roll_joint): {pose: [0.0, -0.00624, -0.1032]}
+left_ankle_roll_joint_origin (left_ankle_pitch_joint): {pose: [0.0, 0.0, -0.017558]}
+right_ankle_roll_joint_origin (right_ankle_pitch_joint): {pose: [0.0, 0.0, -0.017558]}
+left_shoulder_yaw_joint (left_shoulder_yaw_joint_origin): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_yaw_link.h5>, mass: 0.734, inertia: [0.0009988, 7.9e-06, 0.0001412, 0.0010605, -2.86e-05, 0.0004354]}
+right_shoulder_yaw_joint (right_shoulder_yaw_joint_origin): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_yaw_link.h5>, mass: 0.734, inertia: [0.0009988, -7.9e-06, 0.0001412, 0.0010605, 2.86e-05, 0.0004354]}
+left_ankle_roll_joint (left_ankle_roll_joint_origin): {joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/left_ankle_roll_link.h5>, mass: 0.608, inertia: [0.0002231, 2.0e-07, 8.91e-05, 0.0016161, -1.0e-07, 0.0016667]}
+right_ankle_roll_joint (right_ankle_roll_joint_origin): {joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/right_ankle_roll_link.h5>, mass: 0.608, inertia: [0.0002231, -2.0e-07, 8.91e-05, 0.0016161, 1.0e-07, 0.0016667]}
+left_elbow_joint_origin (left_shoulder_yaw_joint): {pose: [0.015783, 0.0, -0.080518]}
+right_elbow_joint_origin (right_shoulder_yaw_joint): {pose: [0.015783, 0.0, -0.080518]}
+left_elbow_joint (left_elbow_joint_origin): {joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_elbow_link.h5>, mass: 0.6, inertia: [0.0002891, 6.53e-05, 1.72e-05, 0.0004152, -5.6e-06, 0.0004197]}
+right_elbow_joint (right_elbow_joint_origin): {joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_elbow_link.h5>, mass: 0.6, inertia: [0.0002891, -6.53e-05, 1.72e-05, 0.0004152, 5.6e-06, 0.0004197]}
+left_wrist_roll_joint_origin (left_elbow_joint): {pose: [0.1, 0.00188791, -0.01]}
+right_wrist_roll_joint_origin (right_elbow_joint): {pose: [0.1, -0.00188791, -0.01]}
+left_wrist_roll_joint (left_wrist_roll_joint_origin): {joint: hingeX, limits: [-1.972222054, 1.972222054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_roll_link.h5>, mass: 0.08544498, inertia: [4.821544023e-05, -4.24511021e-06, 5.10599e-09, 3.722899093e-05, -1.23525e-09, 5.482106541e-05]}
+right_wrist_roll_joint (right_wrist_roll_joint_origin): {joint: hingeX, limits: [-1.972222054, 1.972222054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_roll_link.h5>, mass: 0.08544498, inertia: [4.821544023e-05, 4.24511021e-06, 5.10599e-09, 3.722899093e-05, 1.23525e-09, 5.482106541e-05]}
+left_wrist_pitch_joint_origin (left_wrist_roll_joint): {pose: [0.038, 0.0, 0.0]}
+right_wrist_pitch_joint_origin (right_wrist_roll_joint): {pose: [0.038, 0.0, 0.0]}
+left_wrist_pitch_joint (left_wrist_pitch_joint_origin): {joint: hingeY, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_pitch_link.h5>, mass: 0.48404956, inertia: [0.00016579646273, -1.231206746e-05, 1.231699194e-05, 0.0004295405741, 8.1417712e-07, 0.00042953697654]}
+right_wrist_pitch_joint (right_wrist_pitch_joint_origin): {joint: hingeY, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_pitch_link.h5>, mass: 0.48404956, inertia: [0.00016579646273, 1.231206746e-05, 1.231699194e-05, 0.0004295405741, -8.1417712e-07, 0.00042953697654]}
+left_wrist_yaw_joint_origin (left_wrist_pitch_joint): {pose: [0.046, 0.0, 0.0]}
+right_wrist_yaw_joint_origin (right_wrist_pitch_joint): {pose: [0.046, 0.0, 0.0]}
+left_wrist_yaw_joint (left_wrist_yaw_joint_origin): {joint: hingeZ, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_yaw_link.h5>, mass: 0.25457647, com: [0.027712694735691795, 0.0020033273302909765, -1.0899653184406096e-18], inertia: [0.00015079444368903163, 2.869702728036281e-05, 3.715660723580004e-06, 0.00043836153569590437, 3.73406941286e-06, 0.000356006284096386]}
+right_wrist_yaw_joint (right_wrist_yaw_joint_origin): {joint: hingeZ, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_yaw_link.h5>, mass: 0.25457647, com: [0.027712694735691795, -0.0020033273302909765, -1.0899653184406096e-18], inertia: [0.00015079444368903163, -2.869702728036281e-05, 3.715660723580004e-06, 0.00043836153569590437, -3.73406941286e-06, 0.000356006284096386]}
+left_rubber_hand_0 (left_wrist_yaw_joint): {pose: [0.0415, 0.003, 0.0], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_rubber_hand.h5>}
+right_rubber_hand_0 (right_wrist_yaw_joint): {pose: [0.0415, -0.003, 0.0], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_rubber_hand.h5>}

robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.yml

@@ -0,0 +1,19 @@
+robotiq_arg2f_base_link: {shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_base_link.h5>, mass: 0.22652, inertia: [0.00020005, -4.2442e-10, -2.9069e-10, 0.00017832, -3.4402e-08, 0.00013478]}
+finger_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, -0.0306011, 0.054904, 6.123233995736766e-17, 0.0, 0.0, 1.0]}
+left_inner_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, -0.0127, 0.06142, 6.123233995736766e-17, 0.0, 0.0, 1.0]}
+right_outer_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, 0.0306011, 0.054904]}
+right_inner_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, 0.0127, 0.06142]}
+finger_joint (finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8], color: [0.792156862745098, 0.819607843137255, 0.933333333333333, 1.0] },
+finger_metal_l(finger_joint): {pose: [1 -1 0 0], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>}
+left_inner_knuckle_joint (left_inner_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>}
+right_outer_knuckle_joint (right_outer_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.81], mimic: finger_joint, color: [0.792156862745098, 0.819607843137255, 0.933333333333333, 1.0]}
+finger_metal_r(right_outer_knuckle_joint): {pose: [1 -1 0 0], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>}
+right_inner_knuckle_joint (right_inner_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>}
+left_outer_finger_0 (finger_joint): {pose: [0.0, 0.0315, -0.0041], shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>}
+left_inner_finger_joint_origin (finger_joint): {pose: [0.0, 0.0376, 0.043000000000000003]}
+right_outer_finger_0 (right_outer_knuckle_joint): {pose: [0.0, 0.0315, -0.0041], shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>}
+right_inner_finger_joint_origin (right_outer_knuckle_joint): {pose: [0.0, 0.0376, 0.043000000000000003]}
+left_inner_finger_joint (left_inner_finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>}
+right_inner_finger_joint (right_inner_finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>}
+left_inner_finger_pad_0 (left_inner_finger_joint): {pose: [0.0, -0.0220203446692936, 0.03242], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1.0]}
+right_inner_finger_pad_0 (right_inner_finger_joint): {pose: [0.0, -0.0220203446692936, 0.03242], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1.0]}

robotic/ry-test

@@ -10,7 +10,8 @@ C.addFile(ry.raiPath('panda/panda.g'), 'b_').setPosition([0,0,.5])
 C.addFrame('box1') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([1.3, 0, 2.]) .setMass(3)
 C.addFrame('box2') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([.5, .0, 1.8]) .setMass(3)
 
-#C.view(False)
+C.view(False)
+time.sleep(.5)
 
 q0 = C.getJointState()
 qT = q0

robotic/src/mujoco_io.py

@@ -121,7 +121,7 @@ class MujocoLoader():
                 else:
                     vec1 = np.array([0., 0., 1.])
                     vec2 = np.array(self.as_floats(axis))
-                    quat = ry.Quaternion().setDiff(vec1, vec2).getArr()
+                    quat = ry.Quaternion().setDiff(vec1, vec2).asArr()
                     f_origin.setRelativeQuaternion(quat)
                     axis = ry.JT.hingeZ
             else:
@@ -178,7 +178,7 @@ class MujocoLoader():
                         l = np.linalg.norm(b-a)
                         q = ry.Quaternion().setDiff([0,0,1],(b-a)/l)
                         f_shape.setRelativePosition(0.5*(a+b))
-                        f_shape.setRelativeQuaternion(q.getArr())
+                        f_shape.setRelativeQuaternion(q.asArr())
                         f_shape.setShape(ry.ST.capsule, [l, size[0]])
                     elif len(size)==2:
                         f_shape.setShape(ry.ST.capsule, [2.*size[1], size[0]])
@@ -239,4 +239,4 @@ class MujocoLoader():
         if rpy:
             q = ry.Quaternion()
             q.setRollPitchYaw(self.as_floats(rpy))
-            f.setRelativeQuaternion(q.getArr())
+            f.setRelativeQuaternion(q.asArr())

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.0'
+__version__ = '0.3.1'

{robotic-0.3.0.data → robotic-0.3.1.data}/scripts/ry-test

@@ -10,7 +10,8 @@ C.addFile(ry.raiPath('panda/panda.g'), 'b_').setPosition([0,0,.5])
 C.addFrame('box1') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([1.3, 0, 2.]) .setMass(3)
 C.addFrame('box2') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([.5, .0, 1.8]) .setMass(3)
 
-#C.view(False)
+C.view(False)
+time.sleep(.5)
 
 q0 = C.getJointState()
 qT = q0

{robotic-0.3.0.dist-info → robotic-0.3.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.0
+Version: 0.3.1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -48,7 +48,7 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
       ry-info
       ry-test
 
-* 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
@@ -58,13 +58,11 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 * Tested in latest ubuntu docker (using a venv):
 
-      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
+      apt install --yes liblapack3 xorg freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
+      cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
       cd
-      mkdir -p ~/.local
-      python3 -m venv ~/.local/venv
-      source ~/.local/venv/bin/activate
+      python3 -m venv ~/venv
+      source ~/venv/bin/activate
       pip install robotic numpy
       ry-test
 
@@ -103,7 +101,7 @@ This assumes a standard Ubuntu 24.04 (or 22.04, 20.04) machine.
       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

{robotic-0.3.0.dist-info → robotic-0.3.1.dist-info}/RECORD

@@ -1,23 +1,23 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
-robotic/__init__.py,sha256=ohFobv0RbIeS22ItTjsBuEh2SCmcXAGuUwu5A2j-foA,418
-robotic/_robotic.pyi,sha256=oJJcEuvL8aQGFTbdqmVdLNYTNIqz_KaxK8QYBVKBkrA,74164
-robotic/_robotic.so,sha256=32yJO-3VRVvp2b4Bi2MNpGsDXx0F9Orgp4wthLqLPFg,1222472
-robotic/librai.so,sha256=ZQ9kyklmvF399Nc97EguActdDxj3REaOcs-AwVxXxBQ,38705536
+robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
+robotic/_robotic.pyi,sha256=WGPudISms8zNXQ3iWmDDyPy5zxDFdXqkWRulQPlRByw,74355
+robotic/_robotic.so,sha256=tbyxhd2av6NID6d3x1dPS-f5OyPKc4ijTb50Y5fFHuE,1222472
+robotic/librai.so,sha256=jLZRs6pakYH_QOAbZLaW-2m_N_Tdw8fFovbE3pz5vGw,38705536
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=AWNp8WLaNlttZMHFyrBxy7eKkeTXUzxQP_38mjNyBcQ,52176
-robotic/mujoco-import.py,sha256=6zZTUvl6GuxSQrTnMW2y4Iy8iL7RuRbfZET-KiqO1Fg,363
+robotic/meshTool,sha256=PmuUM1ia3Opa5JT8T7L7k9-ThYgdBNT2pALqudKh82g,52176
+robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 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=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-test,sha256=U54-scN4o_glloiDKjSFKJ7QsUTPgvzia6qnE4-22Js,995
 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=3wVEs2QD_7OcTlD97cZdCeizd2hUbJJ0GeIO8wQIjrk,22
+robotic/version.py,sha256=TZkGuMIRSRmUY3XCIs5owt2o60vXyqYMHWIkhx65uYE,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
@@ -50,7 +50,7 @@ robotic/include/rai/Core/array.h,sha256=YcI48DcBMUYgdlXP4V1dV6juBUe1iCtbKoxWjp4n
 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=qIpLS_-ey89--kwJ1NbpQEJONTpWMV2FV90a_AgQRVw,20996
+robotic/include/rai/Core/graph.h,sha256=Thi03-fM0hqdz1oAXJauWw4WpYQHL8n54XvU0NR2Oyo,21128
 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
@@ -124,7 +124,7 @@ robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMB
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
 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/simulation.h,sha256=imCDImhfBDFqAQUospERxhlkEOwb-Pzq415QcrQ8xVI,5258
 robotic/include/rai/Kin/viewer.h,sha256=GzObhDzEnIBYH0Yu_wCX8Cm2GAN5wuk-El09b2Vy_8w,2031
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
 robotic/include/rai/LGP/LGP_Tool.h,sha256=vcQ3ixwJ4wepPDX8ZGkDBKGIpchJQWMOoMu82_cS_8I,4230
@@ -192,6 +192,7 @@ robotic/include/rai/ry/py-Spline.h,sha256=gR8Cvwt5PlzlolxegS1wUEEOQj9RydOp1gS67Z
 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=9lA31eCRoFENw9Nbg04KoX3diIIQYKz981oRYNKLvO4,499
+robotic/rai-robotModels/g1/g1_29dof_conv.yml,sha256=KU7Usxi4fMCKFH7Jfb6Jvs98fbK1UozBHCeTnD0KPPU,12132
 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
@@ -299,6 +300,7 @@ robotic/rai-robotModels/ranger/meshes/ranger_mini3.h5,sha256=Af2ppMf2YGOUkw7S0jH
 robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel.h5,sha256=zIiMDHGxqaztUyGNeCa-XBBbSoq6Kme0dy4gA7IkWl4,268465
 robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel_right.h5,sha256=Rs3a7mj3SHgRa31iNNa5RmOMGBdXrpr73GrqaIqRmqs,270937
 robotic/rai-robotModels/robotiq/robotiq.g,sha256=3m_n4NjH7Gfp_ztWIDb-ruR74q9WhElzqkT76KPeToQ,1066
+robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.yml,sha256=bkTMr1u1WZdE1LsDFEW3_vcp632_ZXUDM7Yt9T2ZlYU,2908
 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
@@ -347,21 +349,22 @@ robotic/rai-robotModels/ur10/meshes/upperarm.h5,sha256=7EscqPPAzKSzbtSCMrgbI_uGh
 robotic/rai-robotModels/ur10/meshes/wrist1.h5,sha256=4r7yAEKKx5zYoC2NbqL0yjGvX4ilafjrpuNP3oDKsU8,185725
 robotic/rai-robotModels/ur10/meshes/wrist2.h5,sha256=fJSQ4Jh-ChmwvRYfDobqXssVaBZj8GhpvmPNp1UTrN0,498733
 robotic/rai-robotModels/ur10/meshes/wrist3.h5,sha256=F8FrYVVp8YBdkgJ6EHKb5r_rm0kyhxf6b8KbwHjeegk,20770
+robotic/src/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robotic/src/cleanMeshes.py,sha256=42T9WwN_cn4u_s_BzN2eRfBQxmZTEQ6ZYPBtsesA5BM,1678
-robotic/src/config_urdf.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/mesh_helper.py,sha256=AMSOz3Eew9uJkDm5tFThbfJKcEQCmGyRLN4bZphISNk,16691
 robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnEg,3833
-robotic/src/mujoco_io.py,sha256=6LpOcqQ61Ihwg1BpSIu4YrQGxpR4dvhSt0QuGglgIx0,9477
+robotic/src/mujoco_io.py,sha256=uJ0-ZztwlFiP3ZQvHCKf5DdtkpBMsVT--d332qV9rNQ,9474
+robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=eCUK6w4FCRpBqNgP7FdVDbJf2H7Y1bfIGzs89nOrAsY,637
-robotic-0.3.0.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.0.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
-robotic-0.3.0.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.0.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.0.data/scripts/ry-test,sha256=wM2TpyuPGCVtulIi3ux7Okc2beiljTH29lsETCLEKq8,967
-robotic-0.3.0.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.0.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.0.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.0.dist-info/METADATA,sha256=4jjtY7o-EynoKj07x60u2I2ryL9M_6p0inKlCAzaW94,6578
-robotic-0.3.0.dist-info/WHEEL,sha256=-SnBaMyq1WEo8zlQMW9esmR5HW_9mdsf-6jSnLRjZ4s,104
-robotic-0.3.0.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.0.dist-info/RECORD,,
+robotic-0.3.1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.1.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
+robotic-0.3.1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.1.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
+robotic-0.3.1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.1.dist-info/METADATA,sha256=3DF_RHYZVJC10yPtbb6iQwSGgX8pLPFD4l93lsgjz1M,6497
+robotic-0.3.1.dist-info/WHEEL,sha256=ITVdYpiTGnryqIbOR0i1wcdISo8YPJzlx8rAyocabzM,104
+robotic-0.3.1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.1.dist-info/RECORD,,

{robotic-0.3.0.dist-info → robotic-0.3.1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.8.0)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: false
 Tag: cp311-cp311-linux_x86_64