robotic 0.3.1.dev0__cp311-cp311-manylinux2014_x86_64.whl → 0.3.1.dev2__cp311-cp311-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -48,6 +48,10 @@ class ShapenetGrasps:
         """
     def getConfig(self) -> _robotic.Config:
         ...
+    def getEvalGripperPoses(self) -> arr:
+        """
+        return the relative gripper after each motion phase: esp. poses[1] (after closing fingers) is interesting; the later ones allow you to estimate relative motion yourself)
+        """
     def getPointCloud(self) -> arr:
         """
         (direct interface) return pcl of loaded object
@@ -64,6 +68,8 @@ class ShapenetGrasps:
         """
         (direct interface) clear scene and load object and gripper
         """
+    def resetObjectPose(self, idx: int = 0, rndOrientation: bool = True) -> None:
+        ...
     def sampleGraspPose(self) -> arr:
         """
         (direct interface) return (relative) pose of random sampled grasp candidate

robotic/_robotic.pyi

@@ -103,6 +103,14 @@ class BotOp:
         """
         constructor
         """
+    def attach(self, gripper: ..., obj: ...) -> None:
+        """
+        cheating: attach two objects kinematically
+        """
+    def detach(self, obj: ...) -> None:
+        """
+        cheating: detach two previously attached objects
+        """
     def getCameraFxycxy(self, sensorName: str) -> arr:
         """
         returns camera intrinsics
@@ -315,7 +323,7 @@ class Config:
         """
         returns the list of collisable pairs -- this should help debugging the 'contact' flag settings in a configuration
         """
-    def getCollisions(self, belowMargin: float = 1.0) -> list:
+    def getCollisions(self, belowMargin: float = 0.0) -> list:
         """
         return the results of collision computations: a list of 3 tuples with (frame1, frame2, distance). Optionally report only on distances below a margin To get really precise distances and penetrations use the FS.distance feature with the two frame names
         """
@@ -357,7 +365,7 @@ class Config:
         """
         get the joint state as a numpy vector, optionally only for a subset of joints specified as list of joint names
         """
-    def get_viewer(self, window_title: str = None, offscreen: bool = False) -> ...:
+    def get_viewer(self) -> ConfigurationViewer:
         ...
     def processInertias(self, recomputeInertias: bool = True, transformToDiagInertia: bool = False) -> None:
         """
@@ -393,7 +401,7 @@ class Config:
         """
     def setJointStateSlice(self, arg0: list[float], arg1: int) -> None:
         ...
-    def set_viewer(self, arg0: ...) -> None:
+    def set_viewer(self, arg0: ConfigurationViewer) -> None:
         ...
     def view(self, pause: bool = False, message: str = None) -> int:
         """
@@ -403,40 +411,10 @@ class Config:
         """
         close the view
         """
-    def view_focalLength(self) -> float:
-        """
-        return the focal length of the view camera (only intrinsic parameter)
-        """
-    def view_focus(self, frameName: str, absHeight: float = 2.0) -> None:
-        """
-        focus on a particular frame, given via name; second argument distances camara so that view window has roughly given absHeight around object
-        """
-    def view_fxycxy(self) -> arr:
-        """
-        return (fx, fy, cx, cy): the focal length and image center in PIXEL UNITS
-        """
-    def view_getDepth(self) -> numpy.ndarray[numpy.float32]:
-        ...
-    def view_getRgb(self) -> numpy.ndarray[numpy.uint8]:
-        ...
-    def view_pose(self) -> arr:
-        """
-        return the 7D pose of the view camera
-        """
-    def view_raise(self) -> None:
-        """
-        raise the view
-        """
     def view_recopyMeshes(self) -> None:
         ...
-    def view_savePng(self, pathPrefix: str = 'z.vid/') -> None:
-        """
-        saves a png image of the current view, numbered with a global counter, with the intention to make a video
-        """
-    def view_setCamera(self, arg0: Frame) -> None:
-        """
-        set the camera pose to a frame, and check frame attributes for intrinsic parameters (focalLength, width height)
-        """
+    def viewer(self) -> ConfigurationViewer:
+        ...
     def watchFile(self, arg0: str) -> None:
         """
         launch a viewer that listents (inode) to changes of a file (made by you in an editor), and reloads, displays and animates the configuration whenever the file is changed
@@ -468,9 +446,65 @@ class ConfigurationViewer:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
+    def focus(self, position_7d: arr, heightAbs: float = 1.0) -> None:
+        """
+        focus at a 3D position; second argument distances camara so that view window has roughly given absHeight around object
+        """
+    def getCamera_focalLength(self) -> float:
+        """
+        return the focal length of the view camera (only intrinsic parameter)
+        """
+    def getCamera_fxycxy(self) -> arr:
+        """
+        return (fx, fy, cx, cy): the focal length and image center in PIXEL UNITS
+        """
+    def getCamera_pose(self) -> arr:
+        """
+        get the camera pose directly
+        """
+    def getDepth(self) -> ...:
+        """
+        return the view's depth array (scaled to meters)
+        """
+    def getEventCursor(self) -> arr:
+        """
+        return the position and normal of the 'curser': mouse position 3D projected into scene via depth, and 3D normal of depth map -- returned as 6D vector
+        """
+    def getEventCursorObject(self) -> int:
+        """
+        (aka mouse picking) return the frame ID (or -1) that the 'cursor' currently points at
+        """
+    def getEvents(self) -> StringA:
+        """
+        return accumulated events as list of strings
+        """
+    def getRgb(self) -> ...:
+        """
+        return the view's rgb image
+        """
+    def raiseWindow(self) -> None:
+        """
+        raise the window
+        """
     def savePng(self, saveVideoPath: ... = 'z.vid/', count: int = -1) -> None:
         """
-        save enumerated pngs in a path - for video making
+        saves a png image of the current view, numbered with a global counter, with the intention to make a video
+        """
+    def setCamera(self, camFrame: Frame) -> None:
+        """
+        set the camera pose to a frame, and check frame attributes for intrinsic parameters (focalLength, width height)
+        """
+    def setCameraPose(self, pose_7d: arr) -> None:
+        """
+        set the camera pose directly
+        """
+    def setWindow(self, title: str, width: int, height: int) -> None:
+        """
+        set title, width, and height
+        """
+    def setupEventHandler(self, blockDefaultHandler: bool) -> None:
+        """
+        setup callbacks to grab window events and return them with methods below
         """
     def visualsOnly(self, _visualsOnly: bool = True) -> None:
         """
@@ -722,10 +756,6 @@ class Frame:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
-    def addAttributes(self, arg0: dict) -> None:
-        """
-        add/set attributes for the frame
-        """
     def asDict(self) -> dict:
         ...
     def computeCompoundInertia(self) -> Frame:
@@ -776,8 +806,10 @@ class Frame:
         ...
     def makeRoot(self, untilPartBreak: bool) -> None:
         ...
-    def setAttribute(self, arg0: str, arg1: float) -> Frame:
-        ...
+    def setAttributes(self, arg0: dict) -> Frame:
+        """
+        set attributes for the frame
+        """
     def setColor(self, arg0: arr) -> Frame:
         ...
     def setContact(self, arg0: int) -> Frame:
@@ -792,7 +824,7 @@ class Frame:
         ...
     def setJointState(self, arg0: arr) -> Frame:
         ...
-    def setLines(self, verts: arr, colors: ... = ...) -> Frame:
+    def setLines(self, verts: arr, colors: ... = ..., singleConnectedLine: bool = False) -> Frame:
         """
         attach lines as shape
         """
@@ -814,17 +846,17 @@ class Frame:
         """
         attach a point cloud shape
         """
-    def setPose(self, arg0: arr) -> None:
+    def setPose(self, arg0: arr) -> Frame:
         ...
-    def setPoseByText(self, arg0: str) -> None:
+    def setPoseByText(self, arg0: str) -> Frame:
         ...
     def setPosition(self, arg0: arr) -> Frame:
         ...
     def setQuaternion(self, arg0: arr) -> Frame:
         ...
-    def setRelativePose(self, arg0: arr) -> None:
+    def setRelativePose(self, arg0: arr) -> Frame:
         ...
-    def setRelativePoseByText(self, arg0: str) -> None:
+    def setRelativePoseByText(self, arg0: str) -> Frame:
         ...
     def setRelativePosition(self, arg0: arr) -> Frame:
         ...

robotic/include/rai/Core/graph.h

@@ -189,7 +189,7 @@ struct Graph : NodeL {
   Node* readNode(std::istream& is, bool verbose, bool parseInfo); //used only internally..
   void readJson(std::istream& is);
   void writeJson(std::istream& is);
-  void write(std::ostream& os=cout, const char* ELEMSEP=",\n", const char* BRACKETS=0, int indent=-1, bool yamlMode=false, bool binary=false) const;
+  void write(std::ostream& os=cout, const char* ELEMSEP="\n", const char* BRACKETS=0, int indent=-1, bool yamlMode=false, bool binary=false) const;
   void writeDot(std::ostream& os, bool withoutHeader=false, bool defaultEdges=false, int nodesOrEdges=0, int focusIndex=-1, bool subGraphsAsNodes=false);
   void writeHtml(std::ostream& os, std::istream& is);
   void writeYaml(std::ostream& os) const;

robotic/include/rai/Core/util.h

@@ -621,6 +621,15 @@ inline bool operator==(Type& t1, Type& t2) { return t1.typeId() == t2.typeId();
 //   return x;
 // }
 
+//===========================================================================
+//
+// shared ptrs
+//
+
+template<class T> void _delete(T* ptr){}
+template<class T> std::shared_ptr<T> _shared(T& x){ return std::shared_ptr<T>(&x, &_delete<T>); }
+
+
 //===========================================================================
 //
 /// running code on init (in cpp files)

robotic/include/rai/DataGen/shapenetGrasps.h

@@ -40,6 +40,7 @@ struct ShapenetGrasps{
 
   rai::Configuration C;
   StringA files;
+  arr evalGripperPoses;
 
 private:
   void clearScene();

robotic/include/rai/Gui/opengl.h

@@ -107,8 +107,8 @@ void write_png(const byteA& img, const char* file_name, bool swap_rows=true);
 struct OpenGL {
   /// @name little structs to store objects and callbacks
   struct GLHoverCall { virtual bool hoverCallback(OpenGL&) = 0; };
-  struct GLClickCall { virtual bool clickCallback(OpenGL&) = 0; };
-  struct GLKeyCall  { virtual bool keyCallback(OpenGL&) = 0; };
+  struct GLClickCall { virtual bool clickCallback(OpenGL&, int button, int buttonIsDown) = 0; };
+  struct GLKeyCall  { virtual bool keyCallback(OpenGL&, int key, int mods, bool keyIsDown) = 0; };
   struct GLScrollCall { virtual bool scrollCallback(OpenGL&, int) = 0; };
   struct GLEvent    { int button, key, x, y; float dx, dy; void set(int b, int k, int _x, int _y, float _dx, float _dy) { button=b; key=k; x=_x; y=_y; dx=_dx; dy=_dy; } };
   struct GLView     { double le, ri, bo, to;  rai::Array<rai::RenderData*> drawers;  rai::Camera camera;  GLView() { le=bo=0.; ri=to=1.; }  str text; };
@@ -147,7 +147,7 @@ struct OpenGL {
   Signaler isUpdating;
   Signaler watching;
   OpenGLDrawOptions drawOptions;
-  uint selectID;
+  int selectID=-1;
   std::shared_ptr<rai::RenderData> _data;
 
   bool fullscreen=false; ///<window starts in fullscreenmode on the primary screen

robotic/include/rai/KOMO/komo.h

@@ -203,7 +203,7 @@ struct KOMO : NonCopyable {
   int view_slice(uint t, bool pause=false);
   void view_close();
   std::shared_ptr<rai::ConfigurationViewer> get_viewer();
-  void set_viewer(std::shared_ptr<rai::ConfigurationViewer>& _viewer);
+  void set_viewer(const std::shared_ptr<rai::ConfigurationViewer>& _viewer);
 
 
   void plotTrajectory();

robotic/include/rai/Kin/frame.h

@@ -169,7 +169,7 @@ struct Frame : NonCopyable {
   Frame& setMesh(const arr& verts, const uintA& tris, const byteA& colors={}, const uintA& cvxParts={});
   Frame& setMeshFile(str file, double scale=1.);
   Frame& setTextureFile(str imgFile, const arr& texCoords={});
-  Frame& setLines(const arr& verts, const byteA& colors={});
+  Frame& setLines(const arr& verts, const byteA& colors={}, bool singleConnectedLine=false);
   Frame& setPointCloud(const arr& points, const byteA& colors= {}, const arr& normals= {});
   Frame& setConvexMesh(const arr& points, const byteA& colors= {}, double radius=0.);
   Frame& setSdf(std::shared_ptr<SDF>& sdf);

robotic/include/rai/Kin/kin.h

@@ -271,7 +271,7 @@ public:
   void addProxies(const uintA& collisionPairs);
 
   /// @name extensions on demand
-  std::shared_ptr<ConfigurationViewer>& get_viewer(const char* window_title=nullptr, bool offscreen=false);
+  std::shared_ptr<ConfigurationViewer> get_viewer();
   OpenGL& gl();
   void view_lock(const char* _lockInfo);
   void view_unlock();
@@ -280,15 +280,13 @@ public:
   FeatherstoneInterface& fs();
   bool hasView();
   int view(bool pause=false, const char* txt=nullptr);
-  void view_savePng(str saveVideoPath="z.vid/", int count=-1);
   void saveVideoPic(uint& t, const char* pathPrefix="vid/");
   void glAdd(void (*call)(void*, OpenGL&), void* classP);
   int glAnimate();
   void view_close();
-  void view_focus(const char* frameName, double heightAbs=1.);
   void view_setCameraPose(const arr& pose);
   arr view_getCameraPose();
-  void set_viewer(std::shared_ptr<ConfigurationViewer>& _viewer);
+  void set_viewer(const std::shared_ptr<ConfigurationViewer>& _viewer);
   void coll_stepFcl();
   void stepPhysx(double tau);
   void stepOde(double tau);

robotic/include/rai/Kin/kin_physx.h

@@ -38,8 +38,8 @@ struct PhysXInterface {
   void pullMotorStates(rai::Configuration& C, arr& qDot);
 
   void changeObjectType(rai::Frame* f, int type);
-  void addJoint(rai::Joint* j);
-  void removeJoint(rai::Joint* j);
+  void addRigidJoint(rai::Frame* from, rai::Frame* to);
+  void removeJoint(const rai::Frame* from, const rai::Frame* to);
   void postAddObject(rai::Frame* f);
 
   void setGravity(float grav);

robotic/include/rai/Kin/simulation.h

@@ -86,8 +86,8 @@ struct Simulation {
   //what are really the fundamental perturbations? Their (reactive?) management should be realized by 'agents'. We need a method to add purturbation agents.
   void addImp(ImpType type, const StringA& frames, const arr& parameters);
 
-  void attach(Frame* gripper, Frame* obj);
-  void detach(Frame* obj);
+  void attach(Frame* from, Frame* to);
+  void detach(Frame* from, Frame* to);
 
   //== management interface
 
@@ -126,8 +126,8 @@ struct TeleopCallbacks : OpenGL::GLClickCall, OpenGL::GLKeyCall, OpenGL::GLHover
   TeleopCallbacks(rai::Configuration& C, rai::Frame* marker=0) : C(C), marker(marker) { q_ref = C.getJointState(); }
 
   bool hasNewMarker();
-  virtual bool clickCallback(OpenGL& gl);
-  virtual bool keyCallback(OpenGL& gl);
+  virtual bool clickCallback(OpenGL& gl, int button, int buttonIsDown);
+  virtual bool keyCallback(OpenGL& gl, int key, int mods, bool _keyIsDown);
   virtual bool hoverCallback(OpenGL& gl);
 };
 

robotic/include/rai/Kin/viewer.h

@@ -40,8 +40,18 @@ struct ConfigurationViewer : RenderData {
   void savePng(str saveVideoPath="z.vid/", int count=-1);
 
   void raiseWindow();
+  void setWindow(const char* window_title, int w=400, int h=400);
   void glDraw(OpenGL&);
-  void setCamera(rai::Frame* cam);
+  void setCamera(rai::Frame* camFrame);
+  void setCameraPose(const arr& pose);
+  void focus(const arr& position, double heightAbs=1.);
+  arr getCameraPose();
+
+  void setupEventHandler(bool blockDefaultHandler);
+  StringA getEvents();
+  arr getEventCursor();
+  uint getEventCursorObject();
+  Mutex& getEventsMutex();
 
   //mimic a OpenGL, directly calling the same methods in its gl
   void _resetPressedKey();
@@ -51,6 +61,7 @@ private://draw data
   bool abortPlay;
   uint pngCount=0;
   bool drawFrameLines=true;
+  shared_ptr<struct ViewerEventHandler> eventHandler;
 public:
   int drawSlice;
   String text;

robotic/include/rai/LGP/LGP_computers.h

@@ -145,7 +145,7 @@ struct LGPcomp_RRTpath : ComputeNode {
   LGPcomp_Waypoints* ways=0;
   LGPcomp_RRTpath* prev=0;
 
-  Configuration C;
+  shared_ptr<Configuration> C;
   uint t;
   shared_ptr<RRT_PathFinder> rrt;
   arr q0, qT;

robotic/include/rai/PathAlgos/ConfigurationProblem.h

@@ -31,7 +31,7 @@ struct QueryResult {
 stdOutPipe(QueryResult)
 
 struct ConfigurationProblem {
-  rai::Configuration& C;
+  shared_ptr<rai::Configuration> C;
   arr limits;
   uintA sphericalCoordinates;
 
@@ -45,7 +45,7 @@ struct ConfigurationProblem {
   uint evals=0;
   double queryTime=0.;
 
-  ConfigurationProblem(rai::Configuration& _C, bool _useBroadCollisions=true, double _collisionTolerance=1e-3, int _verbose=0);
+  ConfigurationProblem(shared_ptr<rai::Configuration> _C, bool _useBroadCollisions=true, double _collisionTolerance=1e-3, int _verbose=0);
 
   void setExplicitCollisionPairs(const StringA& _collisionPairs);
 

robotic/include/rai/PathAlgos/RRT_PathFinder.h

@@ -78,7 +78,7 @@ struct RRT_PathFinder : NonCopyable {
   arr path;
 
   //setup
-  void setProblem(Configuration& C);
+  void setProblem(shared_ptr<Configuration> C);
   void setStartGoal(const arr& _starts, const arr& _goals);
   void setExplicitCollisionPairs(const StringA& collisionPairs);
 

robotic/manipulation.py

@@ -1,6 +1,7 @@
 import robotic as ry
 import numpy as np
 import time
+import pprint
 
 class KOMO_ManipulationHelper():
 
@@ -361,18 +362,15 @@ class KOMO_ManipulationHelper():
             if not self.ret.feasible:
                 print(f'  -- infeasible:{self.info}\n     {self.ret}')
                 if verbose>1:
-                    print(self.komo.report(False, True))
+                    objs = self.komo.report()
+                    #pprint.pp(objs)
+                    for k, v in objs.items():
+                        print(f'objective {k}: {v}')
                     self.komo.view(True, f'failed: {self.info}\n{self.ret}')
-                if verbose>2:
-                    while(self.komo.view_play(True, 1.)):
-                        pass
             else:
                 print(f'  -- feasible:{self.info}\n     {self.ret}')
                 if verbose>2:
                     self.komo.view(True, f'success: {self.info}\n{self.ret}')
-                if verbose>3:
-                    while(self.komo.view_play(True, 1.)):
-                        pass
 
         return self.ret
 

robotic/src/mujoco_io.py

@@ -34,7 +34,7 @@ class MujocoLoader():
 
         self.C = ry.Config()
         self.base = self.C.addFrame('base')
-        self.base.addAttributes({'multibody':True})
+        self.base.setAttributes({'multibody':True})
         self.base.setPosition(basePos)
         self.base.setQuaternion(baseQuat)
         self.add_node(root, self.base, path, 0)

robotic/src/yaml_helper.py

@@ -1,3 +1,6 @@
+#!/usr/bin/env python3
+
+import sys
 import yaml
 #from ruamel import yaml
 
@@ -17,3 +20,10 @@ yaml.add_representer(quoted_string, quoted_string_rep)
 def yaml_write_dict(data, filename):
     with open(filename, 'w') as fil:
         yaml.dump(noflow_dict(data), fil, default_flow_style=True, sort_keys=False, width=500)
+
+if __name__ == "__main__":
+    filename = sys.argv[1]
+    with open(filename, 'r', encoding='utf-8') as fil:
+        data = yaml.safe_load(fil)
+    print(yaml.dump(noflow_dict(data), None, default_flow_style=True, sort_keys=False, width=500))
+        

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.1.dev0'
+__version__ = '0.3.1.dev2'

{robotic-0.3.1.dev0.dist-info → robotic-0.3.1.dev2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.1.dev0
+Version: 0.3.1.dev2
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.1.dev0.dist-info → robotic-0.3.1.dev2.dist-info}/RECORD

@@ -1,10 +1,10 @@
-robotic/DataGen.pyi,sha256=d87TVK9SluoK409BexT5k1EHQYyrYHC1OW8QSdT-ujw,3378
+robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=NJQEj0Jcda4JyPmN10aQlAY9tPzf3c6KK7lfQK8oj4Q,74473
-robotic/_robotic.so,sha256=zk7n-2UfBvLUZF4mO2zi10itT1VyRde0g4bM4UCFI9M,1226568
-robotic/librai.so,sha256=w6FnWKspRCUYVEZKV2h0hmpUtJpDuKV_NnSwoyBG5Gg,38701440
-robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=PmuUM1ia3Opa5JT8T7L7k9-ThYgdBNT2pALqudKh82g,52176
+robotic/_robotic.pyi,sha256=QGS7Zw1nxilAqTCbv0YemHU8ZDab02kp59FRkExtsHM,75530
+robotic/_robotic.so,sha256=zkulnJsedvIXKBRm6kkrxiezP0il_lt0UoAgTTIbzIw,1242920
+robotic/librai.so,sha256=9MntSREVZlircpqFB83r8fVzv4oW0Ve3l2n9zIdl7OE,38726016
+robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
+robotic/meshTool,sha256=wxcOt_C3PAn2vbnMpGYm57rjrU4iZLoEriODlQResmg,52176
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -17,7 +17,7 @@ robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,255
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.py,sha256=8hiDRB2kB37hE5cZ7h26AJDnSGYb1y8DwOrcEGD_5Hc,620
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=ZWhjsBrDhcUf4gjEggmZnfIlksbS0utUxoRi60yM2Fo,27
+robotic/version.py,sha256=6zFXj91tQaAP1c18NoFsA-iEzHyvj6isEdLopC6_G48,27
 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
@@ -50,17 +50,17 @@ 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=Thi03-fM0hqdz1oAXJauWw4WpYQHL8n54XvU0NR2Oyo,21128
+robotic/include/rai/Core/graph.h,sha256=K8LFdhTJ0zGXnd-uI8TaR_k5aTbX3Mf9uUCvr9Yhzxk,21127
 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.h,sha256=MB07dgIgOYQxsGpGnQS8VmfGch3MnDBbp3qQSn1zTB4,19694
 robotic/include/rai/Core/util.ipp,sha256=soCVdpzWTpLL9i6rilFPNGozHZP40yhkmuXul7gHC7o,2157
 robotic/include/rai/Core/lapack/blaswrap.h,sha256=jl8W6GwBGMiU-ND9ILeKqWlIvryw7AsIydPUCQGT_ew,3750
 robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73ZwmfydSpaBdk,32367
 robotic/include/rai/Core/lapack/clapack.h,sha256=8rLteHzzGpKhJZXv4Eom9mk8lzbwRwjJuIqJuR1eePc,343373
 robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8zBgFUJB1phuwM,1045408
 robotic/include/rai/DataGen/rndStableConfigs.h,sha256=bIz2RovkruMjYaaDwJIkyevsF6oV16y7dhyKm6sp_6s,391
-robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NMQ4V1F6-UF8uPlTs4eonutpk4ZH90go1DYcbppfjss,1596
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NlpKWicgaylzw1si7EPzeM7cE_-V9jvhB4mK1Slmt8E,1620
 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=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
@@ -90,10 +90,10 @@ robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisq
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
 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=d0Ww1xnRb0JMxzGNzVwQT0F2MDQuD5VJCWOvDXYudm8,9024
+robotic/include/rai/Gui/opengl.h,sha256=eFp5yfBh0sjqzGQ6xqeZdadsQzwYYVgeur_GMpmEdWA,9091
 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=9p3lX7X1mr-EYclUzCWQDMagI_ac-Silo0LtTuOXoJY,13389
+robotic/include/rai/KOMO/komo.h,sha256=q4BhbBXiV3hrI05iqJdMIKYcqFVrozo2fmEIDY1PpDA,13395
 robotic/include/rai/KOMO/komo_NLP.h,sha256=kSzUMDmw4yzAXtpNB2v38dpw2tBS8n8R_op_T3yS3DQ,3681
 robotic/include/rai/KOMO/manipTools.h,sha256=WMdCxQB2rTcb3kzbiW9CHDpmGJZcKRqAnT861_iTsH4,4233
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
@@ -117,18 +117,18 @@ 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=p7uRLEqhrxwKkCOEykOX8GYgl4lQqjG3hheKEAAi4XI,14585
-robotic/include/rai/Kin/kin.h,sha256=g-b4adXdOVmQcQ4gwQCWz1n-llhUCUVvm2JLBNa0DwA,16235
+robotic/include/rai/Kin/frame.h,sha256=xqNwSGPxCmGOgCEtMZmeE80RJLXcHdpJRHWIkxbqCwU,14617
+robotic/include/rai/Kin/kin.h,sha256=uu2rwBXk0vMLH4NzXJTBHyV2sRRXK_zHrnoy61zh0qc,16060
 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=QfYi_-dIvVm7dFgG2SA3csHeb0peRMEhrf-I6pFOMPQ,1832
+robotic/include/rai/Kin/kin_physx.h,sha256=03YEr0M3ieuVnfwuHl9J2xRU2FwpLGvq4gUTjJqcDqA,1887
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-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/Kin/simulation.h,sha256=RlFZ7w9xaQZ6GY_Wwb4BXbgy3rhzZaKnujVzM2vqLY4,5332
+robotic/include/rai/Kin/viewer.h,sha256=XhfZ3QUYdCuye3NnCwPe2XnoJAqnf9RCtMAZLsc3fd4,2432
 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
-robotic/include/rai/LGP/LGP_computers.h,sha256=paoCbDZnIo7OUeHKo5qkzTkKy1RIzDZocg4p6SXoObk,6480
+robotic/include/rai/LGP/LGP_computers.h,sha256=YmHWOrSGz5HHNY5mUQheD-kPhOvzO3HsVRcaGvpME6o,6492
 robotic/include/rai/LGP/LGP_node.h,sha256=gMNQLfkbdMR1C-sNufI3K23Qt_Su3tqfIWz46Ta0JNo,4100
 robotic/include/rai/LGP/LGP_tree.h,sha256=J6W4Qypr70g0EZg30tTZBuca_6_O0sDQAGGv6Ow8oaE,4001
 robotic/include/rai/LGP/Motif.h,sha256=-1cYCDDxJK3at3LKT2R-qRoum7o7CnziBg30yijt4Ls,592
@@ -155,9 +155,9 @@ robotic/include/rai/Optim/options.h,sha256=JSqHw6agqLkvfvw6kd54KHQ6Hz7xZyHeRkWAu
 robotic/include/rai/Optim/primalDual.h,sha256=xHXhAPbZWPVj17ZGpDr4OrLJLYj_G1Wr_k4TCPFBiHc,1272
 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/ConfigurationProblem.h,sha256=Zl_J3yooYFxA2-z-ulFL67nfzQBX90hUbD_cVFzpb3U,1351
 robotic/include/rai/PathAlgos/PathResult.h,sha256=xxZiD8ClGKO719mQR50BsIzOlHeoH0UH4QNzWifoz6c,1070
-robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=44ahBizEoW1HgXh5LPgIL9poCIgaaTiTUeHsfV8Q5kI,3282
+robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=DQ3ceE8A6CJ7xaf0NOihTy1w0WjAEJnPJU0J6NaDHe8,3293
 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
@@ -353,18 +353,18 @@ robotic/src/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robotic/src/cleanMeshes.py,sha256=42T9WwN_cn4u_s_BzN2eRfBQxmZTEQ6ZYPBtsesA5BM,1678
 robotic/src/mesh_helper.py,sha256=AMSOz3Eew9uJkDm5tFThbfJKcEQCmGyRLN4bZphISNk,16691
 robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnEg,3833
-robotic/src/mujoco_io.py,sha256=uJ0-ZztwlFiP3ZQvHCKf5DdtkpBMsVT--d332qV9rNQ,9474
+robotic/src/mujoco_io.py,sha256=drLNE4yo30hpOY01-AsuCWKLvNoG5w2YDSzR_rlyfz0,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
-robotic/src/yaml_helper.py,sha256=eCUK6w4FCRpBqNgP7FdVDbJf2H7Y1bfIGzs89nOrAsY,637
-robotic-0.3.1.dev0.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.1.dev0.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
-robotic-0.3.1.dev0.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.1.dev0.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.1.dev0.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.1.dev0.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.dev0.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dev0.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.1.dev0.dist-info/METADATA,sha256=XLdNe-YNKIZR5yeHy-LIYZoQl-5g-wRA7Ir8tWM6sJM,6659
-robotic-0.3.1.dev0.dist-info/WHEEL,sha256=ITVdYpiTGnryqIbOR0i1wcdISo8YPJzlx8rAyocabzM,104
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-robotic-0.3.1.dev0.dist-info/RECORD,,
+robotic/src/yaml_helper.py,sha256=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
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