robotic 0.3.1.dev1__cp312-cp312-manylinux2014_x86_64.whl → 0.3.1.dev3__cp312-cp312-manylinux2014_x86_64.whl

robotic/include/rai/Geo/geo.h

@@ -262,6 +262,7 @@ struct Camera {
   void focus(float x, float y, float z, bool makeUpright=false);
   void watchDirection(const Vector& d);
   void upright(const Vector& up=Vector(0, 0, 1));
+  bool checkFocus();
 
   //-- projection matrix stuff
   arr getT_IC() const;

robotic/include/rai/Geo/mesh.h

@@ -21,7 +21,7 @@ struct SharedTextureImage{ byteA img; charA file; uint glBufferID=UINT32_MAX; };
 
 namespace rai {
 
-enum ShapeType { ST_none=-1, ST_box=0, ST_sphere, ST_capsule, ST_mesh, ST_cylinder, ST_marker, ST_pointCloud, ST_ssCvx, ST_ssBox, ST_ssCylinder, ST_ssBoxElip, ST_quad, ST_camera, ST_sdf, ST_tensor, ST_lines };
+enum ShapeType : int { ST_none=-1, ST_box=0, ST_sphere, ST_capsule, ST_mesh, ST_cylinder, ST_marker, ST_pointCloud, ST_ssCvx, ST_ssBox, ST_ssCylinder, ST_ssBoxElip, ST_quad, ST_camera, ST_sdf, ST_tensor, ST_lines };
 
 //===========================================================================
 /// a mesh (arrays of vertices, triangles, colors & normals)
@@ -150,6 +150,7 @@ struct Mesh {
   void writeJson(std::ostream&);
   void readJson(std::istream&);
   void writeArr(std::ostream&);
+  void writeAssimp(const char* filename, const char* format);
   void writeH5(const char* filename, const String& group);
   void readH5(const char* filename, const String& group);
   void readArr(std::istream&);

robotic/include/rai/Gui/RenderData.h

@@ -99,9 +99,9 @@ struct DistMarkers {
 };
 
 struct RenderData {
-  Mutex dataLock;
+  rai::Mutex dataLock;
 
-  Render_Options opt;
+  rai::Render_Options opt;
 
   rai::Camera camera;
   rai::Array<std::shared_ptr<RenderItem>> items;

robotic/include/rai/Gui/opengl.h

@@ -139,14 +139,14 @@ struct OpenGL {
   int scrollCounter=0;
   byteA captureImage;
   floatA captureDepth;
-  Mutex dataLock; //'data' means anything: member fields (camera, variables), drawers, data the drawers access
+  rai::Mutex dataLock; //'data' means anything: member fields (camera, variables), drawers, data the drawers access
 //  uint fbo, render_buf;
   uint offscreenFramebuffer=0;
   uint offscreenColor=0;
   uint offscreenDepth=0;
   Signaler isUpdating;
   Signaler watching;
-  OpenGLDrawOptions drawOptions;
+  rai::OpenGLDrawOptions drawOptions;
   int selectID=-1;
   std::shared_ptr<rai::RenderData> _data;
 

robotic/include/rai/Gui/plot.h

@@ -72,6 +72,6 @@ struct PlotModule {
 
 }
 
-extern Singleton<rai::PlotModule> plot;
+extern rai::Singleton<rai::PlotModule> plot;
 
 //===========================================================================

robotic/include/rai/KOMO/komo.h

@@ -38,7 +38,7 @@ struct KOMO_Options {
 };
 }//namespace
 
-struct KOMO : NonCopyable {
+struct KOMO : rai::NonCopyable {
 
   //-- the problem definition
   uint stepsPerPhase=0;        ///< time slices per phase

robotic/include/rai/KOMO/testProblems_KOMO.h

@@ -14,6 +14,18 @@
 
 #include "../Optim/NLP.h"
 
+namespace rai{
+  std::shared_ptr<NLP> make_NLP_Problem(str problem={});
+  StringA get_NLP_Problem_names();
+}
+
+struct KOMO_wrap : std::shared_ptr<NLP> {
+  std::shared_ptr<KOMO> komo;
+  KOMO_wrap(const std::shared_ptr<KOMO>& _komo) : komo(_komo){
+    std::shared_ptr<NLP>::operator=( komo->nlp() );
+  }
+};
+
 shared_ptr<KOMO> problem_IK();
 shared_ptr<KOMO> problem_IKobstacle();
 shared_ptr<KOMO> problem_IKtorus();
@@ -22,15 +34,6 @@ shared_ptr<KOMO> problem_StableSphere();
 
 //===========================================================================
 
-struct Problem{
-  std::shared_ptr<KOMO> komo;
-  std::shared_ptr<NLP> nlp;
-
-  void load(str problem={});
-};
-
-//===========================================================================
-
 //a set of spheres, confined in a box, and no collision, minimizing their height..
 struct SpherePacking : NLP{
   arr x; //position of spheres

robotic/include/rai/Kin/frame.h

@@ -174,7 +174,7 @@ struct Frame : NonCopyable {
   Frame& setConvexMesh(const arr& points, const byteA& colors= {}, double radius=0.);
   Frame& setSdf(std::shared_ptr<SDF>& sdf);
   Frame& setTensorShape(const floatA& data, const arr& size);
-  Frame& setImplicitSurface(const floatA& data, const arr& size, uint blur, double resample);
+  Frame& setImplicitSurface(const floatA& data, const arr& size, uint blur=0, double resample=-1.);
   Frame& setColor(const arr& color);
   Frame& setJoint(rai::JointType jointType, const arr& limits={}, double scale=1., Frame* mimic=0);
   Frame& setContact(int cont);

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();

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
 

robotic/include/rai/Kin/viewer.h

@@ -40,6 +40,7 @@ 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* camFrame);
   void setCameraPose(const arr& pose);

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/Optim/NLP.h

@@ -32,7 +32,7 @@ extern ObjectiveTypeA& NoObjectiveTypeA;
  *
  *  Importantly: the Jacobian may be sparse! This allows to implicitly represent structured NLP (in contrast to explicit structure, see below)
  */
-struct NLP : NonCopyable {
+struct NLP : rai::NonCopyable {
   //-- problem signature: needs to be defined in the constructor or a derived class
   uint dimension=0;
   ObjectiveTypeA featureTypes;

robotic/include/rai/Optim/NLP_GraphSolver.h

@@ -10,7 +10,7 @@
 
 #include "NLP_Solver.h"
 
-struct NLP_GraphSolver : NonCopyable {
+struct NLP_GraphSolver : rai::NonCopyable {
   rai::NLP_Solver subSolver;
   arr x, dual;
   std::shared_ptr<NLP_Factored> P;

robotic/include/rai/Optim/testProblems_Opt.h

@@ -75,7 +75,7 @@ struct NLP_TrivialSquareFunction : NLP {
 struct NLP_RandomLP : NLP {
   arr randomG;
 
-  NLP_RandomLP(uint dim);
+  NLP_RandomLP(uint dim=2);
 
   virtual void evaluate(arr& phi, arr& J, const arr& x);
 
@@ -126,13 +126,7 @@ struct SimpleConstraintFunction : NLP {
 struct NLP_RastriginSOS : NLP {
   double a;
   double condition;
-  NLP_RastriginSOS() {
-    a = rai::getParameter<double>("Rastrigin/a");
-    condition = rai::getParameter<double>("benchmark/condition");
-
-    dimension=2;
-    featureTypes = rai::consts<ObjectiveType>(OT_sos, 4);
-  }
+  NLP_RastriginSOS();
   virtual void evaluate(arr& phi, arr& J, const arr& x);
 };
 
@@ -143,7 +137,7 @@ struct NLP_Squared : NLP {
   arr C; /// $A = C^T C $
   uint n;  /// dimensionality of $x$
 
-  NLP_Squared(uint n, double condition=100., bool random=true);
+  NLP_Squared(uint n=2, double condition=100., bool random=true);
 
   virtual void evaluate(arr& phi, arr& J, const arr& x) { phi=C*x; if(!!J) J=C; }
 //  virtual arr getInitializationSample(){ return ones(n); }

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/include/rai/Perception/surfels.h

@@ -42,7 +42,7 @@ struct SurfelStatistics {
 
 struct Surfels {
   OpenGL gl;
-  Mutex mx;
+  rai::Mutex mx;
   arr pos, norm, col, rad;
   rai::Array<SurfelStatistics> D;
   uint32A surfelIdx, rndPerm;

robotic/include/rai/ry/types.h

@@ -46,6 +46,7 @@ template<class T> rai::Array<T> vec2Array(const std::vector<T>& x) {
 }
 
 template<class T> pybind11::array_t<T> Array2numpy(const rai::Array<T>& x) {
+  if(!x.N) return pybind11::array_t<T>();
   return pybind11::array_t<T>(vecdim(x), x.p);
 }
 

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/h5_helper.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import argparse
+import h5py
+
+class H5Writer:
+    def __init__(self, filename):
+        self.fil = h5py.File(filename, 'w')
+
+    def write(self, name, data, dtype = 'float32'):
+        self.fil.create_dataset(name, data=data, dtype=dtype)
+
+class H5Reader:
+    def __init__(self, filename):
+        self.fil = h5py.File(filename, 'r')
+
+    def print_attrs(self,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[()]]))
+            elif obj.size<20:
+                print('       ', obj[()])
+        else:
+            print('---', name)
+
+    def print_info(self):
+        self.fil.visititems(self.print_attrs)
+
+    def read(self, name):
+        return self.fil[name][()]

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.dev1'
+__version__ = '0.3.1.dev3'

{robotic-0.3.1.dev1.dist-info → robotic-0.3.1.dev3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.1.dev1
+Version: 0.3.1.dev3
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.1.dev1.dist-info → robotic-0.3.1.dev3.dist-info}/RECORD

@@ -1,10 +1,10 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=Klp80NNepVEuO4LGDt8Dj1oFa2eQXUuBXVnIEni4_Y8,75449
-robotic/_robotic.so,sha256=zSpZER-dHTU5vh0lQd3Jz8TYHYr_vbroWsqGy_tdpsY,1247008
-robotic/librai.so,sha256=-zPXuRJsGNEU-9WpW9rdHfTV6PzktZ3VfaxFQ0tS-6U,38717824
-robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=wxcOt_C3PAn2vbnMpGYm57rjrU4iZLoEriODlQResmg,52176
+robotic/_robotic.pyi,sha256=r9jK_izrLOBM9mzXfjlD7KX9T3_1bZ7X9XmOc6OTF40,76013
+robotic/_robotic.so,sha256=jLiv0C-Jg-owGQmi-xqjWxueNhfGkxUW5s4uvczOm1w,1255168
+robotic/librai.so,sha256=34ir07GEF4Sm9yx8hCqWD7CGbgq_7NReaREfEldeKjQ,38758816
+robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
+robotic/meshTool,sha256=kYLO2HPXn8nj98Qx-MIvJYpkFzOk2zY9-d30DgFZT80,52176
 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=ee5r9ceLV_FxcfRiJUTpXgWH7pgTJpybqp6_A8CMpkc,27
+robotic/version.py,sha256=8A91eHxAjFgTiNMg1NxW5Q6-QleQmDkpOEKoXwnRqq0,27
 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
@@ -35,7 +35,7 @@ robotic/include/rai/Algo/spline.h,sha256=sc36vGI2Ypm1bAo1bgu1mB8D2I4pHlmvHKonmrQ
 robotic/include/rai/Control/CtrlMsgs.h,sha256=61lxkvpcVB2ZAL7qmB35CJ1KkhZUB27lUJ4ZMiFH0Co,2406
 robotic/include/rai/Control/CtrlObjective.h,sha256=fC-6cS0X0RR_7ooFm1xnAXlN2mgyF26qKfTjomUK45U,2591
 robotic/include/rai/Control/CtrlSet.h,sha256=o7u8N9ZSoMbiDR3TGKDjfIarIP1JAw0SHMFL18t1fv0,1404
-robotic/include/rai/Control/CtrlSolver.h,sha256=79BZgnFMvPwM1cAWoyIcRCGYLLF21ky_LLBass3wnUQ,1095
+robotic/include/rai/Control/CtrlSolver.h,sha256=fwlXJcgHl01FL1n6HR-dKgEZKp8mYOhC085vb1yw4l0,1100
 robotic/include/rai/Control/CtrlSolvers.h,sha256=gxr_aTn-dyV1J6HxDSX8SVrqIPm14oxOkXx5-OGfamo,3094
 robotic/include/rai/Control/CtrlTargets.h,sha256=FRjAi9KwDL2-5ziKYP5g_-uR234SdPw70TNZbYn3QVg,5475
 robotic/include/rai/Control/RTControllerSimulation.h,sha256=iDpVRfivTlGS7DVWxVrS-xzCdVWrag1pUHsczZEb0po,1254
@@ -49,11 +49,11 @@ robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIg
 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=Thi03-fM0hqdz1oAXJauWw4WpYQHL8n54XvU0NR2Oyo,21128
+robotic/include/rai/Core/defines.h,sha256=Y5YF92lo5dV3r0W6DFCapY7_7vUk9dS1po6ixtNxGIg,6896
+robotic/include/rai/Core/graph.h,sha256=XkRLNuU8Aav9FMm-zgdWP6025NN5gauO1HFkWB2-e34,20351
 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/thread.h,sha256=oCcqgzPHYoVwCbarDibmbTwxKxnGGwdK0e0re3yWfPY,18303
+robotic/include/rai/Core/util.h,sha256=2Od8h_k5YTiE4WK1D0_Cr7A0dgOuHccY8f_cJi-x3CQ,18856
 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
@@ -64,8 +64,8 @@ robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NlpKWicgaylzw1si7EPzeM7cE_-V
 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
-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/geo.h,sha256=04dkfACju5vir09K2hS-p9Dptn6H1LLGprujnu4UocY,14879
+robotic/include/rai/Geo/mesh.h,sha256=LrVD3QjxIPotRtFL5s6_t-9Lv5eoVkwRf1Br2C70Shg,6972
 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
@@ -88,12 +88,12 @@ 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=SQEJbq1lTdCBsbMx8Yo6Dk_EPpQ2pNxM5l9D9xVU-qk,4986
+robotic/include/rai/Gui/RenderData.h,sha256=6YDE58vdQ2E18IfgGUj40fmxqgj4-LZAVrZftkKG3-c,4996
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
-robotic/include/rai/Gui/opengl.h,sha256=eFp5yfBh0sjqzGQ6xqeZdadsQzwYYVgeur_GMpmEdWA,9091
-robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
+robotic/include/rai/Gui/opengl.h,sha256=NipYBJ40hqC6K7xqmB0UYdU4rX_zQgnh7rsi5_Fg0-8,9101
+robotic/include/rai/Gui/plot.h,sha256=Y_X9-V6IExvFafNzkG88O2wUGDCCnarUzpi5b0DKBcQ,2346
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=q4BhbBXiV3hrI05iqJdMIKYcqFVrozo2fmEIDY1PpDA,13395
+robotic/include/rai/KOMO/komo.h,sha256=lyhu0CTfJliiHRywA-Mk8x15ro4-Z3DhTP3IOtmQ1Lw,13400
 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
@@ -102,7 +102,7 @@ robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2
 robotic/include/rai/KOMO/skeletonSymbol.h,sha256=mrPqRn_1i4PuqbkQBhKEYc5WPEGqPjBN6TvwZxZ5e7A,1261
 robotic/include/rai/KOMO/splined.h,sha256=G_fu9gXCboJLkwhwu77F6F3Ei6deqzbvkgP8r9kiNL8,903
 robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVPYR1g,1850
-robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=zpujbYe9Q97Mx_m91LQcPhEW8YVSitzYO_7I8l7M3WI,2882
+robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=K68JhZOpPcB9A0K2IEnfOJHG3-QweSDmHB2u_YfjeIA,3000
 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=tHyBQcKhi4ZdsHoBU5bu7kLWVm611SfEYG_o-vMSDN0,6694
@@ -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=xqNwSGPxCmGOgCEtMZmeE80RJLXcHdpJRHWIkxbqCwU,14617
-robotic/include/rai/Kin/kin.h,sha256=FB_nitzdTEMldqwTtJZVPKh4t1M9blrcEv9Q-jiaih8,16114
+robotic/include/rai/Kin/frame.h,sha256=Glq5nVSukaxl4NITLx0cabIrGToUVhLPKy0zP7QQkhA,14623
+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=oXaLa1VJXdhtsCFl6OGtAlT3PuCY9gg1OJVqZmRwOWA,5324
-robotic/include/rai/Kin/viewer.h,sha256=07Ul8z4dOjQC8cnz5fs3qjJT1Oulj5saF_kjl2Z4kek,2366
+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
@@ -138,9 +138,9 @@ robotic/include/rai/Logic/folWorld.h,sha256=XpqTWOIvZbKlS_vsJkXOexrhjfy3_iywebFe
 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
-robotic/include/rai/Optim/NLP.h,sha256=rWs2HDuaIQnrz2DZeiCuLjYrENb5mfdUiCcht6dQaus,8195
+robotic/include/rai/Optim/NLP.h,sha256=UwlTvUopRLYldVtx_WiFYDegPCssd4slWMQQD2EqI9s,8200
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
-robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=Wwq4YiU_35Wa0qERa9Pibo4EqzxzJcIYDTSh5Gol9so,1167
+robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=Te5_uyLrBvHANfGv9uHdR6YPuCWCqgJqj9EL8WYfF14,1172
 robotic/include/rai/Optim/NLP_Sampler.h,sha256=JaOEc8YJwatW5toOviTFXlOoF3Dg8ZWPM9zejyW9ND8,4643
 robotic/include/rai/Optim/NLP_Solver.h,sha256=Y07FfnrTjkVldXFU5HJ0SB0pOlGGivQ9k_4vpEM3YoA,2482
 robotic/include/rai/Optim/SlackGaussNewton.h,sha256=b5w2ti8AqqothZtCFevUNSs1Y5dz4LOLBJXZQvoKNmU,1338
@@ -153,11 +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=rYPVdz7y1pkmzJH6aIw3pQ6JqN2_HhJ50CAAdsL2r9A,6531
+robotic/include/rai/Optim/testProblems_Opt.h,sha256=4gpRMynlhr-01r3Tls1C4pueylO_UsCw8wElbgxhMf8,6338
 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
@@ -174,7 +174,7 @@ robotic/include/rai/Perception/pcl.h,sha256=bb_INnIt89xfwvx3gkLRqRPiH2OOpdPL7f-3
 robotic/include/rai/Perception/pclPlaneExtraction.h,sha256=RTyPIrxS4oZGZ1rXAhaRWxBrs3YX-PHmUimLG7t0LG0,2077
 robotic/include/rai/Perception/pixel_format.h,sha256=dNRLdsMdckP0npn19WO_37RpH3poNamOT4JfEM6QAco,1064
 robotic/include/rai/Perception/pointcloud_io.h,sha256=G908jUYDi8QFXmBDXrIuUrqZh24utcv3ABK2pWmhB50,1085
-robotic/include/rai/Perception/surfels.h,sha256=q9VGx6ncsv74WPsUn2-wMBirsuhwzeqUkOkEZD2l7DQ,1947
+robotic/include/rai/Perception/surfels.h,sha256=OblVWjI_bEpQwqcANJ8cHYvah4BraYmLpicN_Vn39Dg,1952
 robotic/include/rai/Perception/videoEncoder.h,sha256=TWphAWKPuvwwM6kNSfbEv57w9_LzZSbx-zkovfPVGA0,1823
 robotic/include/rai/Search/AStar.h,sha256=qXZybtUHusQUjmA2xYCvKtLpe8Saq73klpnBuz1plZc,1209
 robotic/include/rai/Search/ComputeNode.h,sha256=JcUy-8fmMsFbluSriDOh9FgLrJhaC4ggoiQwQa-1IZ0,3420
@@ -190,7 +190,7 @@ robotic/include/rai/ry/py-Quaternion.h,sha256=EydIMfUB_Zf9H21x29dhBjDm7472Ge_XD6
 robotic/include/rai/ry/py-Simulation.h,sha256=Kc4e6pK1yQyxDMCQu1HvXOYt9IlUiojBYFdqv3PP1AY,437
 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/include/rai/ry/types.h,sha256=gfyXJCRwkvrQ8jibdJVMRxPUIhXMUQJlgws9ocKyB8c,8537
 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
@@ -351,20 +351,21 @@ robotic/rai-robotModels/ur10/meshes/wrist2.h5,sha256=fJSQ4Jh-ChmwvRYfDobqXssVaBZ
 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/h5_helper.py,sha256=erZTmCSWIROWcn4MojakXSdvFtkWaDpaIhFCf7y8_Cc,899
 robotic/src/mesh_helper.py,sha256=AMSOz3Eew9uJkDm5tFThbfJKcEQCmGyRLN4bZphISNk,16691
 robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnEg,3833
 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.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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-robotic-0.3.1.dev1.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.1.dev1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dev1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
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-robotic-0.3.1.dev1.dist-info/RECORD,,
+robotic/src/yaml_helper.py,sha256=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
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