robotic 0.3.1.dev2__cp311-cp311-manylinux2014_x86_64.whl → 0.3.2__cp311-cp311-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -6,7 +6,7 @@ import numpy
 import typing
 from . import DataGen
 from . import test
-__all__ = ['Actions2KOMO_Translator', 'ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_Tool', 'NLP', 'NLP_Factory', 'NLP_Sampler', 'NLP_Solver', 'NLP_SolverOptions', 'OT', 'OptBench_Skeleton_Handover', 'OptBench_Skeleton_Pick', 'OptBench_Skeleton_StackAndBalance', 'OptBenchmark_InvKin_Endeff', 'OptMethod', 'Quaternion', 'RRT_PathFinder', 'ST', 'SY', 'Simulation', 'SimulationEngine', 'Skeleton', 'SolverReturn', 'TAMP_Provider', 'compiled', 'default_Actions2KOMO_Translator', 'default_TAMP_Provider', 'depthImage2PointCloud', 'params_add', 'params_clear', 'params_file', 'params_print', 'raiPath', 'setRaiPath', 'test']
+__all__ = ['Actions2KOMO_Translator', 'ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_Tool', 'NLP', 'NLP_Factory', 'NLP_Sampler', 'NLP_Solver', 'NLP_SolverOptions', 'OT', 'OptBench_Skeleton_Handover', 'OptBench_Skeleton_Pick', 'OptBench_Skeleton_StackAndBalance', 'OptBenchmark_InvKin_Endeff', 'OptMethod', 'Quaternion', 'RRT_PathFinder', 'ST', 'SY', 'Simulation', 'SimulationEngine', 'Skeleton', 'SolverReturn', 'TAMP_Provider', 'compiled', 'default_Actions2KOMO_Translator', 'default_TAMP_Provider', 'depthImage2PointCloud', 'get_NLP_Problem_names', 'make_NLP_Problem', 'params_add', 'params_clear', 'params_file', 'params_print', 'raiPath', 'rnd_seed', 'rnd_seed_random', 'setRaiPath', 'test']
 class Actions2KOMO_Translator:
     """
     Actions2KOMO_Translator
@@ -72,10 +72,18 @@ class BSpline:
         """
         non-initialized
         """
+    def append(self, points: arr, times_rel: arr, inside: bool = False) -> None:
+        """
+        appends points to the current spline; times_rel become relative to the current last knot; inside = remove the current end double knot (zero vel), smoothly blending but not transitioning anymore through the current end point
+        """
     def eval(self, sampleTimes: arr, derivative: int = 0) -> arr:
         """
         evaluate the spline (or its derivative) for given sampleTimes
         """
+    def eval3(self, time: float) -> arr:
+        """
+        evaluate the spline pos, vel, acc (3xn matrix) at a single time
+        """
     def getBmatrix(self, sampleTimes: arr, startDuplicates: bool = False, endDuplicates: bool = False) -> arr:
         """
         return the B-matrix mapping from ctrlPoints to (e.g. finer) sampleTimes (e.g. uniform linspace(0,1,T)
@@ -84,6 +92,14 @@ class BSpline:
         ...
     def getKnots(self) -> arr:
         ...
+    def overwriteSmooth(self, points: arr, times_rel: arr, time_cut: float) -> None:
+        """
+        overwrites the spline by adopting the pos+vel at time_cut of the current spline and appending given points; NOTE: times_rel are added to time_cut)
+        """
+    def set(self, degree: int, points: arr, times: arr, setStartVel: arr = ..., setEndVel: arr = ...) -> BSpline:
+        """
+        convenience: same as setKnots(degree, times) and setCtrlPoints(points, true, true, startVel, endVel)
+        """
     def setCtrlPoints(self, points: arr, addStartDuplicates: bool = True, addEndDuplicates: bool = True, setStartVel: arr = ..., setEndVel: arr = ...) -> None:
         """
         set the ctrl points, automatically duplicating them as needed at start/end, optionally setting vels at start/end
@@ -103,11 +119,11 @@ class BotOp:
         """
         constructor
         """
-    def attach(self, gripper: ..., obj: ...) -> None:
+    def attach(self, from: ..., to: ...) -> None:
         """
         cheating: attach two objects kinematically
         """
-    def detach(self, obj: ...) -> None:
+    def detach(self, from: ..., to: ...) -> None:
         """
         cheating: detach two previously attached objects
         """
@@ -1188,7 +1204,7 @@ class NLP:
         """
     def getBounds(self) -> arr:
         """
-        returns the tuple $(b_{lo},b_{up})$, where both vectors are of same dimensionality of $x$ (or size zero, if there are no bounds)
+        returns a 2xn array with lower and upper bounds as rows (or size zero, if there are no bounds)
         """
     def getDimension(self) -> int:
         """
@@ -1505,6 +1521,7 @@ class OptMethod:
         ...
 class Quaternion:
     """
+    See the Quaternion Lecture Note https://www.user.tu-berlin.de/mtoussai/notes/quaternions.html for details
     """
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
@@ -1847,11 +1864,11 @@ class Simulation:
         """
     def addSensor(self, sensorName: str, width: int = 640, height: int = 360, focalLength: float = -1.0, orthoAbsHeight: float = -1.0, zRange: arr = []) -> ...:
         ...
-    def attach(self, gripper: Frame, obj: Frame) -> None:
+    def attach(self, from: Frame, to: Frame) -> None:
         ...
     def depthData2pointCloud(self, arg0: numpy.ndarray[numpy.float32], arg1: list[float]) -> numpy.ndarray[numpy.float64]:
         ...
-    def detach(self, obj: Frame) -> None:
+    def detach(self, from: Frame, to: Frame) -> None:
         ...
     def getGripperWidth(self, gripperFrameName: str) -> float:
         ...
@@ -1896,7 +1913,7 @@ class Simulation:
         """
     def setState(self, frameState: arr, jointState: arr = ..., frameVelocities: arr = ..., jointVelocities: arr = ...) -> None:
         ...
-    def step(self, u_control: arr, tau: float = 0.01, u_mode: ControlMode = ...) -> None:
+    def step(self, u_control: arr = ..., tau: float = 0.01, u_mode: ControlMode = ...) -> None:
         ...
 class SimulationEngine:
     """
@@ -2008,6 +2025,14 @@ def depthImage2PointCloud(depth: numpy.ndarray[numpy.float32], fxycxy: arr) -> a
     """
     return the point cloud from the depth image
     """
+def get_NLP_Problem_names() -> StringA:
+    """
+    return all problem names
+    """
+def make_NLP_Problem(problem_name: ...) -> NLP:
+    """
+    create a benchmark NLP
+    """
 def params_add(*args, **kwargs) -> None:
     """
     add/set parameters
@@ -2028,6 +2053,14 @@ def raiPath(arg0: str) -> ...:
     """
     get a path relative to rai base path
     """
+def rnd_seed(s: int) -> None:
+    """
+    seed rnd with s
+    """
+def rnd_seed_random() -> None:
+    """
+    seed rnd randomly
+    """
 def setRaiPath(arg0: str) -> None:
     """
     redefine the rai (or rai-robotModels) path

robotic/include/rai/Algo/SplineCtrlFeed.h

@@ -40,7 +40,7 @@ struct BSplineCtrlReference : ReferenceFeed {
   //info:
   double getEndTime() { return spline.get()->end(); }
   arr getEndPoint() { return spline.get()->ctrlPoints[-1].copy(); }
-  void eval(arr& x, arr& xDot, arr& xDDot, double t) { spline.get()->eval2(x, xDot, xDDot, t); }
+  void eval(arr& x, arr& xDot, arr& xDDot, double t) { spline.get()->eval3(x, xDot, xDDot, t); }
 
   void report(double ctrlTime);
 };

robotic/include/rai/Algo/spline.h

@@ -29,27 +29,23 @@ struct BSpline {
   arr getBmatrix(const arr& sampleTimes, bool startDuplicates=false, bool endDuplicates=false);
 
   //-- methods concerning ctrl points
-  void setCtrlPoints(const arr& pts, bool addStartDuplicates=true, bool addEndDuplicates=true, const arr& setStartVel=NoArr, const arr& setEndVel=NoArr);
-  void append(const arr& points, const arr& times, bool inside);
+  void setCtrlPoints(const arr& points, bool addStartDuplicates=true, bool addEndDuplicates=true, const arr& setStartVel=NoArr, const arr& setEndVel=NoArr);
 
   //-- convenience user functions
   BSpline& set(uint _degree, const arr& points, const arr& times, const arr& startVel=NoArr, const arr& endVel=NoArr);
+  void overwriteSmooth(const arr& points, const arr& times_rel, double time_cut);
+  void append(const arr& points, const arr& times_rel, bool inside);
   void clear();
   arr& getKnots(){ return knots; }
   arr& getCtrlPoints(){ return ctrlPoints; }
   arr getPoints();
 
-  //-- obsolete
-  // BSpline& set_vel(uint degree, const arr& points, const arr& velocities, const arr& _times);
-
-
   //experimental
   void doubleKnot(uint t);
   void setDoubleKnotVel(int t, const arr& vel);
 
   /// core method to evaluate spline
-  // void eval(arr& x, arr& xDot, arr& xDDot, double t) const;
-  void eval2(arr& x, arr& xDot, arr& xDDot, double t, arr& Jpoints=NoArr, arr& Jtimes=NoArr) const;
+  void eval3(arr& x, arr& xDot, arr& xDDot, double t, arr& Jpoints=NoArr, arr& Jtimes=NoArr) const;
   arr eval(double t, uint derivative=0) const;
   arr eval(const arr& sampleTimes, uint derivative=0) const;
 

robotic/include/rai/Control/CtrlSolver.h

@@ -15,7 +15,7 @@
 
 //===========================================================================
 
-struct CtrlSolver : NonCopyable {
+struct CtrlSolver : rai::NonCopyable {
   KOMO komo;
   double tau;
   double maxVel=1.;

robotic/include/rai/Core/defines.h

@@ -52,14 +52,16 @@ using std::istream;
 using std::ofstream;
 using std::ifstream;
 
+namespace rai {
+
+struct String;
+
 //===========================================================================
 //
 // enums
 //
 
-namespace rai {
 enum ArgWord { _left, _right, _sequence, _path, _xAxis, _yAxis, _zAxis, _xNegAxis, _yNegAxis, _zNegAxis };
-}
 
 //===========================================================================
 
@@ -84,9 +86,6 @@ struct Stepper {
 // logging
 //
 
-namespace rai {
-struct String;
-
 /// An object that represents a log file and/or cout logging, together with log levels read from a cfg file
 struct LogObject {
   std::ofstream* fil=0;
@@ -117,12 +116,12 @@ extern LogObject _log;
 const char* errString();
 String& errStringStream();
 
-}
-
 //----- parsing strings in a stream
 struct PARSE { const char* str; PARSE(const char* _str):str(_str) {} };
 std::istream& operator>>(std::istream& is, const PARSE&);
 
+} //namespace
+
 //===========================================================================
 //
 // macros for LOG and CHECK
@@ -177,7 +176,7 @@ std::istream& operator>>(std::istream& is, const PARSE&);
 // macros to define the standard <<and >>operatos for most classes
 //
 
-#define stdInPipe(type)\
+#define stdInPipe(type)							\
   inline std::istream& operator>>(std::istream& is, type& x){ x.read(is); return is; }
 #define stdOutPipe(type)\
   inline std::ostream& operator<<(std::ostream& os, const type& x){ x.write(os); return os; }

robotic/include/rai/Core/graph.h

@@ -53,7 +53,6 @@ struct Node {
   void swapParent(uint i, Node* p);
 
   //-- get value
-  //get() -> as()
   template<class T> bool is() const { return type==typeid(T); }
   template<class T> T& as() { T* x=getValue<T>(); CHECK(x, "this node '" <<*this <<"' is not of type '" <<typeid(T).name() <<"' but type '" <<type.name() <<"'"); return *x; }
   template<class T> const T& as() const { const T* x=getValue<T>(); CHECK(x, "this node '" <<*this <<"'is not of type '" <<typeid(T).name() <<"' but type '" <<type.name() <<"'"); return *x; }
@@ -61,10 +60,9 @@ struct Node {
 
   template<class T> T* getValue();    ///< query whether node type is equal to (or derived from) T, return the value if so
   template<class T> const T* getValue() const; ///< as above
-  template<class T> std::shared_ptr<T> getPtr() const;  ///< query whether node type is equal to (or derived from) shared_ptr<T>, return the shared_ptr if so
-  template<class T> bool getFromDouble(T& x) const; ///< return value = false means parsing object of type T from the string failed
+  template<class T> bool getFromDouble(T& x) const; ///< return value = false means parsing object of type T from the double failed
   template<class T> bool getFromString(T& x) const; ///< return value = false means parsing object of type T from the string failed
-  template<class T> bool getFromArr(T& x) const; ///< return value = false means parsing object of type T from the string failed
+  template<class T> bool getFromArr(T& x) const; ///< return value = false means parsing object of type T from the arr failed
   bool isBoolAndTrue() const { if(type!=typeid(bool)) return false; return *getValue<bool>() == true; }
   bool isBoolAndFalse() const { if(type!=typeid(bool)) return false; return *getValue<bool>() == false; }
 
@@ -82,12 +80,10 @@ struct Node {
   virtual void copyValue(Node*) {NIY}
   virtual bool hasEqualValue(Node*) {NIY}
   virtual void writeValue(std::ostream& os) const {NIY}
-//  virtual void copyValueInto(void*) const {NIY}
   virtual Node* newClone(Graph& container) const {NIY}
 };
-
-inline std::istream& operator>>(std::istream& is, Node*& x) { HALT("prohibited"); return is; }
 stdOutPipe(Node)
+
 } //namespace
 
 //===========================================================================
@@ -408,10 +404,6 @@ struct Node_typed : Node {
     else os <<value;
   }
 
-//  virtual void copyValueInto(void* value_ptr) const {
-//    *((T*)value_ptr) = value;
-//  }
-
   virtual const std::type_info& getValueType() const {
     return typeid(T);
   }
@@ -445,15 +437,6 @@ template<class T> const T* Node::getValue() const {
   return &typed->value;
 }
 
-template<class T> std::shared_ptr<T> Node::getPtr() const {
-  NIY
-//  std::shared_ptr<T> typed = std::dynamic_pointer_cast<T>(std::shared_ptr<T>(value_ptr));
-  return std::shared_ptr<T>();
-//  const Node_typed<std::shared_ptr<T>>* typed = dynamic_cast<const Node_typed<std::shared_ptr<T>>*>(this);
-//  if(!typed) return nullptr;
-//  return typed->value;
-}
-
 template<class T> bool Node::getFromDouble(T& x) const {
   if(!is<double>()) return false;
   double y = as<double>();

robotic/include/rai/Core/thread.h

@@ -51,7 +51,7 @@ struct CallbackL : rai::Array<Callback<F>*> {
 struct RWLock {
   std::shared_timed_mutex rwLock;
   int rwCount=0;     ///< -1==write locked, positive=numer of readers, 0=unlocked
-  Mutex rwCountMutex;
+  rai::Mutex rwCountMutex;
   RWLock();
   ~RWLock();
   void readLock();   ///< multiple threads may request 'lock for read'
@@ -67,7 +67,7 @@ struct RWLock {
 //
 
 /// This RW lock counts revisions and broadcasts accesses to listeners; who is accessing can be logged; it has a unique name
-struct Var_base : NonCopyable {
+struct Var_base : rai::NonCopyable {
   RWLock rwlock;               ///< rwLock (handled via read/writeAccess)
   uint revision=0;
   rai::String name;            ///< name
@@ -227,7 +227,7 @@ template<class T> std::ostream& operator<<(std::ostream& os, Var<T>& x) { x.writ
 /// a basic condition variable
 struct Signaler {
   int status;
-  Mutex statusMutex;
+  rai::Mutex statusMutex;
   std::condition_variable cond;
 
   Signaler(int initialStatus=0);
@@ -240,13 +240,13 @@ struct Signaler {
   void statusLock();   //the user can manually lock/unlock, if he needs locked state access for longer -> use userHasLocked=true below!
   void statusUnlock();
 
-  int  getStatus(Mutex::Token* userHasLocked=0) const;
-  bool waitForSignal(Mutex::Token* userHasLocked=0, double timeout=-1.);
-  bool waitForEvent(std::function<bool()> f, Mutex::Token* userHasLocked=0);
-  bool waitForStatusEq(int i, Mutex::Token* userHasLocked=0, double timeout=-1.);    ///< return value is the state after the waiting
-  int waitForStatusNotEq(int i, Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
-  int waitForStatusGreaterThan(int i, Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
-  int waitForStatusSmallerThan(int i, Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
+  int  getStatus(rai::Mutex::Token* userHasLocked=0) const;
+  bool waitForSignal(rai::Mutex::Token* userHasLocked=0, double timeout=-1.);
+  bool waitForEvent(std::function<bool()> f, rai::Mutex::Token* userHasLocked=0);
+  bool waitForStatusEq(int i, rai::Mutex::Token* userHasLocked=0, double timeout=-1.);    ///< return value is the state after the waiting
+  int waitForStatusNotEq(int i, rai::Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
+  int waitForStatusGreaterThan(int i, rai::Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
+  int waitForStatusSmallerThan(int i, rai::Mutex::Token* userHasLocked=0, double timeout=-1.); ///< return value is the state after the waiting
 };
 
 //===========================================================================
@@ -331,7 +331,7 @@ struct Thread {
   rai::String name;
   std::unique_ptr<std::thread> thread;    ///< the underlying pthread; nullptr iff not opened
   int tid;                    ///< system thread id
-  Mutex stepMutex;              ///< This is set whenever the 'main' is in step (or open, or close) --- use this in all service methods callable from outside!!
+  rai::Mutex stepMutex;              ///< This is set whenever the 'main' is in step (or open, or close) --- use this in all service methods callable from outside!!
   uint step_count;              ///< how often the step was called
   Metronome metronome;          ///< used for beat-looping
   CycleTimer timer;             ///< measure how the time spend per cycle, within step, idle

robotic/include/rai/Core/util.h

@@ -19,17 +19,19 @@
 #include <climits>
 #include <mutex>
 #include <functional>
+#include <random>
 
 using std::cout;
 using std::cerr;
 using std::endl;
 
+namespace rai {
+
 //===========================================================================
 //
 // standard little methods (this needs cleanup)
 //
 
-namespace rai {
 extern int argc;
 extern char** argv;
 extern std::string startDir;
@@ -121,7 +123,6 @@ const char* niceTypeidName(const std::type_info& type);
 //----- get verbose level
 bool getInteractivity();
 bool getDisableGui();
-}
 
 //===========================================================================
 //
@@ -132,7 +133,6 @@ bool getDisableGui();
 #define STRINGF(format,...) (rai::String().printf(format, __VA_ARGS__))
 #define STREAM(x) (((rai::String&)(rai::String().stream() <<x)).stream())
 
-namespace rai {
 /** @brief String implements the functionalities of an ostream and an
 istream, but also can be send to an ostream or read from an
 istream. It is based on a simple streambuf derived from the
@@ -214,16 +214,13 @@ struct String : public std::iostream {
 
   /// @name I/O
   void write(std::ostream& os) const;
-  uint read(std::istream& is, const char* skipSymbols=nullptr, const char* stopSymbols=nullptr, int eatStopSymbol=-1);
+  uint read(std::istream& is, const char* skipSymbols=0, const char* stopSymbols=0, int eatStopSymbol=-1);
 };
 stdPipes(String)
 
 inline String operator+(const String& a, const char* b) { String s=a; s <<b; return s; }
   //template<class T> String operator+(const String& a, const T& b) { String s=a; s <<b; return s; }
 
-} //namespace
-
-typedef rai::String str;
 
 void setLogLevels(int fileLogLevel=3, int consoleLogLevel=2);
 
@@ -236,26 +233,25 @@ void setLogLevels(int fileLogLevel=3, int consoleLogLevel=2);
 // give names to Enum (for pipe << >> )
 //
 
-namespace rai {
 template<class enum_T>
 struct Enum {
   enum_T x;
   static const char* names [];
   Enum():x((enum_T)-1) {}
   Enum(enum_T y):x(y) {}
-  explicit Enum(const rai::String& str):Enum() { operator=(str); }
+  explicit Enum(const String& str):Enum() { operator=(str); }
   const enum_T& operator=(enum_T y) { x=y; return x; }
   bool operator==(const enum_T& y) const { return x==y; }
   bool operator!=(const enum_T& y) const { return x!=y; }
   operator enum_T() const { return x; }
   void read(std::istream& is) {
-    rai::String str(is);
+    String str(is);
     operator=(str);
   }
   void operator=(const char* str) {
     operator=(STRING(str));
   }
-  void operator=(const rai::String& str) {
+  void operator=(const String& str) {
     bool good=false;
     for(int i=0; names[i]; i++) {
       const char* n = names[i];
@@ -263,14 +259,14 @@ struct Enum {
         if(str==n) { x=(enum_T)(i); good=true; break; }
     }
     if(!good) {
-      rai::String all;
+      String all;
       for(int i=0; names[i]; i++) all <<names[i] <<' ';
       HALT("Enum::read could not find the keyword '" <<str <<"'. Possible Enum keywords: " <<all);
     } else {
       CHECK(str.p && !strcmp(names[x], str.p), "");
     }
   }
-  static bool contains(const rai::String& str) {
+  static bool contains(const String& str) {
     for(int i=0; names[i]; i++) {
       if(str==names[i]) return true;
     }
@@ -287,14 +283,12 @@ struct Enum {
 };
 template<class T> std::istream& operator>>(std::istream& is, Enum<T>& x) { x.read(is); return is; }
 template<class T> std::ostream& operator<<(std::ostream& os, const Enum<T>& x) { x.write(os); return os; }
-}
 
 //===========================================================================
 //
 // parameters
 //
 
-namespace rai {
 //----- parameter grabbing from command line, config file, or default value
 template<class T> T getParameter(const char* tag);
 template<class T> T getParameter(const char* tag, const T& Default);
@@ -331,8 +325,6 @@ template<class T> struct ParameterInitEnum {
   auto& set_##name(type _##name){ name=_##name; return *this; } \
   rai::ParameterInitEnum<type> __init_##name = {name, scope #name, Default};
 
-}
-
 //===========================================================================
 //
 // Testing
@@ -359,15 +351,13 @@ template<class T> struct ParameterInitEnum {
 // FileToken
 //
 
-namespace rai {
-
 /** @brief A ostream/istream wrapper that allows easier initialization of objects, like:
 arr X = FILE("inname");
 X >>FILE("outfile");
 etc
 */
 struct FileToken {
-  rai::String path, name, baseDir;
+  String path, name, baseDir;
   std::shared_ptr<std::ofstream> os;
   std::shared_ptr<std::ifstream> is;
 
@@ -386,9 +376,9 @@ struct FileToken {
   operator std::istream& () { return getIs(); }
   operator std::ostream& () { return getOs(); }
 
-  rai::String autoPath() const;
-  rai::String relPath() const;
-  rai::String fullPath() const;
+  String autoPath() const;
+  String relPath() const;
+  String fullPath() const;
 };
 template<class T> FileToken& operator>>(FileToken& fil, T& x) { fil.getIs() >>x;  return fil; }
 template<class T> std::ostream& operator<<(FileToken& fil, const T& x) { fil.getOs() <<x;  return fil.getOs(); }
@@ -396,7 +386,7 @@ inline std::ostream& operator<<(std::ostream& os, const FileToken& fil) { return
 template<class T> FileToken& operator<<(T& x, FileToken& fil) { fil.getIs() >>x; return fil; }
 template<class T> void operator>>(const T& x, FileToken& fil) { fil.getOs() <<x; }
 inline bool operator==(const FileToken&, const FileToken&) { return false; }
-}
+
 #define FILE(filename) (rai::FileToken(filename)()) //it needs to return a REFERENCE to a local scope object
 
 //===========================================================================
@@ -404,15 +394,17 @@ inline bool operator==(const FileToken&, const FileToken&) { return false; }
 // random number generator
 //
 
-namespace rai {
 /** @brief A random number generator. An global instantiation \c
-  rai::rnd of a \c Rnd object is created. Use this one object to get
+  rnd of a \c Rnd object is created. Use this one object to get
   random numbers.*/
 class Rnd {
  private:
   bool ready;
   int32_t rpoint;     /* Feldindex    */
   int32_t rfield[256];   /* Schieberegisterfeld  */
+public:
+  std::minstd_rand e1;
+  std::random_device r;
 
  public:
   /// ...
@@ -420,52 +412,23 @@ class Rnd {
 
  public:/// @name initialization
   /// initialize with a specific seed
-  uint32_t seed(uint32_t n);
+   void seed(int s){ e1.seed(s); ready=true; }
 
   /// use Parameter<uint>("seed") as seed
-  uint32_t seed();
+  void seed(){ e1.seed(getParameter<uint32_t>("seed", 0)); ready=true; }
 
   /// uses the internal clock to generate a seed
-  uint32_t clockSeed();
+  void seed_random(){ e1.seed(r()); ready=true; }
 
  public:/// @name access
-  /// a initeger random number uniformly distributed in [0, ?]
-  uint32_t num() { if(!ready) seed(); return (uint32_t)rnd250() >>5; }
-  /// same as \c num()
-  uint32_t operator()() { return num(); }
-  /// a initeger random number uniformly distributed in [0, \c i-1]
-  uint32_t num(uint32_t limit) {
-    CHECK(limit, "zero limit in rnd.num()"); return num() % limit;
-  }
-  uint32_t num(int32_t lo, int32_t hi) { return lo+num(hi-lo+1); }
-  /// same as \c num(i)
-  uint32_t operator()(uint32_t i) { return num(i); }
-  uint32_t operator()(int32_t lo, int32_t hi) { return num(lo, hi); }
-  /// a random variable uniformly distributed in [0, 1]
-  double uni() { return ((double)num(1 <<22))/(1 <<22); }
-  /// a random variable uniformly distributed in [\c low, \c high]
-  double uni(double low, double high) { return low+uni()*(high-low); }
-  /// a gaussian random variable with mean zero
-  double gauss();
-  /** @brief a positive integer drawn from a poisson distribution with given
-    \c mean; is case \c mean>100, a (positive) gauss number
-    \c floor(mean+gauss(sqrt(mean))+.5) is returned */
-  uint32_t poisson(double mean);
+  int uni_int(int lo, int up) { if(!ready) seed(); std::uniform_int_distribution<int> dist(lo, up); return dist(e1); }
+  double uni(double lo=0., double up=1.) { if(!ready) seed(); std::uniform_real_distribution<double> dist(lo, up); return dist(e1); }
+  double gauss(double mean=0., double std=1.){ if(!ready) seed(); std::normal_distribution<double> dist(mean, std); return dist(e1); }
 
- private:
-  int32_t rnd250() {
-    rpoint = (rpoint+1) & 255;          // Index erhoehen
-    return rfield[rpoint] =  rfield[(rpoint-250) & 255]
-                             ^ rfield[(rpoint-103) & 255];
-  }
+  uint operator()(uint up) { return uint(uni_int(0, up-1)); }
 
-  void seed250(int32_t seed);
 };
 
-}
-/// The global Rnd object
-extern rai::Rnd rnd;
-
 //===========================================================================
 //
 /// a little inotify wrapper
@@ -475,7 +438,7 @@ struct Inotify {
   int fd, wd;
   char* buffer;
   uint buffer_size;
-  rai::FileToken* fil;
+  FileToken* fil;
   Inotify(const char* filename);
   ~Inotify();
   bool poll(bool block=false, bool verbose=false);
@@ -541,7 +504,6 @@ struct Singleton {
 // just a hook to make things gl drawable
 //
 
-struct OpenGL;
 struct OpenGLDrawOptions {
   bool drawWires=false;
   bool drawColors=true;
@@ -569,22 +531,20 @@ struct CoutToken {
   ~CoutToken() { coutMutex.unlock(); }
   std::ostream& getOs() { return cout; }
 };
-#define COUT (CoutToken().getOs())
+#define COUT (rai::CoutToken().getOs())
 
 //===========================================================================
 //
 // to register a type
 //
 
-namespace rai {
 struct Node;
 struct Graph;
-}
 
 struct Type {
   virtual ~Type() {}
   virtual const std::type_info& typeId() const {NIY}
-  virtual struct rai::Node* readIntoNewNode(struct rai::Graph& container, std::istream&) const {NIY}
+  virtual struct Node* readIntoNewNode(struct Graph& container, std::istream&) const {NIY}
   virtual void* newInstance() const {NIY}
   void write(std::ostream& os) const {  os <<"Type '" <<typeId().name() <<"' ";  }
   void read(std::istream& is) const {NIY}
@@ -606,7 +566,7 @@ inline bool operator==(Type& t1, Type& t2) { return t1.typeId() == t2.typeId();
 //
 
  template<class T> T fromFile(const char* filename) {
-   rai::FileToken file(filename);
+   FileToken file(filename);
    T x;
    file.cd_file();
    x.read(file.getIs());
@@ -621,6 +581,14 @@ inline bool operator==(Type& t1, Type& t2) { return t1.typeId() == t2.typeId();
 //   return x;
 // }
 
+} //namespace
+
+//===========================================================================
+
+typedef rai::String str;
+extern rai::Rnd rnd;
+std::istream& operator>>(std::istream& is, char* str);
+
 //===========================================================================
 //
 // shared ptrs
@@ -629,20 +597,19 @@ inline bool operator==(Type& t1, Type& t2) { return t1.typeId() == t2.typeId();
 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)
+// gnuplot calls
 //
 
-#define RUN_ON_INIT_BEGIN(key) struct key##_RUN_ON_INIT{ key##_RUN_ON_INIT(){
-#define RUN_ON_INIT_END(key)   } } key##_RUN_ON_INIT_dummy;
+void gnuplot(const char* command, bool pause=false, bool persist=false, const char* PDFfile=nullptr);
+void gnuplotClose();
 
 //===========================================================================
 //
-// gnuplot calls
+/// running code on init (in cpp files)
 //
 
-void gnuplot(const char* command, bool pause=false, bool persist=false, const char* PDFfile=nullptr);
-void gnuplotClose();
+#define RUN_ON_INIT_BEGIN(key) struct key##_RUN_ON_INIT{ key##_RUN_ON_INIT(){
+#define RUN_ON_INIT_END(key)   } } key##_RUN_ON_INIT_dummy;
 

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/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/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/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/version.py

@@ -1 +1 @@
-__version__ = '0.3.1.dev2'
+__version__ = '0.3.2'

{robotic-0.3.1.dev2.dist-info → robotic-0.3.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.1.dev2
+Version: 0.3.2
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.1.dev2.dist-info → robotic-0.3.2.dist-info}/RECORD

@@ -1,10 +1,10 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=QGS7Zw1nxilAqTCbv0YemHU8ZDab02kp59FRkExtsHM,75530
-robotic/_robotic.so,sha256=zkulnJsedvIXKBRm6kkrxiezP0il_lt0UoAgTTIbzIw,1242920
-robotic/librai.so,sha256=9MntSREVZlircpqFB83r8fVzv4oW0Ve3l2n9zIdl7OE,38726016
+robotic/_robotic.pyi,sha256=gr5_H1AoXHl6fbJqoseQRs5Iiue59qa3HBKVUSW6X08,76998
+robotic/_robotic.so,sha256=iHRWCMC7jSyASvmpNQ3j7h033VgeFn5kF3ZCWpO3R_Y,1263400
+robotic/librai.so,sha256=SuIUWB7bLk-2iTy7SfXWGrHIdn1GXLZ4abjqoXdku6c,38758816
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=wxcOt_C3PAn2vbnMpGYm57rjrU4iZLoEriODlQResmg,52176
+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
@@ -17,10 +17,10 @@ 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=6zFXj91tQaAP1c18NoFsA-iEzHyvj6isEdLopC6_G48,27
+robotic/version.py,sha256=bqu4G7Is-8Were-hMi-SthEalL7QW-PAbKWGZ9pVB6U,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
+robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
 robotic/include/rai/Algo/ann.h,sha256=XCQSzJIg_cPzZBKgIJMuHvBLc3ayD1FzSFqh2s_1TnM,1294
 robotic/include/rai/Algo/dataNeighbored.h,sha256=NfwS4xJElLxX8t5cYY3xiTLXgJyMsHoaD-J0kT2GXqE,1208
 robotic/include/rai/Algo/eigenValues.h,sha256=U76I5DT_WO_o7k-W3qYt2exc0WCpw4yYjR8WCqxGBv4,942
@@ -31,11 +31,11 @@ robotic/include/rai/Algo/kalman.h,sha256=c3i6ebYHZtyT5ReTmpJVx8aJ26JWLymqK_QRDY4
 robotic/include/rai/Algo/minimalSpanningTree.h,sha256=56zTSWdMi4TMjtQDVv7tHo4ahivfidTXWN4zp9NX-Jw,512
 robotic/include/rai/Algo/priorityQueue.h,sha256=nF-5_eSbGjXMmY2K3SpD-Hxwb3bhFA1ilr6IBsFq87Q,1938
 robotic/include/rai/Algo/rungeKutta.h,sha256=Kbqeu-MauQDQnmKXSRk3VnOLUY_ngKzy-rqSskBqR9k,1761
-robotic/include/rai/Algo/spline.h,sha256=sc36vGI2Ypm1bAo1bgu1mB8D2I4pHlmvHKonmrQi4v4,4358
+robotic/include/rai/Algo/spline.h,sha256=mNi6ktREVFYkdJWPZaCrnvCW3AuZyMAsktYkRz3Ywxo,4269
 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=K8LFdhTJ0zGXnd-uI8TaR_k5aTbX3Mf9uUCvr9Yhzxk,21127
+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=MB07dgIgOYQxsGpGnQS8VmfGch3MnDBbp3qQSn1zTB4,19694
+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
@@ -117,7 +117,7 @@ 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/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
@@ -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
@@ -153,7 +153,7 @@ 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=Zl_J3yooYFxA2-z-ulFL67nfzQBX90hUbD_cVFzpb3U,1351
 robotic/include/rai/PathAlgos/PathResult.h,sha256=xxZiD8ClGKO719mQR50BsIzOlHeoH0UH4QNzWifoz6c,1070
@@ -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=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
-robotic-0.3.1.dev2.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.1.dev2.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
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-robotic-0.3.1.dev2.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.1.dev2.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.1.dev2.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.dev2.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dev2.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.1.dev2.dist-info/METADATA,sha256=gpaBPxgQWGSgSEWO6QTYiggxiHoSazBYmyJfNP2FJcg,6659
-robotic-0.3.1.dev2.dist-info/WHEEL,sha256=ITVdYpiTGnryqIbOR0i1wcdISo8YPJzlx8rAyocabzM,104
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-robotic-0.3.1.dev2.dist-info/RECORD,,
+robotic-0.3.2.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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