robotic 0.3.1__cp39-cp39-manylinux2014_x86_64.whl → 0.3.1.dev0__cp39-cp39-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -52,6 +52,10 @@ class ShapenetGrasps:
         """
         (direct interface) return pcl of loaded object
         """
+    def getPointNormals(self) -> arr:
+        """
+        (direct interface) return point normals of the pcl of loaded object
+        """
     def getSamples(self, nSamples: int) -> tuple[arr, uintA, arr]:
         """
         (batch interface) return three arrays: samples X, contexts Z, scores S (each row are scores for one sample - see evaluateSamples)
@@ -64,7 +68,7 @@ class ShapenetGrasps:
         """
         (direct interface) return (relative) pose of random sampled grasp candidate
         """
-    def setGraspPose(self, pose: arr, objPts: str = 'objPts0') -> None:
+    def setGraspPose(self, pose: arr, objPts: str = 'obj0_pts') -> None:
         """
         (direct interface) set (relative) pose of grasp candidate
         """

robotic/_robotic.pyi

@@ -792,6 +792,10 @@ class Frame:
         ...
     def setJointState(self, arg0: arr) -> Frame:
         ...
+    def setLines(self, verts: arr, colors: ... = ...) -> Frame:
+        """
+        attach lines as shape
+        """
     def setMass(self, mass: float, inertiaMatrix: arr = ...) -> Frame:
         ...
     def setMesh(self, vertices: arr, triangles: uintA, colors: ... = ..., cvxParts: uintA = ...) -> Frame:

robotic/include/rai/DataGen/shapenetGrasps.h

@@ -32,8 +32,9 @@ struct ShapenetGrasps{
   bool loadObject(uint shape, bool rndOrientation=true);
   void resetObjectPose(int idx=0, bool rndOrientation=true);
   arr getPointCloud();
+  arr getPointNormals();
   arr sampleGraspPose();
-  void setGraspPose(const arr& pose, const char* objPts="objPts0");
+  void setGraspPose(const arr& pose, const char* objPts="obj0_pts");
   arr evaluateGrasp();
 
 
@@ -42,7 +43,7 @@ struct ShapenetGrasps{
 
 private:
   void clearScene();
-  bool addSceneObject(const char* file, int idx, bool rndOri=true, bool visual=false);
+  bool addSceneObject(const char* file, int idx, bool rndOri=true);
 };
 
 arr sampleGraspCandidate(rai::Configuration& C, const char *ptsFrame, const char* refFrame, double pregraspNormalSdv=.2, int verbose=1);

robotic/rai-robotModels/panda/panda_gripper.g

@@ -2,9 +2,7 @@ panda_hand: {  }
 panda_hand_0(panda_hand): { shape: mesh, mesh: <meshes/hand.h5>, visual: True }
 panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <meshes/finger.h5>, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True }
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_leftfinger(panda_finger_joint1): { shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }
+panda_rightfinger(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }

robotic/rai-robotModels/scenarios/pandaFloatingGripper.g

@@ -1,4 +1,4 @@
-base { multibody, multibody_gravity: false }
+base { multibody, multibody_gravity: false, mass: 1. }
 
 floatX (base){ joint:transX, limits:[-2 2], mass:.01 }
 floatY (floatX){ joint:transY, limits:[-2 2], mass:.01 }

robotic/version.py

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

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

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.1
+Version: 0.3.1.dev0
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -36,8 +36,9 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 * The pip package was compiled for python3.8 .. 3.12, and most of the dependencies statically linked. A few are still loaded dynamically, which requires installing on Ubuntu:
 
-      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip
-      #latest Ubuntu: libglut3.12 and 'cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3'
+      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip
+      #in latest Ubuntu also:
+	  cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
 
 * Pip install:
 
@@ -56,14 +57,15 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
       make run -j1
 	  make run_demos -j1
 
-* Tested in latest ubuntu docker (using a venv):
+* Test in a clean ubuntu:latest docker (starting with `xhost +local:root && docker run -it --env="DISPLAY" --network host ubuntu:latest`):
 
-      apt install --yes liblapack3 xorg freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
+      apt update
+      env DEBIAN_FRONTEND=noninteractive apt install --yes liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
       cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
-      cd
       python3 -m venv ~/venv
       source ~/venv/bin/activate
       pip install robotic numpy
+      ry-info
       ry-test
 
 ## Installation from source with real Franka & realsense support

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

@@ -1,8 +1,8 @@
-robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
+robotic/DataGen.pyi,sha256=d87TVK9SluoK409BexT5k1EHQYyrYHC1OW8QSdT-ujw,3378
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=WGPudISms8zNXQ3iWmDDyPy5zxDFdXqkWRulQPlRByw,74355
-robotic/_robotic.so,sha256=tewtfax35c5DfsvjwkdV_z93MWUGtQzcKj0f9Os9mUk,1222472
-robotic/librai.so,sha256=jLZRs6pakYH_QOAbZLaW-2m_N_Tdw8fFovbE3pz5vGw,38705536
+robotic/_robotic.pyi,sha256=NJQEj0Jcda4JyPmN10aQlAY9tPzf3c6KK7lfQK8oj4Q,74473
+robotic/_robotic.so,sha256=_DxDzUM2Nk2mB8Y1HxnPa5ZS_q2VuS9YcFilgvt2Jdw,1222472
+robotic/librai.so,sha256=w6FnWKspRCUYVEZKV2h0hmpUtJpDuKV_NnSwoyBG5Gg,38701440
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
 robotic/meshTool,sha256=PmuUM1ia3Opa5JT8T7L7k9-ThYgdBNT2pALqudKh82g,52176
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
@@ -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=TZkGuMIRSRmUY3XCIs5owt2o60vXyqYMHWIkhx65uYE,22
+robotic/version.py,sha256=ZWhjsBrDhcUf4gjEggmZnfIlksbS0utUxoRi60yM2Fo,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
@@ -60,7 +60,7 @@ robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73Zw
 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=QWv85YMGtW_X9ldKu4eZuoRNdQeIYtVTx1XIsk3Pbvg,1589
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NMQ4V1F6-UF8uPlTs4eonutpk4ZH90go1DYcbppfjss,1596
 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
@@ -238,7 +238,7 @@ robotic/rai-robotModels/panda/panda_arm_hand_conv.g,sha256=BVDQNIAwPB45rrvLX-WYw
 robotic/rai-robotModels/panda/panda_arm_hand_conv.yml,sha256=_YP4vVVKeScSPNLRRkkiH2fnHuFUQgt12O1RnWV5mTY,2486
 robotic/rai-robotModels/panda/panda_clean.g,sha256=6EShzBmEa2R5sJRhnGRXwLWcyjRybFY3Su-hdwz55yw,3168
 robotic/rai-robotModels/panda/panda_deformable.g,sha256=DvkhnJYSXc1S_GRBM3iJOm6WovKYrsckzAW-rXxLqH8,6037
-robotic/rai-robotModels/panda/panda_gripper.g,sha256=CB_rY6PUTdpgNsSvvAQ967t2Sm6r0B59rUqaVCZCmvA,862
+robotic/rai-robotModels/panda/panda_gripper.g,sha256=qdVvPLq8LNkcXFNVfLcYBLNvcgAt7UN3qaTYgCevi7o,846
 robotic/rai-robotModels/panda/panda_withoutCollisionModels.g,sha256=RPJawK8POmG_Hyc92XcprQbFArEryQWM8O6IB5zcSYQ,278
 robotic/rai-robotModels/panda/meshes/finger.h5,sha256=hzqxoufYkW0_qDgVH4ZCx7vwCeZF4s3qe0KpMyXf3Lw,12994
 robotic/rai-robotModels/panda/meshes/hand.h5,sha256=lbiphvOO3NKhuBW6kexfbfArDcNKqpqDM9yS_bmFdss,100882
@@ -317,7 +317,7 @@ robotic/rai-robotModels/scenarios/k00.g,sha256=Bjei9rYaLLwOhOSHFjaDGc7LFDraL8sxQ
 robotic/rai-robotModels/scenarios/kswing.g,sha256=k1bND_Hr-lE5sklOraw58HdUye6iW8jTdjBUwbyRCRM,3995
 robotic/rai-robotModels/scenarios/liftRing.g,sha256=fRKPEfUH_kDL4r7PmpO0kB2t1KeLV9QypxEEN_BNrqQ,1349
 robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_eUa_Z76l5_h-B0wjY,1158
-robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=zYo9T6aFWREpP2gnME0iFwOErKR8Ram2gndnZ9s-xXA,1498
+robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=emCRjAxW1XAo9teBjjxvnM4C3JiCWPfiptFFr3swwfE,1508
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
 robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=QVLpZCchSnoouayhIoVQcaWYHaZGVn4pIlj6nkFDHjs,1564
@@ -356,15 +356,15 @@ robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnE
 robotic/src/mujoco_io.py,sha256=uJ0-ZztwlFiP3ZQvHCKf5DdtkpBMsVT--d332qV9rNQ,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=eCUK6w4FCRpBqNgP7FdVDbJf2H7Y1bfIGzs89nOrAsY,637
-robotic-0.3.1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.1.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
-robotic-0.3.1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.1.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.1.dist-info/METADATA,sha256=3DF_RHYZVJC10yPtbb6iQwSGgX8pLPFD4l93lsgjz1M,6497
-robotic-0.3.1.dist-info/WHEEL,sha256=xBX4onHB9hedwVJmaMzGMZGvQ3CPO7V_K8S9h_B6PVk,102
-robotic-0.3.1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.1.dist-info/RECORD,,
+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
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+robotic-0.3.1.dev0.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
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+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=xBX4onHB9hedwVJmaMzGMZGvQ3CPO7V_K8S9h_B6PVk,102
+robotic-0.3.1.dev0.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.1.dev0.dist-info/RECORD,,