robotic 0.3.3.dev0__cp38-cp38-manylinux2014_x86_64.whl → 0.3.4__cp38-cp38-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -5,8 +5,9 @@ from __future__ import annotations
 import numpy
 import typing
 from . import DataGen
+from . import algo
 from . import test
-__all__ = ['ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_TAMP_Abstraction', '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', 'compiled', 'default_LGP_TAMP_Abstraction', 'depthImage2PointCloud', 'get_NLP_Problem_names', 'make_NLP_Problem', 'params_add', 'params_clear', 'params_file', 'params_get', 'params_print', 'raiPath', 'rnd_seed', 'rnd_seed_random', 'setRaiPath', 'test']
+__all__ = ['ArgWord', 'BSpline', 'BotOp', 'CameraView', 'CameraViewSensor', 'Config', 'ConfigurationViewer', 'ControlMode', 'DataGen', 'FS', 'Frame', 'JT', 'KOMO', 'KOMO_Objective', 'LGP_TAMP_Abstraction', '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', 'algo', 'compiled', 'default_LGP_TAMP_Abstraction', 'depthImage2PointCloud', 'get_NLP_Problem_names', 'make_NLP_Problem', 'params_add', 'params_clear', 'params_file', 'params_get', 'params_print', 'raiPath', 'rnd_seed', 'rnd_seed_random', 'setRaiPath', 'test']
 class ArgWord:
     """
     [todo: replace by str]
@@ -457,7 +458,7 @@ class ConfigurationViewer:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
-    def focus(self, position_7d: arr, heightAbs: float = 1.0) -> None:
+    def focus(self, position_3d: arr, heightAbs: float = 1.0) -> None:
         """
         focus at a 3D position; second argument distances camara so that view window has roughly given absHeight around object
         """
@@ -1615,7 +1616,7 @@ class RRT_PathFinder:
         ...
     def setStartGoal(self, starts: arr, goals: arr) -> None:
         ...
-    def solve(self) -> SolverReturn:
+    def solve(self, verbose: int = 1) -> SolverReturn:
         ...
 class ST:
     """
@@ -1916,7 +1917,7 @@ class Simulation:
         """
         reset the spline reference, i.e., clear the current spline buffer and initialize it to constant spline at current position (to which setSplineRef can append)
         """
-    def resetTime(self, arg0: float) -> None:
+    def resetTime(self, time: float = 1.0) -> None:
         ...
     def selectSensor(self, sensorName: str) -> ...:
         ...

robotic/algo.pyi

@@ -0,0 +1,17 @@
+"""
+basic algorithmic methods
+"""
+from __future__ import annotations
+__all__ = ['box_filter', 'marching_cubes', 'trilinear_interpolate']
+def box_filter(grid_values: ..., width: int = 3) -> ...:
+    """
+    apply a box filter of given width (typically 3) -- use multiple times to approximate Gaussian filter
+    """
+def marching_cubes(grid_values: ..., size: arr) -> tuple[arr, uintA]:
+    """
+    use Lewiner's original Marching Cubes algorithm compute a zero-levelset mesh from a 3D tensor. Returned vertices are centered and assume given total box size
+    """
+def trilinear_interpolate(pts: arr, grid_values: ..., grid_res: arr) -> ...:
+    """
+    use trilinear interpolation to sample values from a 3D grid of values
+    """

robotic/include/rai/{Geo → Algo}/Lewiner/MarchingCubes.h

@@ -158,35 +158,6 @@ public :
   void clean_all  () ;
 
 
-//-----------------------------------------------------------------------------
-// Exportation
-public :
-  /**
-   * PLY exportation of the generated mesh
-   * \param fn  name of the PLY file to create
-   * \param bin if true, the PLY will be written in binary mode
-   */
-  void writePLY( const char *fn, bool bin = false ) ;
-
-  /**
-   * PLY importation of a mesh
-   * \param fn  name of the PLY file to read from
-   */
-  void readPLY( const char *fn ) ;
-
-  /**
-   * VRML / Open Inventor exportation of the generated mesh
-   * \param fn  name of the IV file to create
-   */
-  void writeIV ( const char *fn ) ;
-
-  /**
-   * ISO exportation of the input grid
-   * \param fn  name of the ISO file to create
-   */
-  void writeISO( const char *fn ) ;
-
-
 //-----------------------------------------------------------------------------
 // Algorithm
 public :

robotic/include/rai/Algo/marching_cubes.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "../Core/array.h"
+
+namespace rai {
+
+std::tuple<arr, uintA> marching_cubes(const floatA& grid_values, const arr& size);
+
+}

robotic/include/rai/Algo/trilinear.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "../Core/array.h"
+
+namespace rai {
+
+template<class T>
+rai::Array<T> trilinear_interpolate(const arr& pts, const rai::Array<T>& grid_values, const arr& grid_res);
+
+} //namespace

robotic/include/rai/Control/TimingMPC.h

@@ -44,8 +44,8 @@ struct TimingMPC {
 
   uint nPhases() const { return waypoints.d0; }
   bool done() const { return phase>=nPhases(); }
-  arr getWaypoints() const { if(done()) return waypoints[-1].copy().reshape(1, -1); return waypoints({phase, -1+1}).copy(); }
-  arr getTimes() const { if(done()) return {.1}; return integral(tau({phase, -1+1})); }
+  arr getWaypoints() const { if(done()) return waypoints[-1].copy().reshape(1, -1); return waypoints({phase,0}).copy(); }
+  arr getTimes() const { if(done()) return {.1}; return integral(tau({phase,0})); }
   arr getVels() const;
 
   bool set_progressedTime(double gap, double tauCutoff=0.);

robotic/include/rai/Core/array.h

@@ -574,6 +574,7 @@ template<class T> uint numberSharedElements(const Array<T>& x, const Array<T>& y
 //
 // special iterators
 
+
 namespace rai {
 
 template<class T>
@@ -676,7 +677,8 @@ template<class T> Array<T>& Array<T>::setNoArr() { special = new SpecialArray(Sp
 
 namespace rai {
 uint product(const uintA& x);
-uint max(const uintA& x);
+template<class T> T& min(const Array<T>& x);
+template<class T> T& max(const Array<T>& x);
 uint sum(const uintA& x);
 float sum(const floatA& x);
 template<class T> Array<T> integral(const Array<T>& x);

robotic/include/rai/Core/arrayDouble.h

@@ -494,8 +494,6 @@ double euclideanDistance(const arr& v, const arr& w);
 double metricDistance(const arr& g, const arr& v, const arr& w);
 
 //min max
-double min(const arr& x);
-double max(const arr& x);
 arr max(const arr& v, uint d);
 arr min(const arr& v, uint d);
 uint argmin(const arr& x);

robotic/include/rai/Core/graph.h

@@ -188,7 +188,7 @@ struct Graph : NodeL {
   void write(std::ostream& os=cout, const char* ELEMSEP="\n", const char* BRACKETS=0, int indent=-1, bool yamlMode=false, bool binary=false) const;
   void writeDot(std::ostream& os, bool withoutHeader=false, bool defaultEdges=false, int nodesOrEdges=0, int focusIndex=-1, bool subGraphsAsNodes=false);
   void writeHtml(std::ostream& os, std::istream& is);
-  void writeYaml(std::ostream& os) const;
+  void writeYaml(std::ostream& os, bool classic = false) const;
   void writeParseInfo(std::ostream& os);
 
   void displayDot(Node* highlight=nullptr);

robotic/include/rai/Geo/geo.h

@@ -255,11 +255,12 @@ struct Camera {
   void setZRange(float znear, float zfar);
   void setWHRatio(float ratio);
   void setFocalLength(float f);
-  void setPosition(float x, float y, float z);
+  void setPosition(const Vector& x);
   void setKinect();
   void setDefault();
 
-  void focus(float x, float y, float z, bool makeUpright=false);
+  void focus(const Vector& x, bool makeUpright=false);
+  void focusAtDist(const Vector& x, double dist);
   void watchDirection(const Vector& d);
   void upright(const Vector& up=Vector(0, 0, 1));
   bool checkFocus();

robotic/include/rai/Geo/mesh.h

@@ -72,8 +72,8 @@ struct Mesh {
   void setSSCvx(const arr& core, double r, uint fineness=2);
   void setImplicitSurface(std::function<double (const arr&)> f, double lo=-10., double up=+10., uint res=100);
   void setImplicitSurface(std::function<double(const arr& x)> f, const arr& bounds, uint res);
-  void setImplicitSurface(const arr& gridValues, const arr& lo, const arr& up);
-  void setImplicitSurface(const floatA& gridValues, const arr& lo, const arr& up);
+  void setImplicitSurface(const arr& gridValues, const arr& size);
+  void setImplicitSurface(const floatA& gridValues, const arr& size);
   void setImplicitSurfaceBySphereProjection(ScalarFunction& f, double rad, uint fineness=3);
   Mesh& setRandom(uint vertices=10);
   void setGrid(uint X, uint Y);

robotic/include/rai/Geo/signedDistanceFunctions.h

@@ -109,6 +109,7 @@ struct DensityDisplayData {
 struct TensorShape : SDF {
   floatA gridData;
   shared_ptr<DensityDisplayData> _densityDisplayData;
+  arr color;
 
   TensorShape(const rai::Transformation& _pose, const floatA& _data, const arr& _lo, const arr& _up)
     : SDF(_pose), gridData(_data) {  lo = _lo;  up = _up;  }

robotic/include/rai/Geo/stb_image.h

@@ -3896,7 +3896,7 @@ static const int stbi__zlength_base[31] = {
 };
 
 static const int stbi__zlength_extra[31]=
-{ 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0, 0, 0 };
+{0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0, 0, 0 };
 
 static const int stbi__zdist_base[32] = { 1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193,
                                           257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097, 6145, 8193, 12289, 16385, 24577, 0, 0

robotic/include/rai/Gui/RenderData.h

@@ -16,6 +16,7 @@ struct Render_Options {
   RAI_PARAM("Render/", bool, userShaderFiles, false)
   RAI_PARAM("Render/", bool, flatColors, false)
   RAI_PARAM("Render/", bool, useShadow, true)
+  RAI_PARAM("Render/", bool, polygonLines, false)
   RAI_PARAM("Render/", arr, backgroundColor, {})
   RAI_PARAM("Render/", arr, floorColor, {})
   RAI_PARAM("Render/", arr, lights, {})
@@ -38,7 +39,7 @@ struct RenderAsset{
   void mesh(rai::Mesh &mesh, double avgNormalsThreshold=.9);
   void lines(const arr& lines, const arr& color);
   void pointCloud(const arr& points, const arr& color);
-  void tensor(const floatA& vol, const arr& size={1.,1.,1.});
+  void tensor(const floatA& vol, const arr& size);
 
   //engine specific -> should be refactored
   void glInitialize();

robotic/include/rai/KOMO/manipTools.h

@@ -16,6 +16,7 @@
 struct ManipulationHelper {
   std::shared_ptr<KOMO> komo;
   str info;
+  rai::Configuration *Cviewer=0;
 
   //solver buffers:
   std::shared_ptr<SolverReturn> ret;

robotic/include/rai/Kin/F_forces.h

@@ -42,8 +42,8 @@ struct F_HingeXTorque : Feature {
 };
 
 struct F_TotalForce : Feature {
-  double gravity=9.81;
-  F_TotalForce(bool _zeroGravity=false);
+  arr gravity;
+  F_TotalForce(const arr& _gravity={0., 0., 9.81}) : gravity(_gravity) {}
   virtual void phi2(arr& y, arr& J, const FrameL& F);
   virtual uint dim_phi(const FrameL& C) { return 6; }
 };

robotic/include/rai/Kin/frame.h

@@ -123,7 +123,7 @@ struct Frame : NonCopyable {
   //structural operations
   Frame& setParent(Frame* _parent, bool keepAbsolutePose_and_adaptRelativePose=false, bool checkForLoop=false);
   Frame& unLink();
-  Frame* insertPreLink(const rai::Transformation& A=0);
+  Frame* insertPreLink(const rai::Transformation& A=0, const char* postfix="_origin");
   Frame* insertPostLink(const rai::Transformation& B=0);
   void makeRoot(bool untilPartBreak=true);
 

robotic/include/rai/Kin/kin.h

@@ -286,6 +286,7 @@ public:
   void view_close();
   void view_setCameraPose(const arr& pose);
   arr view_getCameraPose();
+  void view_focus(const char* frameName, double heightAbs);
   void set_viewer(const std::shared_ptr<ConfigurationViewer>& _viewer);
   void coll_stepFcl();
   void stepPhysx(double tau);

robotic/include/rai/Kin/simulation.h

@@ -59,6 +59,8 @@ struct Simulation {
   //-- get state information
   const arr& get_q() { return C.getJointState(); }
   const arr& get_qDot();
+  const arr& get_qRef(); //executed in the LAST step() call
+
   const arr get_frameVelocities();
   double getTimeToSplineEnd();
   double getGripperWidth(const char* gripperFrameName);

robotic/include/rai/PathAlgos/RRT_PathFinder.h

@@ -83,7 +83,7 @@ struct RRT_PathFinder : NonCopyable {
   void setExplicitCollisionPairs(const StringA& collisionPairs);
 
   //solve
-  shared_ptr<SolverReturn> solve();
+  shared_ptr<SolverReturn> solve(int verbose=1);
 
   //output
   void view(bool pause, const char* txt=0, bool play=false);

robotic/include/rai/ry/py-algo.h

@@ -0,0 +1,17 @@
+/*  ------------------------------------------------------------------
+    Copyright (c) 2011-2024 Marc Toussaint
+    email: toussaint@tu-berlin.de
+
+    This code is distributed under the MIT License.
+    Please see <root-path>/LICENSE for details.
+    --------------------------------------------------------------  */
+
+#pragma once
+
+#ifdef RAI_PYBIND
+
+#include <pybind11/pybind11.h>
+
+void init_algo(pybind11::module& m);
+
+#endif

robotic/ry-test

@@ -19,7 +19,7 @@ qT[0] += 1.
 
 sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
-[X, q, V, qDot] = sim.getState()
+state = sim.getState()
 
 tau=.01
 
@@ -34,7 +34,7 @@ for t in range(int(4./tau)):
     #    C.view(False, f'Note: the sim operates *directly* on the given config\nt:{t:4d} = {tau*t:5.2f}sec')
 
     if (t%100)==0:
-        sim.setState(X, q, V, qDot)
-        q0 = q
+        sim.setState(*state)
+        #q0 = q
         sim.resetSplineRef()
         sim.setSplineRef(qT, [1.])

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.3.dev0'
+__version__ = '0.3.4'

{robotic-0.3.3.dev0.data → robotic-0.3.4.data}/scripts/ry-test

@@ -19,7 +19,7 @@ qT[0] += 1.
 
 sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
-[X, q, V, qDot] = sim.getState()
+state = sim.getState()
 
 tau=.01
 
@@ -34,7 +34,7 @@ for t in range(int(4./tau)):
     #    C.view(False, f'Note: the sim operates *directly* on the given config\nt:{t:4d} = {tau*t:5.2f}sec')
 
     if (t%100)==0:
-        sim.setState(X, q, V, qDot)
-        q0 = q
+        sim.setState(*state)
+        #q0 = q
         sim.resetSplineRef()
         sim.setSplineRef(qT, [1.])

{robotic-0.3.3.dev0.dist-info → robotic-0.3.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.3.3.dev0
+Version: 0.3.4
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.3.dev0.dist-info → robotic-0.3.4.dist-info}/RECORD

@@ -1,10 +1,11 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
-robotic/_robotic.pyi,sha256=CNcPSa4rb7DrSq6eB9apCXAKiog__UC_UQ_x6OKH8ko,77107
-robotic/_robotic.so,sha256=D1SZUBC6m5XXTbJ_YpVickRwfHFDAHpmQDG0XVF8tfc,1263432
-robotic/librai.so,sha256=Ugw7BpEwUYJR6ZjymnwKUJb96jwc22R12i_K7AFxpQQ,38869664
+robotic/_robotic.pyi,sha256=cmdhpWzjTIOjayzcAio8wbhI9yYAjekS3zW_J_mb87Q,77158
+robotic/_robotic.so,sha256=MXcbVpo8ktF_LBLA7YVQTRletjxW4_8ic2K5Aj04kBY,1271624
+robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
+robotic/librai.so,sha256=gZSBFk5RKYiiTML8FfCZ9GjGD8-9kqvofePpwhgxOC4,38890176
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=PL2Vd43ruYmPzk9i91t_Xo4zWMWFn-mHLGXMDG8h_O4,52176
+robotic/meshTool,sha256=y37JhkzqsoL87TjtqXj9HD8A_cGg_8e-uVskHcrLkk0,56280
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -12,11 +13,11 @@ robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
 robotic/ry-h5info,sha256=zfGJiyYJIVw1QWWQErJIvaKA1oVJuKwllafWRSoZFFk,463
 robotic/ry-info,sha256=GRj4oMCgTCGRF2wxtYxiFvETROB92rwwtUFb6S_Eo7g,439
 robotic/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic/ry-test,sha256=U54-scN4o_glloiDKjSFKJ7QsUTPgvzia6qnE4-22Js,995
+robotic/ry-test,sha256=MYMwRyOwCDxsgUwSPj9etNRSKJWvc6jwVWUJNkxlw-U,979
 robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,2556
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=AZh_tN5EDwYUPKcfk1bZQUa_cCS9nX-cq7j3-bwbswY,27
+robotic/version.py,sha256=Yyz9rKJSsP7kA7oh3l-XTxOFzEuuSR9Ly7oYXA1hfFM,22
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=SndbBtDte12eUAEFwagmg-xjXIA11z6iTTBxJd_fKAo,3742
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
@@ -27,10 +28,14 @@ robotic/include/rai/Algo/gaussianProcess.h,sha256=_U9nv_mOn72_7j6_YlhRC64wFolFgm
 robotic/include/rai/Algo/gpOp.h,sha256=LRUaezbPfZefJoS0xDfnwjnnIRtZ9JPTMDq1b7SvEdU,4221
 robotic/include/rai/Algo/hungarian.h,sha256=RcO0vEzy638pOCqKNv_xWJvOvB1XSAYYjj3CsNbZy_0,796
 robotic/include/rai/Algo/kalman.h,sha256=c3i6ebYHZtyT5ReTmpJVx8aJ26JWLymqK_QRDY4-7GU,744
+robotic/include/rai/Algo/marching_cubes.h,sha256=dvk9PfTP4xBFMIcS_4tRVpMJaMH90-vi-a52xArEQ0U,145
 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=mNi6ktREVFYkdJWPZaCrnvCW3AuZyMAsktYkRz3Ywxo,4269
+robotic/include/rai/Algo/trilinear.h,sha256=RhTO8FyB-lO4qfoOZgZPyrZo_2XMaVfBZ8BIETomvMc,200
+robotic/include/rai/Algo/Lewiner/LookUpTable.h,sha256=0MRA9ioCeKoMhXYqtxaOPHTMwR_GkmyDFx2mgpSvs9s,158933
+robotic/include/rai/Algo/Lewiner/MarchingCubes.h,sha256=pXvUdDddJOtHVocQu4a8NSfMgGrgENqO4VTz3hzkmn4,12754
 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
@@ -40,16 +45,16 @@ robotic/include/rai/Control/CtrlTargets.h,sha256=FRjAi9KwDL2-5ziKYP5g_-uR234SdPw
 robotic/include/rai/Control/RTControllerSimulation.h,sha256=iDpVRfivTlGS7DVWxVrS-xzCdVWrag1pUHsczZEb0po,1254
 robotic/include/rai/Control/SecMPC.h,sha256=VpQBxibL9jI6bG31sm4U95vfJlYJDJxIqBDahppixN8,1916
 robotic/include/rai/Control/ShortPathMPC.h,sha256=bZQ9I7fklqPOk-PwCTvi3xgnLVdVBoJ2j5i1iWwNxfE,938
-robotic/include/rai/Control/TimingMPC.h,sha256=smnQ72mSk2_FQ_k-rEwGIMdjA50Wa_1FCttyk8Oo7pw,1706
+robotic/include/rai/Control/TimingMPC.h,sha256=Jkj9Hpc4Yd2QIlqtafLT3mvlU0ZCFVCcoi4-ZIwl18Y,1698
 robotic/include/rai/Control/WaypointMPC.h,sha256=Pa36-K1yMxszD9EFuLfLayaOe9pTK8cm1qAALLifdeM,811
 robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owhQWPxWXzo,765
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
-robotic/include/rai/Core/array.h,sha256=YcI48DcBMUYgdlXP4V1dV6juBUe1iCtbKoxWjp4nCxI,26125
+robotic/include/rai/Core/array.h,sha256=ugDmxIL7Wv7YOjykfCqCG7wWLu09nHAL8al8ffPk8rQ,26190
 robotic/include/rai/Core/array.ipp,sha256=DNmfosznj0jF-5lXTb8NUejfrVfs_Fw3O0IvvnDfF7M,63560
-robotic/include/rai/Core/arrayDouble.h,sha256=G_Ez003lsxJkIc4NYmKqPr1FIXZ7Saj3ItHJqsPKk7w,29159
+robotic/include/rai/Core/arrayDouble.h,sha256=MFO1FpZKebxFe9xx9RGpjq44QAga6YYiXu7BtfKFlE0,29107
 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/graph.h,sha256=vV4Cu8wCTz3zQZPK_a1xKVjbWGNhX4nuEGZ2vq6zhCE,20373
 robotic/include/rai/Core/h5.h,sha256=cfs8cew5QYpOxbWFZHV9TXVh5_dEJdFF1-aGZVR54EY,1162
 robotic/include/rai/Core/thread.h,sha256=oCcqgzPHYoVwCbarDibmbTwxKxnGGwdK0e0re3yWfPY,18303
 robotic/include/rai/Core/util.h,sha256=6cKEdQNwoZMDm4iFt8fHWzxpfZTpg1heukdGWG4j4cU,18931
@@ -63,17 +68,15 @@ 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=VE0uVsFOhfHCWlfGVQBjT6_iyteLAzWvVJEzUPVqL_Y,14907
-robotic/include/rai/Geo/mesh.h,sha256=HrdwBu2sX_xFkYmdf1d89lGa_2aq3rvDgrNUhnRY478,6940
+robotic/include/rai/Geo/geo.h,sha256=6bjl_R_Olr_pvlKcxPNdiu8brWFfYJMVQrKSbx3zhpA,14937
+robotic/include/rai/Geo/mesh.h,sha256=zCJu2wnxH0kL8mtaVKzajGKS-5hUsZL0BYCnvsj0LTE,6914
 robotic/include/rai/Geo/pairCollision.h,sha256=TeV_Vpu9MuXG9wwI0zOyOZX7l54gAjxKnrJJyLR2gDU,4258
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
-robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=pbq5Nq6-HiRgJWabcJAoNWqQ_sY9_Hx_JFDo6tA81mI,4721
+robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=7t0PmcyTcGVOX7MV8TVYTWCjlMr_8RR8v7cFBNFRj5k,4734
 robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
-robotic/include/rai/Geo/stb_image.h,sha256=WnfQN6Iosji-LSuiVLoekjaY6NVnuy7XJnlkRTVR3KA,251786
+robotic/include/rai/Geo/stb_image.h,sha256=3GREaSd1mttRQgl4onz7bVjl5FGNMROXlWCXoK94G6g,251785
 robotic/include/rai/Geo/testProblems_Geo.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
 robotic/include/rai/Geo/GJK/gjk.h,sha256=L4vvyYX7RYQLt8003G3ReMRhFu8MWsJZckeI-d7hzLc,15006
-robotic/include/rai/Geo/Lewiner/LookUpTable.h,sha256=0MRA9ioCeKoMhXYqtxaOPHTMwR_GkmyDFx2mgpSvs9s,158933
-robotic/include/rai/Geo/Lewiner/MarchingCubes.h,sha256=xKff8BtMBeRHK26CSxl0Gn8aRVAYXEdD7nTpjL3DRYc,13528
 robotic/include/rai/Geo/ccd_rai/alloc.h,sha256=hBuAht1y7f0JXuYGi-1od8NYDn8nVMkK1hJwqMmEy6E,1349
 robotic/include/rai/Geo/ccd_rai/ccd.h,sha256=vd69dAd8mUpcI1FXekAfLzVtSXCRIdIqj-80KiAoRpk,5817
 robotic/include/rai/Geo/ccd_rai/compiler.h,sha256=vh55iyaefQ6ttft5J3gwrMDyhuVhDjGv9CrtGfNw3hY,1942
@@ -87,14 +90,14 @@ 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=6YDE58vdQ2E18IfgGUj40fmxqgj4-LZAVrZftkKG3-c,4996
+robotic/include/rai/Gui/RenderData.h,sha256=UDuFcqHoc59e51zgldd22Oefp4uoV9Uo3Q0ir3ZDZNM,5035
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
 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=n2waF70m3GF8c-wOKmKD-kR5R1eFJQ9brwgZZJQVs-Q,13484
 robotic/include/rai/KOMO/komo_NLP.h,sha256=GX4bxbAfbV_z42XrLmS0drLPcsIZiioRkWhF3UuhZno,3681
-robotic/include/rai/KOMO/manipTools.h,sha256=rPdkUN7UkbU4OkV4asGjTmEFgcnYkRdV-RIf6ooX60Y,4587
+robotic/include/rai/KOMO/manipTools.h,sha256=wZdCohK4g5Jzq2bdIOXmRqaCVQNTK5k-FC20ViUXi98,4620
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
 robotic/include/rai/KOMO/pathTools.h,sha256=w0Wq6BGLBxG1LAZQBDmmPWTXzwxW3RHj2EX1cm92WeE,3288
 robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2YvEigI,4437
@@ -104,7 +107,7 @@ robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVP
 robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=OH1zWcD-hIXsml2RkLIvl5eyi69WuLKqWPdqWjWWFI0,2805
 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
+robotic/include/rai/Kin/F_forces.h,sha256=zs1hpVt483wKDJaATlra4H331gEDIW6xNqJ10w1Gh_M,6719
 robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx7GQbfbRrI,2146
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
 robotic/include/rai/Kin/F_pose.h,sha256=QlZnpS4ZTNFBZlH-lpe6sTt2gdbxbjsZTHPqk0T_4AI,5252
@@ -116,14 +119,14 @@ 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=Glq5nVSukaxl4NITLx0cabIrGToUVhLPKy0zP7QQkhA,14623
-robotic/include/rai/Kin/kin.h,sha256=uu2rwBXk0vMLH4NzXJTBHyV2sRRXK_zHrnoy61zh0qc,16060
+robotic/include/rai/Kin/frame.h,sha256=AJ8U5pE_Akb0gd_ySbrCOyqQr4T6_DXKR3ErBMn5mMo,14654
+robotic/include/rai/Kin/kin.h,sha256=mzHgBV-j46PstUXzXsvVg_b64Q0jUNNk3bPfbnH7Vag,16120
 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=CxsmnWHQMgJBbhA5iajLpOjxpCkd9243tlVyYkNRgOM,1950
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=YLUnczvMUrp_3vsxEzmCym4LFK8mrnSs59c6esmjvQo,5449
+robotic/include/rai/Kin/simulation.h,sha256=jeW1Pj4AVk9mjBTYjDpNd19Dw0QH__m6VhjSvkiftcs,5510
 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_TAMP_Abstraction.h,sha256=EKbyNFgro7Xg5uueo6bXNrNSBTFeQUS1swiy9izQiXc,1492
@@ -162,7 +165,7 @@ robotic/include/rai/Optim/testProblems_Opt.h,sha256=viiOu5FJHUWFcc-csl72g0G3Ogtq
 robotic/include/rai/Optim/utils.h,sha256=UDsMMMyuxNzTB8bHg1IFkGGQMTuCAD1Z9RTGJ8e_qpQ,2350
 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=DQ3ceE8A6CJ7xaf0NOihTy1w0WjAEJnPJU0J6NaDHe8,3293
+robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=JBptbQVUc5GWEMer_ypmtMNUK0S0sBo3M0d4E2q4doQ,3306
 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
@@ -194,6 +197,7 @@ robotic/include/rai/ry/py-Optim.h,sha256=xvLv7tvE0hOocX64eQi2wa84of9H55GVUctZlFI
 robotic/include/rai/ry/py-Quaternion.h,sha256=EydIMfUB_Zf9H21x29dhBjDm7472Ge_XD6edyRALQY0,437
 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-algo.h,sha256=FryvWbLOTZgCFBMYTgj-4g1nJN9REP22UXt6eekiiWc,431
 robotic/include/rai/ry/py-tests.h,sha256=-l_0V-yRqeOEztqCo_BAdcKCAMovyd8-9tnrytM5pQM,432
 robotic/include/rai/ry/types.h,sha256=gfyXJCRwkvrQ8jibdJVMRxPUIhXMUQJlgws9ocKyB8c,8537
 robotic/rai-robotModels/g1/g1.g,sha256=9lA31eCRoFENw9Nbg04KoX3diIIQYKz981oRYNKLvO4,499
@@ -363,15 +367,15 @@ robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnE
 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-0.3.3.dev0.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.3.dev0.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.3.dev0.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.3.dev0.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.3.dev0.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.3.dev0.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.3.dev0.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.3.dev0.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.3.dev0.dist-info/METADATA,sha256=JA4K4OUHNmiSuAMm9iKeOnQbn8-hp0bZz6UUU_4yQxU,6512
-robotic-0.3.3.dev0.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
-robotic-0.3.3.dev0.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.3.dev0.dist-info/RECORD,,
+robotic-0.3.4.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.4.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
+robotic-0.3.4.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.4.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.4.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
+robotic-0.3.4.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.4.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.4.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dist-info/METADATA,sha256=xsSZZ_UCf7zZyIVMH5nVxDbYz-vqDzg0rjG8Y-XE6ZY,6507
+robotic-0.3.4.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
+robotic-0.3.4.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.4.dist-info/RECORD,,