robotic 0.3.3.dev1__cp39-cp39-manylinux2014_x86_64.whl → 0.3.4.dev1__cp39-cp39-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -458,7 +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
         """
@@ -1616,7 +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:
     """
@@ -1917,7 +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/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

@@ -44,8 +44,6 @@ struct Mesh {
 
   rai::Transformation glX; ///< transform (only used for drawing! Otherwise use applyOnPoints)  (optional)
 
-  int version = 0;
-
   uint _support_vertex=0;
   bool isArrayFormatted=false;
 

robotic/include/rai/Geo/signedDistanceFunctions.h

@@ -108,7 +108,8 @@ struct DensityDisplayData {
 
 struct TensorShape : SDF {
   floatA gridData;
-  shared_ptr<DensityDisplayData> _densityDisplayData;
+  // 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

@@ -39,7 +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

@@ -97,7 +97,7 @@ struct Frame : NonCopyable {
 
   //attachments to the frame
   Joint* joint=nullptr;          ///< this frame is an articulated joint
-  Shape* shape=nullptr;          ///< this frame has a (collision or visual) geometry
+  shared_ptr<Shape> shape;       ///< this frame has a (collision or visual) geometry
   Inertia* inertia=nullptr;      ///< this frame has inertia (is a mass)
   //TODO have a single list of all attached dofs (also joint)
   Array<ForceExchangeDof*> forces;  ///< this frame exchanges forces with other frames
@@ -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);
 
@@ -329,12 +329,12 @@ stdOutPipe(Inertia)
 
 /// a Frame with Shape is a collision or visual object
 struct Shape : NonCopyable {
-  Frame& frame;
-  Enum<ShapeType> _type;
+  Enum<ShapeType> _type = ST_none;
   arr size;
   shared_ptr<Mesh> _mesh;
   shared_ptr<arr> _sscCore;
   double coll_cvxRadius=-1.;
+  int version = 0;
   shared_ptr<SDF> _sdf;
   char cont=0;           ///< are contacts registered (or filtered in the callback)
 
@@ -345,17 +345,14 @@ struct Shape : NonCopyable {
   SDF& sdf() { if(!_sdf) { if(_type==ST_none) _type=ST_sdf; _sdf = make_shared<TensorShape>(); } return *_sdf; }
   double alpha() { arr& C=mesh().C; if(C.N==4 || C.N==2 || (C.nd==2 && C.d1==4)) return C.elem(-1); return 1.; }
 
-  void createMeshes();
-  shared_ptr<ScalarFunction> functional(bool worldCoordinates=true);
-
-  Shape(Frame& f, const Shape* copyShape=nullptr); //new Shape, being added to graph and frame's shape lists
-  virtual ~Shape();
+  void createMeshes(const str& name);
+  shared_ptr<ScalarFunction> functional(const rai::Transformation& pose=0);
 
-  bool canCollideWith(const Frame* f) const;
+  bool canCollide(const rai::Frame* f1, const Frame* f2) const;
 
-  void read(const Graph& ats);
-  void write(std::ostream& os) const;
-  void write(Graph& g);
+  void read(Frame& frame);
+  void write(std::ostream& os, const Frame& frame) const;
+  void write(Graph& g, const Frame& frame);
 };
 
 //===========================================================================

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/version.py

@@ -1 +1 @@
-__version__ = '0.3.3.dev1'
+__version__ = '0.3.4.dev1'

{robotic-0.3.3.dev1.dist-info → robotic-0.3.4.dev1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.3.dev1
+Version: 0.3.4.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.3.dev1.dist-info → robotic-0.3.4.dev1.dist-info}/RECORD

@@ -1,11 +1,11 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
-robotic/_robotic.pyi,sha256=Q-Q0xVN5EqIW5pjynmbgJFCF6wZPBcK9scGa8EXw0_g,77134
-robotic/_robotic.so,sha256=LM9tj0yN7tKdkfCDWKf95g7YdWAewyQ6lq0I6jgUUN4,1271656
+robotic/_robotic.pyi,sha256=cmdhpWzjTIOjayzcAio8wbhI9yYAjekS3zW_J_mb87Q,77158
+robotic/_robotic.so,sha256=s-_EqC7XYnwNpwYncCukP-rbiK8XYe0myV4bdeQH4BE,1271656
 robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
-robotic/librai.so,sha256=eT1nWrmKDaYqT8G7LgsfxhKCeWpQWYuBNOcZ_l1L_ek,38873792
+robotic/librai.so,sha256=k5nsbOF742eJiWao-zSOV-k99ForiS4AFvAPo0DnJ5M,38886080
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=RK8SAmKgoXIIyjCgnUfIuYHcoRuASxjnkmd1Jqkh5h0,52176
+robotic/meshTool,sha256=2qh3VPeinawY7HvFbFH7aREfavrgES7PGB-i7xrTdwY,56280
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -17,7 +17,7 @@ robotic/ry-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=07xYDAspo-rraFK-Ey-OqTIFIyjAo-NtSn-QfeG8mK4,27
+robotic/version.py,sha256=FpPEmzsKx6hTzWWdVU3adASkw6jb_QzVwwVUnboVuRo,27
 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
@@ -45,16 +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
@@ -68,13 +68,13 @@ 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=zCJu2wnxH0kL8mtaVKzajGKS-5hUsZL0BYCnvsj0LTE,6914
+robotic/include/rai/Geo/geo.h,sha256=6bjl_R_Olr_pvlKcxPNdiu8brWFfYJMVQrKSbx3zhpA,14937
+robotic/include/rai/Geo/mesh.h,sha256=OH1M7cRuJih8DOeCat1cktnfU4jD45nYhtlhEwxNLEg,6894
 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=qOPr-m6krqG9XQJX6BsCfu4WLmFjXGtxmZpm-pXd5N0,4737
 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/ccd_rai/alloc.h,sha256=hBuAht1y7f0JXuYGi-1od8NYDn8nVMkK1hJwqMmEy6E,1349
@@ -90,14 +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=5HLGq9oy-dpxocKCK78dBEPasDpWcoNxLRgAEIUYVXI,5046
+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
@@ -107,7 +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
@@ -119,14 +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=BiBxcR9-6ErLJW3KU0ksZzc_agkpH0xKxrHDA-qlMU4,14614
+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
@@ -165,7 +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
@@ -367,15 +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.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.3.dev1.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.3.dev1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.3.dev1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.3.dev1.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
-robotic-0.3.3.dev1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.3.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.3.dev1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.3.dev1.dist-info/METADATA,sha256=A_aUUeM4im6ZAebQA3GNGnSyEklOVVJYL2mROsnlmU4,6663
-robotic-0.3.3.dev1.dist-info/WHEEL,sha256=xBX4onHB9hedwVJmaMzGMZGvQ3CPO7V_K8S9h_B6PVk,102
-robotic-0.3.3.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.3.dev1.dist-info/RECORD,,
+robotic-0.3.4.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.4.dev1.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
+robotic-0.3.4.dev1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.4.dev1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.4.dev1.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
+robotic-0.3.4.dev1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.4.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.4.dev1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dev1.dist-info/METADATA,sha256=OICX5bQ74SsUTb7fHrwbel6qelPEWZOZ7QlOmGLF_f0,6663
+robotic-0.3.4.dev1.dist-info/WHEEL,sha256=xBX4onHB9hedwVJmaMzGMZGvQ3CPO7V_K8S9h_B6PVk,102
+robotic-0.3.4.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.4.dev1.dist-info/RECORD,,