robotic 0.3.3__cp38-cp38-manylinux2014_x86_64.whl → 0.3.3.dev1__cp38-cp38-manylinux2014_x86_64.whl

robotic/ry-h5info

@@ -2,29 +2,20 @@
 
 import argparse
 import h5py
+from robotic.src.h5_helper import *
 
 parser = argparse.ArgumentParser(description='h5-file info')
 
 parser.add_argument('FILE', type=str,
                     help='h5-file name')
 
-def print_attrs(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 main():
     args = parser.parse_args()
 
     print('=== file', args.FILE)
     try:
-        with h5py.File(args.FILE, 'r') as fil:
-            fil.visititems(print_attrs)
+        h5 = H5Reader(args.FILE)
+        h5.print_info()
     except KeyboardInterrupt:
         sys.exit(1)
 

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/src/h5_helper.py

@@ -2,30 +2,45 @@
 
 import argparse
 import h5py
+import json
+import ast
 
 class H5Writer:
     def __init__(self, filename):
         self.fil = h5py.File(filename, 'w')
 
-    def write(self, name, data, dtype = 'float32'):
+    def write(self, name, data, dtype = 'float64'):
         self.fil.create_dataset(name, data=data, dtype=dtype)
 
+    def write_dict(self, name, data):
+        self.write(name, bytearray(json.dumps(data), 'utf-8'), dtype='int8')
+
 class H5Reader:
     def __init__(self, filename):
         self.fil = h5py.File(filename, 'r')
 
-    def print_attrs(self,name, obj):
+    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')
+            print('   ', 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[()]]))
+                str = ''.join([chr(x) for x in obj[()]])
+                print('       ', str)
             elif obj.size<20:
                 print('       ', obj[()])
         else:
-            print('---', name)
+            print('---', obj.name)
 
     def print_info(self):
         self.fil.visititems(self.print_attrs)
 
     def read(self, name):
         return self.fil[name][()]
+
+    def read_dict(self, name):
+        obj = self.fil[name]
+        assert obj.dtype=='int8'
+        str = ''.join([chr(x) for x in obj[()]])
+        d = ast.literal_eval(str)
+        return d
+
+

robotic/src/h5_helper.py~

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import argparse
+import h5py
+import ast
+
+class H5Writer:
+    def __init__(self, filename):
+        self.fil = h5py.File(filename, 'w')
+
+    def write(self, name, data, dtype = 'float64'):
+        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('   ', obj.name, obj.shape, obj.dtype, f'{obj.size*obj.dtype.itemsize/1024:.2f}kB')
+            if obj.dtype=='int8':
+                str = ''.join([chr(x) for x in obj[()]])
+                print('       ', str)
+            elif obj.size<20:
+                print('       ', obj[()])
+        else:
+            print('---', obj.name)
+
+    def print_info(self):
+        self.fil.visititems(self.print_attrs)
+
+    def read(self, name):
+        return self.fil[name][()]
+
+    def read_dict(self, name):
+        obj = self.fil[name]
+        assert obj.dtype=='int8'
+        str = ''.join([chr(x) for x in obj[()]])
+        d = ast.literal_eval(str)
+        return d
+
+

robotic/version.py

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

robotic-0.3.3.dev1.data/scripts/ry-h5info

@@ -0,0 +1,23 @@
+#!python
+
+import argparse
+import h5py
+from robotic.src.h5_helper import *
+
+parser = argparse.ArgumentParser(description='h5-file info')
+
+parser.add_argument('FILE', type=str,
+                    help='h5-file name')
+
+def main():
+    args = parser.parse_args()
+
+    print('=== file', args.FILE)
+    try:
+        h5 = H5Reader(args.FILE)
+        h5.print_info()
+    except KeyboardInterrupt:
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()

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

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.3.3
+Version: 0.3.3.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -53,10 +53,10 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 * Test in a clean ubuntu:latest docker (starting with `xhost +local:root && docker run -it --env="DISPLAY" --network host ubuntu:latest`):
 
       apt update
-      env DEBIAN_FRONTEND=noninteractive apt install --yes liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
+      env DEBIAN_FRONTEND=noninteractive apt install --yes liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-venv
       cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
-      python3 -m venv ~/venv
-      source ~/venv/bin/activate
+      python3 -m venv ~/.local/venv
+      source ~/.local/venv/bin/activate
       pip install robotic numpy
       ry-info
       ry-test
@@ -74,7 +74,7 @@ This assumes a standard Ubuntu 24.04 (or 22.04, 20.04) machine.
         libx11-dev libglu1-mesa-dev libglfw3-dev libglew-dev freeglut3-dev libpng-dev libassimp-dev \
         python3-dev python3 python3-pip
       
-      python3 -m pip install --user numpy pybind11 pybind11-stubgen
+      python3 -m pip install numpy pybind11 pybind11-stubgen
 
 * Install some external libs by source. You can skip librealsense and
   libfranka if you disable below. (To speed up compilation, e.g., set
@@ -89,7 +89,7 @@ This assumes a standard Ubuntu 24.04 (or 22.04, 20.04) machine.
       ./install.sh libann
       ./install.sh physx
       ./install.sh librealsense
-      ./install.sh libfranka  ## for OLD frankas instead:   ./install.sh -v 0.7.1 libfranka
+      ./install.sh libfranka  ## for OLD frankas instead:   ./install.sh -v 0.8.0 libfranka (and you need to patch it...)
 
 * Clone, compile and install this repo (note the USE_REALSENSE and USE_LIBFRANKA options!):
 
@@ -142,8 +142,8 @@ make wheels
 
 * Outside of docker, install locally with pip or push wheels to pypi
 ```
-python3.8 -m pip install --user dist/robotic-*cp38*.whl --force-reinstall
-python3.10 -m pip install --user dist/robotic-*cp310*.whl --force-reinstall
+python3.8 -m pip install dist/robotic-*cp38*.whl --force-reinstall
+python3.10 -m pip install dist/robotic-*cp310*.whl --force-reinstall
 # or
 twine upload dist/*.whl --repository robotic
 ```
@@ -154,7 +154,7 @@ twine upload dist/*.whl --repository robotic
 
 * Get the binary lib by installing the pip package:
 ```
-python3 -m pip install --user robotic
+python3 -m pip install robotic
 ```
 * Get the sources by cloning this repo recursively:
 ```

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

@@ -1,25 +1,25 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
-robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=gr5_H1AoXHl6fbJqoseQRs5Iiue59qa3HBKVUSW6X08,76998
-robotic/_robotic.so,sha256=fGLs8b__tRQIt-IIwNE3b1pMji4vBtmaePDbc6_pVZg,1259304
-robotic/librai.so,sha256=P6KofckI-aJOP7A2eVFbF390PGWfOxYx69UiMYG0Jno,38754752
+robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
+robotic/_robotic.pyi,sha256=Q-Q0xVN5EqIW5pjynmbgJFCF6wZPBcK9scGa8EXw0_g,77134
+robotic/_robotic.so,sha256=WTdOZwIOPsdva8bsJ56lv2s6OtS9yzO700nWPOmZiMU,1271624
+robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
+robotic/librai.so,sha256=eT1nWrmKDaYqT8G7LgsfxhKCeWpQWYuBNOcZ_l1L_ek,38873792
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=kYLO2HPXn8nj98Qx-MIvJYpkFzOk2zY9-d30DgFZT80,52176
+robotic/meshTool,sha256=RK8SAmKgoXIIyjCgnUfIuYHcoRuASxjnkmd1Jqkh5h0,52176
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
-robotic/ry-h5info,sha256=BRBpQSkzO13rcEJx4hJ8vNm_HXPHlSL_lmx9qDn-9LA,824
+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.py,sha256=8hiDRB2kB37hE5cZ7h26AJDnSGYb1y8DwOrcEGD_5Hc,620
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=on4Bj4mGEjEjyUkQExxprhOoEopcv_sPapsEnNxyelE,22
+robotic/version.py,sha256=07xYDAspo-rraFK-Ey-OqTIFIyjAo-NtSn-QfeG8mK4,27
 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/RidgeRegression.h,sha256=SndbBtDte12eUAEFwagmg-xjXIA11z6iTTBxJd_fKAo,3742
 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
@@ -28,10 +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
@@ -48,33 +52,31 @@ robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
 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/arrayDouble.h,sha256=G_Ez003lsxJkIc4NYmKqPr1FIXZ7Saj3ItHJqsPKk7w,29159
 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=oCcqgzPHYoVwCbarDibmbTwxKxnGGwdK0e0re3yWfPY,18303
-robotic/include/rai/Core/util.h,sha256=2Od8h_k5YTiE4WK1D0_Cr7A0dgOuHccY8f_cJi-x3CQ,18856
+robotic/include/rai/Core/util.h,sha256=6cKEdQNwoZMDm4iFt8fHWzxpfZTpg1heukdGWG4j4cU,18931
 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
 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/rndStableConfigs.h,sha256=RdAD1kDsKic7WwBvLtFyIVnGKdtGqhxekBKjoeeUd40,403
 robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NlpKWicgaylzw1si7EPzeM7cE_-V9jvhB4mK1Slmt8E,1620
 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=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/geo.h,sha256=VE0uVsFOhfHCWlfGVQBjT6_iyteLAzWvVJEzUPVqL_Y,14907
+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=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
+robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=pbq5Nq6-HiRgJWabcJAoNWqQ_sY9_Hx_JFDo6tA81mI,4721
 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/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
@@ -88,14 +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=5HLGq9oy-dpxocKCK78dBEPasDpWcoNxLRgAEIUYVXI,5046
 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=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/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/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
@@ -122,39 +124,45 @@ robotic/include/rai/Kin/kin.h,sha256=uu2rwBXk0vMLH4NzXJTBHyV2sRRXK_zHrnoy61zh0qc
 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=03YEr0M3ieuVnfwuHl9J2xRU2FwpLGvq4gUTjJqcDqA,1887
+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=RlFZ7w9xaQZ6GY_Wwb4BXbgy3rhzZaKnujVzM2vqLY4,5332
+robotic/include/rai/Kin/simulation.h,sha256=YLUnczvMUrp_3vsxEzmCym4LFK8mrnSs59c6esmjvQo,5449
 robotic/include/rai/Kin/viewer.h,sha256=XhfZ3QUYdCuye3NnCwPe2XnoJAqnf9RCtMAZLsc3fd4,2432
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
-robotic/include/rai/LGP/LGP_Tool.h,sha256=vcQ3ixwJ4wepPDX8ZGkDBKGIpchJQWMOoMu82_cS_8I,4230
+robotic/include/rai/LGP/LGP_TAMP_Abstraction.h,sha256=EKbyNFgro7Xg5uueo6bXNrNSBTFeQUS1swiy9izQiXc,1492
+robotic/include/rai/LGP/LGP_Tool.h,sha256=rBUIDwFbtBACMz-DHgSxM1l9HjbaLuVIyDTqBIzaQ6c,3263
 robotic/include/rai/LGP/LGP_computers.h,sha256=YmHWOrSGz5HHNY5mUQheD-kPhOvzO3HsVRcaGvpME6o,6492
+robotic/include/rai/LGP/LGP_computers2.h,sha256=1LKxnQEFeMWuewe26JL7Bj0F8_3gYQTM3JN2D18bVGs,6443
 robotic/include/rai/LGP/LGP_node.h,sha256=gMNQLfkbdMR1C-sNufI3K23Qt_Su3tqfIWz46Ta0JNo,4100
 robotic/include/rai/LGP/LGP_tree.h,sha256=J6W4Qypr70g0EZg30tTZBuca_6_O0sDQAGGv6Ow8oaE,4001
 robotic/include/rai/LGP/Motif.h,sha256=-1cYCDDxJK3at3LKT2R-qRoum7o7CnziBg30yijt4Ls,592
+robotic/include/rai/LGP/NLP_Descriptor.h,sha256=1XJ-Wzvf5kh6IdRmhwG4QIDW5D7N9fVq-egX65GLWwk,92
 robotic/include/rai/LGP/initFol.h,sha256=m67VqzKUQzMN0kBFL0lWACu0ls7eYj8ExyXVFjuLtDA,507
 robotic/include/rai/Logic/fol.h,sha256=ubWsZacmrRPGeDPKQVGKDoGC_4GxYGdVLJ0K3a3eZu0,3598
 robotic/include/rai/Logic/folWorld.h,sha256=XpqTWOIvZbKlS_vsJkXOexrhjfy3_iywebFezJamhHA,6072
 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=glYe1vIhsQHmEH6_oh1Bo-JcYXGXmm84esf2FCRLmMs,8237
+robotic/include/rai/Optim/BayesOpt.h,sha256=wNegCkDd9m6s0_ehnGx7jbtgTSQneg3bLOdR_q4W-Mc,1208
+robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=jcGk5-aZ-CsaXG75TtIG9sc71AX7yZLpuM3UsFHEu6M,795
+robotic/include/rai/Optim/NLP.h,sha256=up1E_L5dF5UOSkpePws10eMJ3Fu-947MuagIF8jQdkU,8235
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
 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
-robotic/include/rai/Optim/constrained.h,sha256=k5RGe4TurTN4Af_I_jqhYhHpCM4mjvwrhwQK2yfO9ZE,1477
-robotic/include/rai/Optim/gradient.h,sha256=dtpGXdKffzufV3qxOmsp6u9u73pjRUXF0RoD3VbhtyI,1837
-robotic/include/rai/Optim/lagrangian.h,sha256=cs0mq6KBTzmMhcEoecsQ1YiGmttWGe-THlx209s8hsI,2408
-robotic/include/rai/Optim/newton.h,sha256=3CLZn80ZOUQfdN3R3qkDVuOke9Tp5fDeRm9p932c2Xk,1150
-robotic/include/rai/Optim/opt-ceres.h,sha256=bB-k-tlIDAh6g0_6Tue8Lc_Tnxol76kIssS_5GQeMVI,960
+robotic/include/rai/Optim/SlackGaussNewton.h,sha256=C9GqyHzcseIY2xUMN4QmymOLtWjJcNmbhS5JJMiAPao,1055
+robotic/include/rai/Optim/constrained.h,sha256=SHzXqARD5nzOH9orgQyfut6i4QWjd3gp-WgEP4PKMiM,1502
+robotic/include/rai/Optim/gradient.h,sha256=1FrzwbjTRbhfsZbBFp_DEQMI1oq4wwt8oseLjfUWnpg,1835
+robotic/include/rai/Optim/lagrangian.h,sha256=XQiykNcexB03nyzy78lv_2VmfDe1dFLnm7qKLk28p6Q,2550
+robotic/include/rai/Optim/lbfgs.h,sha256=ulk-87QADRu7dbMiDvRWu6zPE6Wlx5hxtfIbnfnJVdc,283
+robotic/include/rai/Optim/liblbfgs.h,sha256=Lu3zbs6PADps0WIbJHh_eoIxkCH7JPcEFZ6h5988JaI,32809
+robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h,sha256=ke_5LmUuVfwSNLqT4kHizYnPQarbdREJaT0PGkEZBlI,958
+robotic/include/rai/Optim/newton.h,sha256=sQozCA1yL3JG7SESJW4AWSyFiM5aOUN6WxgQwZ3jJ9g,1139
+robotic/include/rai/Optim/opt-ceres.h,sha256=kQbuKAfvOFIPcGWh2laGHyRsSf0A8mggVUGonq3JaHU,946
 robotic/include/rai/Optim/opt-ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
 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=4gpRMynlhr-01r3Tls1C4pueylO_UsCw8wElbgxhMf8,6338
-robotic/include/rai/Optim/utils.h,sha256=VMTSVUcg3UWN8RhBYSSyqoBCa_AcUrZ_7zvcz3XWEC0,3517
+robotic/include/rai/Optim/options.h,sha256=U0Icnya7r4l1pBHwdGlsjufNZuvXtkqJKCseQFgb0Mk,1925
+robotic/include/rai/Optim/primalDual.h,sha256=MP3vXRswnVLV09cqZWe0KomjXQEWxz7yMOd9NvMY4MY,1263
+robotic/include/rai/Optim/testProblems_Opt.h,sha256=viiOu5FJHUWFcc-csl72g0G3Ogtqe0DedC08jIn-Mjk,6665
+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
@@ -170,7 +178,7 @@ robotic/include/rai/Perception/object.h,sha256=aPZVOLFurKWhhkHtZDwbsz-6oxNfOk5-o
 robotic/include/rai/Perception/object_detector.h,sha256=HX2M_PbZET4DwPgE2yjELyYi2RdBZZ9wIUhqiwrB_bQ,2030
 robotic/include/rai/Perception/opencv.h,sha256=3KT5npXCodVjVHLLipF3Jd89AKEz8Z3xjev9xWf9Itg,2505
 robotic/include/rai/Perception/opencvCamera.h,sha256=rBCrB3zzfPvOk4dPPI2s1ZaQBpsQ0xQ7S7wRPduQW48,660
-robotic/include/rai/Perception/pcl.h,sha256=bb_INnIt89xfwvx3gkLRqRPiH2OOpdPL7f-3nnFiQ9E,1430
+robotic/include/rai/Perception/pcl.h,sha256=r4sQEWDcpjJFg05bGJzhWKzQltFevWe5O-RJ_YwR8Q0,1430
 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
@@ -189,6 +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
@@ -233,13 +242,13 @@ robotic/rai-robotModels/g1/meshes/waist_yaw_link.h5,sha256=GXkMr0tmYUvKPW5iKv8xd
 robotic/rai-robotModels/objects/kitchen.g,sha256=PLi7un2u3I29Mcngc08-9J3ocTU_c5TYlXplYXTgQHU,1223
 robotic/rai-robotModels/objects/shelf.g,sha256=ZZb8kTKrhIY9I4U_sFuGgf5V4GcNH_Zd-l7eHbAg54s,808
 robotic/rai-robotModels/objects/tables.g,sha256=z9GifBjAaCbu3Y2ISmzhVyU9_mw2NlR87eAyj0vNYnI,455
-robotic/rai-robotModels/panda/panda.g,sha256=VNmWPo9s3GOeWXw7FAr8CeVL_R3W6GmDUgGFOu2A4dA,2677
+robotic/rai-robotModels/panda/panda.g,sha256=XOpLtLEWIrbvKvxwvsTbaMF-E8Z2ujNHtu2ccyiprxI,3124
 robotic/rai-robotModels/panda/panda_arm_hand_conv.g,sha256=BVDQNIAwPB45rrvLX-WYw3Ys44jeqS9upi8RCV31UcY,2296
 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=qdVvPLq8LNkcXFNVfLcYBLNvcgAt7UN3qaTYgCevi7o,846
-robotic/rai-robotModels/panda/panda_withoutCollisionModels.g,sha256=RPJawK8POmG_Hyc92XcprQbFArEryQWM8O6IB5zcSYQ,278
+robotic/rai-robotModels/panda/panda_withoutCollisionModels.g,sha256=l9VLxFzQ5zcjUglirB455T8yWt6gkcWRllyLrlVXbDc,103
 robotic/rai-robotModels/panda/meshes/finger.h5,sha256=hzqxoufYkW0_qDgVH4ZCx7vwCeZF4s3qe0KpMyXf3Lw,12994
 robotic/rai-robotModels/panda/meshes/hand.h5,sha256=lbiphvOO3NKhuBW6kexfbfArDcNKqpqDM9yS_bmFdss,100882
 robotic/rai-robotModels/panda/meshes/link0.h5,sha256=wGFp4P3aAFhVCgb5idxLqUrkG2hx6KskZTK06i92YOk,284200
@@ -250,8 +259,8 @@ robotic/rai-robotModels/panda/meshes/link4.h5,sha256=BLYmj5sOiAAfKGNJdoXII0Sl2Ie
 robotic/rai-robotModels/panda/meshes/link5.h5,sha256=TbrDtvaUYwrFJO8KKhCSF0fOZ8e6rC7GQ5xGtMrxud4,254542
 robotic/rai-robotModels/panda/meshes/link6.h5,sha256=vWc78TMcfY5l8_dTLmypJiKsQx9Llb47BcfACXd2tOA,309727
 robotic/rai-robotModels/panda/meshes/link7.h5,sha256=x-xcLQT0g3vrvdYhaVbX57LRrz9DT8nZFW6YN6oT0-0,172303
-robotic/rai-robotModels/pr2/pr2.g,sha256=h1bQcK6_BjriokfVyae-T3i774Mm5Wo8-5Lpu0Ap1W8,2352
-robotic/rai-robotModels/pr2/pr2_clean.g,sha256=Ng1MRoWuf1dUVSyA_KfA9Nfg0IVRSRVIHcT6GE3Rsgw,26874
+robotic/rai-robotModels/pr2/pr2.g,sha256=n9T0o0NEp5YB2lbUsgr803XUzAslYjfQWg9RYC0cFVE,2312
+robotic/rai-robotModels/pr2/pr2_clean.g,sha256=EW73SHK0YCTp-tCcL58cixBoa0sPIrfE5PLK1kU-DYo,26814
 robotic/rai-robotModels/pr2/pr2_conv.g,sha256=XIxIBSz5h_luzKBga2ZP2rKOLi0Cp2w0Z65NpdFUFf8,25950
 robotic/rai-robotModels/pr2/pr2_modifications.g,sha256=3CgSjGVbO-T-RNCSqAXJJuyQxwZTNNPoYgr73iA-EyI,4659
 robotic/rai-robotModels/pr2/pr2_modify_fixGrippers.g,sha256=kgMG39nOyMoBoBPZLlzvjm0bIa10KB8g8y5nskt1onc,712
@@ -301,7 +310,7 @@ robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel.h5,sha256=zIiMDHGxqaz
 robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel_right.h5,sha256=Rs3a7mj3SHgRa31iNNa5RmOMGBdXrpr73GrqaIqRmqs,270937
 robotic/rai-robotModels/robotiq/robotiq.g,sha256=3m_n4NjH7Gfp_ztWIDb-ruR74q9WhElzqkT76KPeToQ,1066
 robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.yml,sha256=bkTMr1u1WZdE1LsDFEW3_vcp632_ZXUDM7Yt9T2ZlYU,2908
-robotic/rai-robotModels/robotiq/robotiq_clean.g,sha256=0EyQ_jt7YCRqGqrtXiWKhUcp7LBEmE_9KcWIj17LqV8,3899
+robotic/rai-robotModels/robotiq/robotiq_clean.g,sha256=MmRhhY4HkfKj-rfY6YE__Zr_67nxATZojefCdwsZW28,3893
 robotic/rai-robotModels/robotiq/meshes/robotiq_arg2f_85_base_link.h5,sha256=papTdqkLlRzo_svqTXwd9Cp2qJHw2Wnt-Ct31lQCAKQ,331303
 robotic/rai-robotModels/robotiq/meshes/robotiq_arg2f_85_inner_finger.h5,sha256=TYBns07SFdffSCNRZNh45_jOtprZAAIAO1WDHbvMMi0,34288
 robotic/rai-robotModels/robotiq/meshes/robotiq_arg2f_85_inner_knuckle.h5,sha256=KvsozDURlth6A1baeYCiKN23mOsixLbWr01G_912pTs,27256
@@ -315,10 +324,10 @@ robotic/rai-robotModels/scenarios/gripper.g,sha256=-yvc-cxVMxz7OmqVzhg6dyh21hBk9
 robotic/rai-robotModels/scenarios/k-bars.g,sha256=qDlha9pKZ8HZgz4eLRDpStPLhxVPgTsGiMdy5DQ1kB4,2162
 robotic/rai-robotModels/scenarios/k00.g,sha256=Bjei9rYaLLwOhOSHFjaDGc7LFDraL8sxQYtNh88p4UY,4357
 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/liftRing.g,sha256=OYcjfrP2xt8PCcVSv6uTUeBpnDeCIZq_UDJ8d490xa8,1336
 robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_eUa_Z76l5_h-B0wjY,1158
 robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=emCRjAxW1XAo9teBjjxvnM4C3JiCWPfiptFFr3swwfE,1508
-robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
+robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=xYsue_6-zLBScApZ564oPWwMfQkM5IS0kB35zIPtS3s,1144
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
 robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=QVLpZCchSnoouayhIoVQcaWYHaZGVn4pIlj6nkFDHjs,1564
 robotic/rai-robotModels/scenarios/panda_mobile.g,sha256=Om5rU2C6_GBKcZcRBZ0cTsk2gKxzwoSE-32dxBMQa-8,713
@@ -335,7 +344,7 @@ robotic/rai-robotModels/scenarios/walker1.g,sha256=FTi0HxqU2fsKgqLCkdq5VCuc3Q9py
 robotic/rai-robotModels/scenarios/walker3.g,sha256=zODCp1jzoFNLWs5f98qCkKeEcXxm8TKZ0RzPBFH1qq4,796
 robotic/rai-robotModels/scenarios/workshop.g,sha256=2Xjh6cPk2xKbdvtDC89eDHZcRv8CxCnvDB2qR7AQWyY,5633
 robotic/rai-robotModels/scenarios/workshopTable.g,sha256=zDvlVXHQlZV5Ppc9XbUJ6q5XjW1Fni-OsE2NHMdkGpY,4440
-robotic/rai-robotModels/tests/arm.g,sha256=wflvWkI0vHApK3XTWIgBgqMMPJkvmsO2wOOsE_QCcRU,1556
+robotic/rai-robotModels/tests/arm.g,sha256=D8L6GhjHu4FFoPp_CsAQ57U9S9SF5GnfCtIKl_LPPW0,1283
 robotic/rai-robotModels/tests/compound.g,sha256=kwI7G0K5M-EEJDsEq37aEBR-BQGSIzroFUPD2OZGrcU,555
 robotic/rai-robotModels/tests/pr2Shelf.g,sha256=axlVxDwuLMsNGdOga40nbzK3e6dWEthQEXm25XewNTw,329
 robotic/rai-robotModels/tests/thin.g,sha256=1bWARayk8TJutfO8CZs3GWCcBwr_oL2SRLLCP1lDMRQ,222
@@ -351,21 +360,22 @@ 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/h5_helper.py,sha256=Bv1R1MF6jVKrm6X9qSxUu5tKOQt87cXrmlRml-wU2ag,1259
+robotic/src/h5_helper.py~,sha256=TdEFuf3E6yi1tUwjBuuxc2ulR6WhpHxpL5sUUz8fOBk,1131
 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-0.3.3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.3.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
-robotic-0.3.3.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.3.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.3.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.3.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.3.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.3.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.3.dist-info/METADATA,sha256=71O9vFICF6qtverBkGIYro20h-n7MYFO6GPIaO421YU,6503
-robotic-0.3.3.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
-robotic-0.3.3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.3.dist-info/RECORD,,
+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/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.3.dev1.dist-info/METADATA,sha256=HM0aPXss-qkc3xGCF5AjJYYCbBLWitDOnUMvQz6P4tc,6512
+robotic-0.3.3.dev1.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
+robotic-0.3.3.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.3.dev1.dist-info/RECORD,,

robotic/test.py

@@ -1,15 +0,0 @@
-import point_cloud_utils as pcu
-
-# v is a [n, 3] shaped NumPy array of vertices
-# f is a [m, 3] shaped integer NumPy array of indices into v
-# n is a [n, 3] shaped NumPy array of vertex normals
-v, f, n = pcu.load_mesh_vfn("bunny.ply")
-
-# Generate barycentric coordinates of random samples
-num_samples = 1000
-fid, bc = pcu.sample_mesh_random(v, f, num_samples)
-
-# Interpolate the vertex positions and normals using the returned barycentric coordinates
-# to get sample positions and normals
-rand_positions = pcu.interpolate_barycentric_coords(f, fid, bc, v)
-rand_normals = pcu.interpolate_barycentric_coords(f, fid, bc, n)

robotic-0.3.3.data/scripts/ry-h5info

@@ -1,32 +0,0 @@
-#!python
-
-import argparse
-import h5py
-
-parser = argparse.ArgumentParser(description='h5-file info')
-
-parser.add_argument('FILE', type=str,
-                    help='h5-file name')
-
-def print_attrs(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 main():
-    args = parser.parse_args()
-
-    print('=== file', args.FILE)
-    try:
-        with h5py.File(args.FILE, 'r') as fil:
-            fil.visititems(print_attrs)
-    except KeyboardInterrupt:
-        sys.exit(1)
-
-if __name__ == "__main__":
-    main()