robotic 0.3.4.dev2__cp38-cp38-manylinux2014_x86_64.whl → 0.3.4.dev4__cp38-cp38-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -236,7 +236,7 @@ class CameraView:
         """
         constructor
         """
-    def computeImageAndDepth(self, config: Config, visualsOnly: bool = True) -> tuple:
+    def computeImageAndDepth(self, config: Config, simulateDepthNoise: bool = False, visualsOnly: bool = True) -> tuple:
         """
         returns image and depth from a camera sensor; the 'config' argument needs to be the same configuration as in the constructor, but in new state
         """
@@ -1301,7 +1301,7 @@ class NLP_Solver:
         """
     def setInitialization(self, arg0: arr) -> NLP_Solver:
         ...
-    def setOptions(self, verbose: int = 1, stopTolerance: float = 0.01, stopFTolerance: float = -1.0, stopGTolerance: float = -1.0, stopEvals: int = 1000, stopInners: int = 1000, stopOuters: int = 1000, stopLineSteps: int = 10, stopTinySteps: int = 4, stepInit: float = 1.0, stepMin: float = -1.0, stepMax: float = 0.2, stepInc: float = 1.5, stepDec: float = 0.5, damping: float = 1.0, wolfe: float = 0.01, muInit: float = 1.0, muInc: float = 5.0, muMax: float = 10000.0, muLBInit: float = 0.1, muLBDec: float = 0.2, lambdaMax: float = -1.0, interiorPadding: float = 0.01, boundedNewton: bool = True, finiteDifference: bool = False) -> NLP_Solver:
+    def setOptions(self, verbose: int = 1, stopTolerance: float = 0.01, stopFTolerance: float = -1.0, stopGTolerance: float = -1.0, stopEvals: int = 1000, stopInners: int = 1000, stopOuters: int = 1000, stopLineSteps: int = 10, stopTinySteps: int = 4, stepInit: float = 1.0, stepMin: float = -1.0, stepMax: float = 0.2, stepInc: float = 1.5, stepDec: float = 0.5, damping: float = 1.0, wolfe: float = 0.01, muInit: float = 1.0, muInc: float = 5.0, muMax: float = 10000.0, muLBInit: float = 0.1, muLBDec: float = 0.2, lambdaMax: float = -1.0, interiorPadding: float = 0.01, boundedNewton: bool = True, finiteDifference: float = -1.0) -> NLP_Solver:
         """
         set solver options
         """
@@ -1492,10 +1492,13 @@ class OptMethod:
       NelderMead
     
       CMA
+    
+      ES
     """
     AugmentedLag: typing.ClassVar[OptMethod]  # value = <OptMethod.AugmentedLag: 5>
     CMA: typing.ClassVar[OptMethod]  # value = <OptMethod.CMA: 18>
     Ceres: typing.ClassVar[OptMethod]  # value = <OptMethod.Ceres: 14>
+    ES: typing.ClassVar[OptMethod]  # value = <OptMethod.ES: 19>
     GradientDescent: typing.ClassVar[OptMethod]  # value = <OptMethod.GradientDescent: 1>
     Ipopt: typing.ClassVar[OptMethod]  # value = <OptMethod.Ipopt: 12>
     LBFGS: typing.ClassVar[OptMethod]  # value = <OptMethod.LBFGS: 3>
@@ -1506,7 +1509,7 @@ class OptMethod:
     Newton: typing.ClassVar[OptMethod]  # value = <OptMethod.Newton: 4>
     Rprop: typing.ClassVar[OptMethod]  # value = <OptMethod.Rprop: 2>
     SquaredPenalty: typing.ClassVar[OptMethod]  # value = <OptMethod.SquaredPenalty: 8>
-    __members__: typing.ClassVar[dict[str, OptMethod]]  # value = {'none': <OptMethod.none: 0>, 'GradientDescent': <OptMethod.GradientDescent: 1>, 'Rprop': <OptMethod.Rprop: 2>, 'LBFGS': <OptMethod.LBFGS: 3>, 'Newton': <OptMethod.Newton: 4>, 'AugmentedLag': <OptMethod.AugmentedLag: 5>, 'LogBarrier': <OptMethod.LogBarrier: 6>, 'slackGN_logBarrier': <OptMethod.slackGN_logBarrier: 7>, 'SquaredPenalty': <OptMethod.SquaredPenalty: 8>, 'singleSquaredPenalty': <OptMethod.singleSquaredPenalty: 9>, 'slackGN': <OptMethod.slackGN: 10>, 'NLopt': <OptMethod.NLopt: 11>, 'Ipopt': <OptMethod.Ipopt: 12>, 'slackGN_Ipopt': <OptMethod.slackGN_Ipopt: 13>, 'Ceres': <OptMethod.Ceres: 14>, 'LSZO': <OptMethod.LSZO: 15>, 'greedy': <OptMethod.greedy: 16>, 'NelderMead': <OptMethod.NelderMead: 17>, 'CMA': <OptMethod.CMA: 18>}
+    __members__: typing.ClassVar[dict[str, OptMethod]]  # value = {'none': <OptMethod.none: 0>, 'GradientDescent': <OptMethod.GradientDescent: 1>, 'Rprop': <OptMethod.Rprop: 2>, 'LBFGS': <OptMethod.LBFGS: 3>, 'Newton': <OptMethod.Newton: 4>, 'AugmentedLag': <OptMethod.AugmentedLag: 5>, 'LogBarrier': <OptMethod.LogBarrier: 6>, 'slackGN_logBarrier': <OptMethod.slackGN_logBarrier: 7>, 'SquaredPenalty': <OptMethod.SquaredPenalty: 8>, 'singleSquaredPenalty': <OptMethod.singleSquaredPenalty: 9>, 'slackGN': <OptMethod.slackGN: 10>, 'NLopt': <OptMethod.NLopt: 11>, 'Ipopt': <OptMethod.Ipopt: 12>, 'slackGN_Ipopt': <OptMethod.slackGN_Ipopt: 13>, 'Ceres': <OptMethod.Ceres: 14>, 'LSZO': <OptMethod.LSZO: 15>, 'greedy': <OptMethod.greedy: 16>, 'NelderMead': <OptMethod.NelderMead: 17>, 'CMA': <OptMethod.CMA: 18>, 'ES': <OptMethod.ES: 19>}
     greedy: typing.ClassVar[OptMethod]  # value = <OptMethod.greedy: 16>
     none: typing.ClassVar[OptMethod]  # value = <OptMethod.none: 0>
     singleSquaredPenalty: typing.ClassVar[OptMethod]  # value = <OptMethod.singleSquaredPenalty: 9>
@@ -1630,12 +1633,18 @@ class RRT_PathFinder:
         """
         only after setProblem
         """
+    def setOptions(self, verbose: int = 0, stepsize: float = 0.1, subsamples: int = 4, maxIters: int = 5000, p_connect: float = 0.5, collisionTolerance: float = 0.0001, useBroadCollisions: bool = True) -> RRT_PathFinder:
+        """
+        set solver options
+        """
     def setProblem(self, Configuration: Config) -> None:
         ...
     def setStartGoal(self, starts: arr, goals: arr) -> None:
         ...
     def solve(self, verbose: int = 1) -> SolverReturn:
         ...
+    def view(self, pause: bool, message: str = None, play: bool = False) -> None:
+        ...
 class ST:
     """
     Members:
@@ -1939,6 +1948,10 @@ class Simulation:
         ...
     def selectSensor(self, sensorName: str) -> ...:
         ...
+    def setSimulateDepthNoise(self, _setSimulateDepthNoise: bool) -> None:
+        """
+        specify (boolean) on whether to simulate noise
+        """
     def setSplineRef(self, path: arr, times: arr, append: bool = True) -> None:
         """
         set the spline reference to generate motion

robotic/include/rai/Core/array.h

@@ -335,6 +335,7 @@ template<class T> void operator+=(Array<T>& x, const T& y);
 template<class T> void operator-=(Array<T>& x, const Array<T>& y);
 template<class T> void operator-=(Array<T>& x, const T& y);
 template<class T> void operator*=(Array<T>& x, const T& y);
+template<class T> void operator/=(Array<T>& x, const T& y);
 
 template<class T> Array<T> operator+(const Array<T>& y, const Array<T>& z) { Array<T> x(y); x+=z; return x; }
 template<class T> Array<T> operator+(const Array<T>& y, T z) {                Array<T> x(y); x+=z; return x; }

robotic/include/rai/Core/array.ipp

@@ -1944,15 +1944,9 @@ template<class T> void operator+=(Array<T>& x, const Array<T>& y) {
       else x.J() = *y.jac;
     }
   }
-  // CHECK_EQ(x.N, y.N, "update operator on different array dimensions (" <<x.N <<", " <<y.N <<")");
-  // T* xp=x.p, *xstop=xp+x.N;
-  // const T* yp=y.p;
-  // for(; xp!=xstop; xp++, yp++) *xp += *yp;
 }
 template<class T> void operator+=(Array<T>& x, const T& y) {
   UpdateOperator_MS(+=);
-  // T* xp=x.p, *xstop=xp+x.N;
-  // for(; xp!=xstop; xp++) *xp += y;
 }
 template<class T> void operator-=(Array<T>& x, const Array<T>& y) {
   UpdateOperator_MM(-=);
@@ -1962,23 +1956,21 @@ template<class T> void operator-=(Array<T>& x, const Array<T>& y) {
       else x.J() = -(*y.jac);
     }
   }
-  // CHECK_EQ(x.N, y.N, "update operator on different array dimensions (" <<x.N <<", " <<y.N <<")");
-  // T* xp=x.p, *xstop=xp+x.N;
-  // const T* yp=y.p;
-  // for(; xp!=xstop; xp++, yp++) *xp -= *yp;
 }
 template<class T> void operator-=(Array<T>& x, const T& y) {
   UpdateOperator_MS(-=);
-  // T* xp=x.p, *xstop=xp+x.N;
-  // for(; xp!=xstop; xp++) *xp -= y;
 }
 template<class T> void operator*=(Array<T>& x, const T& y) {
   if constexpr(std::is_same_v<T, double>){
     if(x.jac) *x.jac *= y;
   }
   UpdateOperator_MS(*=);
-  // T* xp=x.p, *xstop=xp+x.N;
-  // for(; xp!=xstop; xp++) *xp *= y;
+}
+template<class T> void operator/=(Array<T>& x, const T& y) {
+  if constexpr(std::is_same_v<T, double>){
+    if(x.jac) *x.jac /= y;
+  }
+  UpdateOperator_MS(/=);
 }
 
 #undef UpdateOperator_MM

robotic/include/rai/Core/defines.h

@@ -45,7 +45,6 @@ typedef unsigned int uint;
 //
 
 //using std::cout;
-//using std::cerr;
 //using std::endl;
 using std::ostream;
 using std::istream;

robotic/include/rai/Core/thread.h

@@ -140,7 +140,7 @@ struct Var_data : Var_base {
 
   Var_data(const char* name=0) : Var_base(name), data() {} // default constructor for value always initializes, also primitive types 'bool' or 'int'
   ~Var_data() {
-    if(rwlock.isLocked()) { cerr << "can't destroy a variable when it is currently accessed!" <<endl; exit(1); }
+    if(rwlock.isLocked()) { cout << "can't destroy a variable when it is currently accessed!" <<endl; exit(1); }
   }
 };
 

robotic/include/rai/Core/util.h

@@ -22,7 +22,6 @@
 #include <random>
 
 using std::cout;
-using std::cerr;
 using std::endl;
 
 namespace rai {

robotic/include/rai/Geo/geo.h

@@ -244,8 +244,8 @@ struct Camera {
 
   float heightAbs;
   float focalLength;
-  float whRatio;
   float zNear, zFar;
+  float width=640., height=480.;
 
   Camera();
 
@@ -253,8 +253,8 @@ struct Camera {
   void setHeightAngle(float a);
   void setHeightAbs(float h);
   void setZRange(float znear, float zfar);
-  void setWHRatio(float ratio);
   void setFocalLength(float f);
+  void setWidthHeight(float w, float h);
   void setPosition(const Vector& x);
   void setKinect();
   void setDefault();
@@ -274,12 +274,12 @@ struct Camera {
   arr getInverseProjectionMatrix() const;
   double glConvertToTrueDepth(double d) const;
   double glConvertToLinearDepth(double d) const;
-  void project2PixelsAndTrueDepth(arr& x, double width, double height) const;
-  void unproject_fromPixelsAndTrueDepth(arr& x, double width, double height) const;
-  void unproject_fromPixelsAndGLDepth(arr& x, uint width, uint height) const;
+  void project2PixelsAndTrueDepth(arr& x) const;
+  void unproject_fromPixelsAndTrueDepth(arr& x) const;
+  void unproject_fromPixelsAndGLDepth(arr& x) const;
 
-  arr getFxycxy(double width, double height);
-  arr getIntrinsicMatrix(double width, double height) const;
+  arr getFxycxy();
+  arr getIntrinsicMatrix() const;
 
   //retired
   void setCameraProjectionMatrix(const arr& P); //P is in standard convention -> computes fixedProjectionMatrix in OpenGL convention from this

robotic/include/rai/Geo/pairCollision.h

@@ -75,15 +75,11 @@ struct PairCollision_CvxDecomp : PairCollision, NonCopyable {
 
 //===========================================================================
 
-struct PairCollision_PtPcl {
-  //OUTPUTS
-  arr y, J;
-
+struct PairCollision_PtPcl : PairCollision, NonCopyable {
   PairCollision_PtPcl(const arr& x, ANN& ann,
-               const rai::Transformation& t1, const arr& Jp1, const arr& Jx1,
-               const rai::Transformation& t2, const arr& Jp2, const arr& Jx2,
-               double rad1=0., double rad2=0.,
-               bool returnVector=false);
+               const rai::Transformation& t1,
+               const rai::Transformation& t2,
+               double rad1=0., double rad2=0.);
 };
 
 //===========================================================================

robotic/include/rai/Kin/cameraview.h

@@ -14,43 +14,50 @@
 
 namespace rai {
 
+struct DepthNoiseOptions {
+  RAI_PARAM("DepthNoise/", double, binocular_baseline, .05)
+  RAI_PARAM("DepthNoise/", int, depth_smoothing, 1)
+  RAI_PARAM("DepthNoise/", double, noise_all, .05)
+  RAI_PARAM("DepthNoise/", double, noise_wide, 4.)
+  RAI_PARAM("DepthNoise/", double, noise_local, .4)
+  RAI_PARAM("DepthNoise/", double, noise_pixel, .04)
+};
+
 struct CameraView : ConfigurationViewer {
 
-  /*! describes a sensor from which we can take 'images' within the simulation (e.g.: kinect, suctionRingView, etc) */
-  struct Sensor {
-    rai::String name;
-    rai::Camera cam;     ///< this includes the transformation X
-    uint width=640, height=480;
-    rai::Frame *frame=0;
-    Sensor() {}
-    rai::Transformation& pose() { return cam.X; }
-    arr getFxycxy() { return cam.getFxycxy(width, height); }
+  /*! a camera attached (and defined by the attributes of) a Frame */
+  struct CameraFrame {
+    rai::Frame& frame;
+    rai::Camera cam;
+    rai::Vector offset=0;
+    CameraFrame(rai::Frame& _frame) : frame(_frame) {}
   };
 
   //-- description of world configuration
-  rai::Array<Sensor> sensors;  //the list of sensors
+  rai::Array<shared_ptr<CameraFrame>> cameras;  //the list of sensors
 
   enum RenderMode { all, seg, visuals };
 
   //-- run parameter
-  Sensor* currentSensor=0;
+  shared_ptr<CameraFrame> currentCamera;
   RenderMode renderMode=all;
   byteA frameIDmap;
+  shared_ptr<DepthNoiseOptions> opt;
 
   //-- evaluation outputs
   CameraView(const rai::Configuration& _C, bool _offscreen=true);
   ~CameraView() {}
 
   //-- loading the configuration: the meshes, the robot model, the tote, the sensors; all ends up in K
-  Sensor& addSensor(rai::Frame* frame, uint width, uint height, double focalLength=-1., double orthoAbsHeight=-1., const arr& zRange= {}, const char* backgroundImageFile=0);
-  Sensor& addSensor(rai::Frame* frame); //read everything from the frame attributes
-  Sensor& selectSensor(rai::Frame* frame); //set the OpenGL sensor
+  CameraFrame& setCamera(rai::Frame* frame, uint width, uint height, double focalLength=-1., double orthoAbsHeight=-1., const arr& zRange= {}, const char* backgroundImageFile=0);
+  CameraFrame& setCamera(rai::Frame* frame); //read everything from the frame attributes
+  CameraFrame& selectSensor(rai::Frame* frame); //set the OpenGL sensor
 
-  void computeImageAndDepth(byteA& image, floatA& depth);
+  void computeImageAndDepth(byteA& image, floatA& depth, bool _simulateDepthNoise=false);
   byteA computeSegmentationImage();
   uintA computeSegmentationID();
 
-  arr getFxycxy() { CHECK(currentSensor, "no sensor selected yet"); return currentSensor->getFxycxy(); }
+  arr getFxycxy() { CHECK(currentCamera, "no sensor selected yet"); return currentCamera->cam.getFxycxy(); }
 
  private:
   void updateCamera();
@@ -58,25 +65,6 @@ struct CameraView : ConfigurationViewer {
 
 //===========================================================================
 
-struct Sim_CameraView : Thread {
-  Var<rai::Configuration> model;
-
-  //-- outputs
-  Var<byteA> color;
-  Var<floatA> depth;
-
-  //-- internal
-  CameraView V;
-
-  Sim_CameraView(Var<rai::Configuration>& _kin,
-                 Var<byteA> _color,
-                 Var<floatA> _depth,
-                 double beatIntervalSec=-1., const char* _cameraFrameName=nullptr, bool _idColors=false, const byteA& _frameIDmap= {});
-  ~Sim_CameraView();
-
-  void step();
-
-  arr getFxycxy();
-};
+void simulateDepthNoise(floatA& depth, const floatA& depth2, double offset, const arr& fxycxy, shared_ptr<DepthNoiseOptions> opt);
 
 }

robotic/include/rai/Kin/simulation.h

@@ -30,6 +30,7 @@ struct Simulation {
   uint stepCount=0;
   Engine engine;
   Array<shared_ptr<SimulationImp>> imps; ///< list of (adversarial) imps doing things/perturbations/noise in addition to clean physics engine
+  bool simulateDepthNoise=false;
   int verbose;
   int writeData=0;
   ofstream dataFile;
@@ -72,12 +73,13 @@ struct Simulation {
   void getImageAndDepth(byteA& image, floatA& depth); ///< use this during stepping
   void getSegmentation(byteA& segmentation);
   CameraView& cameraview(); ///< use this if you want to initialize the sensor, etc
-  rai::CameraView::Sensor& addSensor(const char* sensorName, uint width=640, uint height=360, double focalLength=-1., double orthoAbsHeight=-1., const arr& zRange= {}) {
+  rai::CameraView::CameraFrame& addSensor(const char* sensorName, uint width=640, uint height=360, double focalLength=-1., double orthoAbsHeight=-1., const arr& zRange= {}) {
     rai::Frame *f = C.getFrame(sensorName);
     CHECK(f, "a camera frame must exist");
-    return cameraview().addSensor(f, width, height, focalLength, orthoAbsHeight, zRange);
+    return cameraview().setCamera(f, width, height, focalLength, orthoAbsHeight, zRange);
   }
-  rai::CameraView::Sensor&  selectSensor(const char* name) { return cameraview().selectSensor(C.getFrame(name)); }
+  rai::CameraView::CameraFrame&  selectSensor(const char* name) { return cameraview().selectSensor(C.getFrame(name)); }
+  void  setSimulateDepthNoise(bool _simulateDepthNoise) { simulateDepthNoise=_simulateDepthNoise; }
   byteA getScreenshot();
 
   //== ground truth interface

robotic/include/rai/Logic/treeSearchDomain.h

@@ -65,7 +65,7 @@ struct TreeSearchDomain {
   virtual const Handle get_stateCopy() = 0;
 
   /// Get the current state
-  virtual void set_state(const Handle& stateCopy) { std::cerr <<"not implemented for world of type " <<typeid(this).name() <<std::endl; exit(-1); }
+  virtual void set_state(const Handle& stateCopy) { std::cout <<"not implemented for world of type " <<typeid(this).name() <<std::endl; exit(-1); }
 
   /// Return whether the current state is a terminal state
   virtual bool is_terminal_state() const = 0;
@@ -81,7 +81,7 @@ struct TreeSearchDomain {
   virtual bool get_info(InfoTag tag) const = 0;
   virtual double get_info_value(InfoTag tag) const = 0;
 
-  virtual void write(std::ostream& os) const { std::cerr <<"NOT OVERLOADED!" <<std::endl; }
+  virtual void write(std::ostream& os) const { std::cout <<"NOT OVERLOADED!" <<std::endl; }
 };
 inline std::ostream& operator<<(std::ostream& os, const TreeSearchDomain& E) { E.write(os); return os; }
 inline std::ostream& operator<<(std::ostream& os, const TreeSearchDomain::SAO& x) { x.write(os); return os; }

robotic/include/rai/Optim/i_NLopt.h

@@ -10,6 +10,8 @@
 
 #include "NLP.h"
 
+namespace rai {
+
 struct NLoptInterface {
   shared_ptr<NLP> P;
   arr x, phi_x, J_x;
@@ -28,3 +30,5 @@ struct NLoptInterface {
   static double _g(const std::vector<double>& _x, std::vector<double>& _grad, void* f_data);
   static double _h(const std::vector<double>& _x, std::vector<double>& _grad, void* f_data);
 };
+
+} //namespace

robotic/include/rai/Optim/m_EvoStrategies.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "NLP.h"
+#include "options.h"
 #include "../Core/util.h"
 
 /*
@@ -34,20 +35,23 @@ namespace rai {
 
 struct EvolutionStrategy {
   ScalarFunction f;
+  shared_ptr<OptOptions> opt;
   arr x;
   double f_x=1e10;
-  uint steps=0, rejectedSteps=0, tinySteps=0;
+  int evals=0, steps=0, rejectedSteps=0, tinySteps=0;
 
-  EvolutionStrategy(ScalarFunction _f): f(_f) {}
+  EvolutionStrategy(ScalarFunction _f, const arr& x_init, shared_ptr<OptOptions> _opt): f(_f), opt(_opt), x(x_init) {}
 
+  //virtuals that define a method
   virtual arr generateNewSamples() = 0;
-  virtual void update(const arr& samples, const arr& values) = 0;
+  virtual void update(arr& samples, const arr& values) = 0;
 
+  //generic stepping & looping
   bool step();
-
   shared_ptr<SolverReturn> solve();
 
-  arr select(const arr& samples, const arr& y, uint mu);
+  //helper
+  arr select(const arr& samples, const arr& values, uint mu);
 
 };
 
@@ -58,11 +62,11 @@ struct CMAES : EvolutionStrategy {
   RAI_PARAM("CMA/", int, lambda, 20)
   RAI_PARAM("CMA/", double, sigmaInit, .1)
 
-  CMAES(ScalarFunction f, const arr& x_init={});
+  CMAES(ScalarFunction f, const arr& x_init, shared_ptr<OptOptions> opt = make_shared<OptOptions>());
   ~CMAES();
 
   virtual arr generateNewSamples();
-  virtual void update(const arr& samples, const arr& values);
+  virtual void update(arr& samples, const arr& values);
 
   arr getBestEver();
   arr getCurrentMean();
@@ -72,23 +76,39 @@ struct CMAES : EvolutionStrategy {
 
 struct ES_mu_plus_lambda : EvolutionStrategy {
   arr mean;
+  arr elite;
   RAI_PARAM("ES/", double, sigma, .1)
+  RAI_PARAM("ES/", double, sigmaDecay, .001)
   RAI_PARAM("ES/", uint, lambda, 20)
   RAI_PARAM("ES/", uint, mu, 5)
 
-  ES_mu_plus_lambda(ScalarFunction f, const arr& x_init={}) : EvolutionStrategy(f) {}
+  ES_mu_plus_lambda(ScalarFunction f, const arr& x_init, shared_ptr<OptOptions> opt = make_shared<OptOptions>())
+      : EvolutionStrategy(f, x_init, opt) { mean = x_init; }
+
+  virtual arr generateNewSamples();
+
+  virtual void update(arr& X, const arr& y);
+};
+
+//===========================================================================
 
-  virtual arr generateNewSamples(){
-    arr X = replicate(mean, lambda);
-//    for(uint i=0;i<X.d0;i++) X[i] = X[i] % (0.5 + 1.*rand(X.d1));
-    rndGauss(X, sigma, true);
-    return X;
-  }
+struct GaussEDA : EvolutionStrategy {
+  arr mean;
+  arr cov;
+  arr elite;
+  RAI_PARAM("GaussEDA/", double, sigmaInit, .1)
+  RAI_PARAM("GaussEDA/", double, sigma2Min, .001)
+  RAI_PARAM("GaussEDA/", double, momentum, 1.)
+  RAI_PARAM("GaussEDA/", double, beta, .1)
+  RAI_PARAM("ES/", double, sigmaDecay, .001)
+  RAI_PARAM("ES/", uint, lambda, 20)
+  RAI_PARAM("ES/", uint, mu, 5)
+
+  GaussEDA(ScalarFunction f, const arr& x_init, shared_ptr<OptOptions> opt = make_shared<OptOptions>());
+
+  virtual arr generateNewSamples();
 
-  virtual void update(const arr& X, const arr& y){
-    arr Y = select(X, y, mu);
-    mean = ::mean(Y);
-  }
+  virtual void update(arr& X, const arr& y);
 };
 
 } //namespace

robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h

@@ -1,10 +1,14 @@
 #pragma once
 
 #include "NLP.h"
+#include "options.h"
 #include "../Core/util.h"
 
+namespace rai {
+
 struct LeastSquaredZeroOrder{
   shared_ptr<NLP> P;
+  std::shared_ptr<OptOptions> opt;
   bool hasLinTerms=false;
 
   //-- parameters
@@ -12,6 +16,14 @@ struct LeastSquaredZeroOrder{
   double alpha = .5;
   RAI_PARAM("LSZO/", double, alpha_min, .001)
   RAI_PARAM("LSZO/", double, damping, 1e-2)
+  RAI_PARAM("LSZO/", double, noiseRatio, .2)
+  RAI_PARAM("LSZO/", double, noiseAbs, .0)
+  RAI_PARAM("LSZO/", int, maxIters, 500)
+  RAI_PARAM("LSZO/", double, dataRatio, 1.)
+  RAI_PARAM("LSZO/", bool, pruneData, false)
+  RAI_PARAM("LSZO/", bool, covariantNoise, false)
+  RAI_PARAM("LSZO/", double, stepInc, 1.5)
+  RAI_PARAM("LSZO/", double, stepDec, .5)
 
   //-- state and data
   arr x;               ///< point where P was last evaluated
@@ -22,7 +34,7 @@ struct LeastSquaredZeroOrder{
 
   uint steps=0, tinySteps=0, rejectedSteps=0;
 
-  LeastSquaredZeroOrder(shared_ptr<NLP> P, const arr& x_init={});
+  LeastSquaredZeroOrder(shared_ptr<NLP> P, const arr& x_init, std::shared_ptr<OptOptions> _opt=make_shared<OptOptions>());
 
   shared_ptr<SolverReturn> solve(){
     while(!step()){}
@@ -43,3 +55,5 @@ struct LeastSquaredZeroOrder{
 
   void updateJ_linReg(arr& J, const arr& Xraw, const arr& Y);
 };
+
+} //namespace

robotic/include/rai/Optim/m_NelderMead.h

@@ -1,17 +1,23 @@
 #pragma once
 
 #include "NLP.h"
+#include "options.h"
 #include "../Core/util.h"
 
+namespace rai {
+
 struct NelderMead {
   ScalarFunction f;
+  shared_ptr<OptOptions> opt;
   arr x;
   double f_x=0.;
 
   //-- counters
   uint steps=0, tinySteps=0, maxSteps=300;
 
-  NelderMead(ScalarFunction _f, const arr& x_init={});
+  NelderMead(ScalarFunction _f, const arr& x_init={}, shared_ptr<OptOptions> opt = make_shared<OptOptions>());
 
   shared_ptr<SolverReturn> solve();
 };
+
+} //namespace

robotic/include/rai/Optim/options.h

@@ -17,7 +17,8 @@ enum OptMethod { M_none=0,
 		 M_AugmentedLag, M_LogBarrier, M_slackGN_logBarrier, M_SquaredPenalty, M_singleSquaredPenalty,
 		 M_slackGN,
 		 M_NLopt, M_Ipopt, M_slackGN_Ipopt, M_Ceres,
-		 M_LSZO, M_greedy, M_NelderMead, M_CMA };
+		 M_LSZO, M_greedy, M_NelderMead,
+		 M_CMA, M_ES };
 
 
 struct OptOptions {
@@ -46,7 +47,7 @@ struct OptOptions {
   RAI_PARAM("opt/", double, interiorPadding, 1e-2)
   RAI_PARAM("opt/", bool,   boundedNewton, true)
   RAI_PARAM_ENUM("opt/", OptMethod, method, M_AugmentedLag)
-  RAI_PARAM("opt/", bool,   finiteDifference, false)
+  RAI_PARAM("opt/", double, finiteDifference, -1.)
 };
 
 std::shared_ptr<OptOptions> globalOptOptions();

robotic/include/rai/Optim/utils.h

@@ -13,7 +13,8 @@
 
 struct NLP_FiniteDifference : NLP {
   std::shared_ptr<NLP> P;
-  NLP_FiniteDifference(std::shared_ptr<NLP> _P) : P(_P) { copySignature(*P); }
+  double eps;
+  NLP_FiniteDifference(std::shared_ptr<NLP> _P, double eps=1e-6) : P(_P), eps(eps) { copySignature(*P); }
   virtual void evaluate(arr& phi, arr& J, const arr& x0);
   virtual void report(ostream& os, int verbose, const char *msg=0){ os <<"FiniteDifference version of: "; P->report(os, verbose, msg); }
 };

robotic/include/rai/Search/TreeSearchNode.h

@@ -42,7 +42,7 @@ struct TreeSearchNode {
 
   //I/O
   virtual void write(std::ostream& os) const { os <<name; }
-  virtual void report(std::ostream& os, int verbose) const { std::cerr <<"NOT OVERLOADED!" <<std::endl; }
+  virtual void report(std::ostream& os, int verbose) const { std::cout <<"NOT OVERLOADED!" <<std::endl; }
   virtual void data(Graph& g) const {}
 };
 inline std::ostream& operator<<(std::ostream& os, const TreeSearchNode& D) { D.write(os); return os; }

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.4.dev2'
+__version__ = '0.3.4.dev4'

{robotic-0.3.4.dev2.dist-info → robotic-0.3.4.dev4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.3.4.dev2
+Version: 0.3.4.dev4
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.4.dev2.dist-info → robotic-0.3.4.dev4.dist-info}/RECORD

@@ -1,13 +1,12 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
-robotic/_robotic.pyi,sha256=eH6X_tlCOE1wsCfPJ7UceZsqo-0B-WQkxbcfiy9jqIk,78182
-robotic/_robotic.so,sha256=fNvSfQmzqQgKMnBBnfQJCvV018tmRbY4kJPvCfDCzfc,1275720
+robotic/_robotic.pyi,sha256=XK-lJzDjXVuZ0vuCDREkfpMFOrtXj_u8Uj_mBuB4rxE,78841
+robotic/_robotic.so,sha256=DfjGl6J4womKAoFuG3BNiqtImPIArF6zUM5BG1DYAKE,1283912
 robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
-robotic/librai.so,sha256=t33Zp6zObfhuY_Of8xslnvfFGEg16sr8W6XJ6zA82VY,39005824
+robotic/librai.so,sha256=pZST3L6Y8KEXVOB83bppWVOzpl9FA8eiWDM7-YSY9KA,39026368
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=V9bMOkry--3L3FBoCP9bRdFl_2nvN02AZpAP801JlQY,56288
+robotic/meshTool,sha256=W_0nI2SG9N-qnmSiHRb6MBkEbpWOUXgtaY8q-qd1fcg,56288
 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=zfGJiyYJIVw1QWWQErJIvaKA1oVJuKwllafWRSoZFFk,463
@@ -17,7 +16,7 @@ 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=safcLGc3qHjRyE2B0CDJ6rYEEJVpdijLmYxccZ1EGjA,27
+robotic/version.py,sha256=bLx8Ulolu0qyL2Wr9lJU1sAymBIfByepCUvO26mMVp4,27
 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=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
@@ -50,14 +49,14 @@ robotic/include/rai/Control/WaypointMPC.h,sha256=Pa36-K1yMxszD9EFuLfLayaOe9pTK8c
 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=xlbbSVin9_3iDN6OskoQDT2tAiA3L0qpvSnqWISHedE,26829
-robotic/include/rai/Core/array.ipp,sha256=M4nm038RAgV7y4vA80c7LWmw5nG6oM2Q87uBjBEhXBQ,63413
+robotic/include/rai/Core/array.h,sha256=Shyr07ekAzustkdE76wuOXJUduGtigYfcoNPNqogWOY,26889
+robotic/include/rai/Core/array.ipp,sha256=Ny13iTLc3-kT-Ll1k6iKl2coWeMPpDemDLqCQqPQuLI,62968
 robotic/include/rai/Core/arrayDouble.h,sha256=hkDMhYu7rxWkczdhCh7Zh1h7_bLN8yFkgd6cy8t-11g,29467
-robotic/include/rai/Core/defines.h,sha256=Y5YF92lo5dV3r0W6DFCapY7_7vUk9dS1po6ixtNxGIg,6896
+robotic/include/rai/Core/defines.h,sha256=2POkrvkqqwX9ZZBEEgn-cZrnGBI6PORZiobujdFF39o,6877
 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
+robotic/include/rai/Core/thread.h,sha256=iYk7_OTdOJFazCqoW6tpcdWe1UKFQrbGqM6DwZuTBmI,18303
+robotic/include/rai/Core/util.h,sha256=Wpv_lSPeh7IsMJgkSHHQdYkLmLPIJbg6F6L4H1KU1yU,18914
 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
@@ -66,11 +65,11 @@ robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8z
 robotic/include/rai/DataGen/rndStableConfigs.h,sha256=RdAD1kDsKic7WwBvLtFyIVnGKdtGqhxekBKjoeeUd40,403
 robotic/include/rai/DataGen/shapenetGrasps.h,sha256=VA7keWDLfxTj4XvevzV7h1ApJsgCxPnKm-LhOXPLDZY,1618
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
-robotic/include/rai/Geo/geo.h,sha256=6bjl_R_Olr_pvlKcxPNdiu8brWFfYJMVQrKSbx3zhpA,14937
+robotic/include/rai/Geo/geo.h,sha256=NA4_s_4TrXaYLoStH36eZy9yZexFdvjNffnsr_xaeQY,14825
 robotic/include/rai/Geo/i_assimp.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg-LhMlWcjiF_o,1055
 robotic/include/rai/Geo/i_fcl.h,sha256=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
 robotic/include/rai/Geo/mesh.h,sha256=wGT463J0LW_LsJm7lFoU-INqmcro5_hj3Q_jXRI3QrM,6873
-robotic/include/rai/Geo/pairCollision.h,sha256=VXCjzK6O0k--KF5hyeHhi6WQDPj_kj6rN4Vp-WP8rb8,4534
+robotic/include/rai/Geo/pairCollision.h,sha256=SnXp_vdiiFVan2OxgyPZrXpNKCO3_R8EHX8bfP9zkyo,4434
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
 robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=mM4oi6ai1bRSmFrZkBa40mqwjpVvfV193jMkAuN0xh4,4815
 robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
@@ -112,7 +111,7 @@ robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
 robotic/include/rai/Kin/F_pose.h,sha256=QlZnpS4ZTNFBZlH-lpe6sTt2gdbxbjsZTHPqk0T_4AI,5252
 robotic/include/rai/Kin/F_qFeatures.h,sha256=x4cfFGaVBQSmj9ZetcC25qiGxnvfNMPsWh9zbPa5owE,2212
-robotic/include/rai/Kin/cameraview.h,sha256=byzJyTxP4Irh0A6gi8ZNndvJ0UFDD8leLfbW9B7laJI,2478
+robotic/include/rai/Kin/cameraview.h,sha256=mcHUKhQqrl5lZYh8JQ_3S-3HaiAGuHruWiNViymx10g,2414
 robotic/include/rai/Kin/dof_direction.h,sha256=9tio7VXxXAv-ZAxA6QskjD5rMH2LHU4hIGAG6TC0RaY,831
 robotic/include/rai/Kin/dof_forceExchange.h,sha256=LcqbyfFYI2CyNoiJlY1WxkXRgsMfSmrV3PuynG9kdCA,1952
 robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACDgnLrei2s8g,790
@@ -126,7 +125,7 @@ robotic/include/rai/Kin/i_Ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c
 robotic/include/rai/Kin/i_Physx.h,sha256=CxsmnWHQMgJBbhA5iajLpOjxpCkd9243tlVyYkNRgOM,1950
 robotic/include/rai/Kin/kin.h,sha256=mzHgBV-j46PstUXzXsvVg_b64Q0jUNNk3bPfbnH7Vag,16120
 robotic/include/rai/Kin/proxy.h,sha256=yn19c-lrt6Fv8AE76ex_UObEFaNxMhItukv-KQgXZN8,1420
-robotic/include/rai/Kin/simulation.h,sha256=jeW1Pj4AVk9mjBTYjDpNd19Dw0QH__m6VhjSvkiftcs,5510
+robotic/include/rai/Kin/simulation.h,sha256=IYPnYDCWPQUIDivoOWXX8BqQaEf3nbadM3dKyCdoWbg,5653
 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
@@ -140,7 +139,7 @@ robotic/include/rai/LGP/NLP_Descriptor.h,sha256=1XJ-Wzvf5kh6IdRmhwG4QIDW5D7N9fVq
 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/Logic/treeSearchDomain.h,sha256=ORUzTM0IhRSQ7z3cJh9w7m24-y-ZGLpsCEALzb8F3tU,3882
 robotic/include/rai/Optim/BayesOpt.h,sha256=bDSXXVV_-szB-6SeT9afodVi8DuQfdk6-Er2UFlgoN0,1276
 robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=dcTblUANjZx82zFugK9ItKuo69Llw8G6lvaMSzLhwHA,867
 robotic/include/rai/Optim/NLP.h,sha256=jVLFJXz59FZDPD7HHmI36fsECZG8mUqZkzLu94_iFF8,8737
@@ -151,20 +150,20 @@ robotic/include/rai/Optim/NLP_Solver.h,sha256=_9uwj61sobPl5-Q8bpxz4Wb6i5Q6nctfFs
 robotic/include/rai/Optim/constrained.h,sha256=VdtrNywvRiDvfb3_KICQnnkE54EuadV0y2a1kuXM6eA,1522
 robotic/include/rai/Optim/i_Ceres.h,sha256=kQbuKAfvOFIPcGWh2laGHyRsSf0A8mggVUGonq3JaHU,946
 robotic/include/rai/Optim/i_Ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
-robotic/include/rai/Optim/i_NLopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
+robotic/include/rai/Optim/i_NLopt.h,sha256=GWtOe8PJ2GtB2bnCZcPXzxFI127b8FXjv_msWLzVZaE,1002
 robotic/include/rai/Optim/lagrangian.h,sha256=KaORGcnP3je7AiF_kzNe9nYGlCfwVt-exTMiehmJugo,2532
-robotic/include/rai/Optim/m_EvoStrategies.h,sha256=zch7kh-tZHslU7hyUaUKr3vkdcyACmFpV6sR_JEe1cc,2510
+robotic/include/rai/Optim/m_EvoStrategies.h,sha256=CgNQbWpsP0OW6g9Q5TO6WttC1X76mWLh8muPfJiBrwQ,3339
 robotic/include/rai/Optim/m_Gradient.h,sha256=u5e6fsPd54qRvQwvbHeFjj-qLij_SlP6BlR0eEKVeFA,1743
 robotic/include/rai/Optim/m_LBFGS.h,sha256=EkKO7ws6M0cRB2zGsbxtU1meyfAvJw-BlCrY1bijZaM,311
-robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h,sha256=J-gp8iwHgPxxCDO8H8W2eYaMG5dI7ZGDP3s2ks3EyWk,1099
+robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h,sha256=_64u-BQMU6D939ilkglnCj4CgOIBswZhSd0yRYgJ7XE,1597
 robotic/include/rai/Optim/m_LocalGreedy.h,sha256=wfTFZl2C7qxCV6J0oxsRiHN9wBF2sOJLGe11ct8lQlo,608
-robotic/include/rai/Optim/m_NelderMead.h,sha256=Wu8g4fvZtNr-gBkpXPRvZcMHb1TSu2mMKii3zCJwQ9I,280
+robotic/include/rai/Optim/m_NelderMead.h,sha256=-RGRwr444FjECny_PGLf1Cl604yismZGCZ1FSndRacE,419
 robotic/include/rai/Optim/m_Newton.h,sha256=uHsS8EDATlm11CGo84BD0ruo3JhXIP7afiY2rvwBOSg,1162
 robotic/include/rai/Optim/m_SlackGaussNewton.h,sha256=C9GqyHzcseIY2xUMN4QmymOLtWjJcNmbhS5JJMiAPao,1055
-robotic/include/rai/Optim/options.h,sha256=lDExjmnuhjOJe1Gg0DREDCMB6vKJAfgwULspp72PaHA,1961
+robotic/include/rai/Optim/options.h,sha256=GulPzyhIyrV3TD6i34_JbJbtSPAt9f6zRuqGzUQmjZg,1968
 robotic/include/rai/Optim/primalDual.h,sha256=Ku91MisgpNyRv6W7UPV4d5Q2Gjfwefqam7eeFsxITUU,1309
 robotic/include/rai/Optim/testProblems_Opt.h,sha256=6OED5_nsjTn-MiWy8kVzTJXRxR5bG2WZ_ZvZei8QXec,6657
-robotic/include/rai/Optim/utils.h,sha256=ZYBRhkogXxn67mfhGQgLisc2rTn-hlFqyYVDxXiCOZM,2002
+robotic/include/rai/Optim/utils.h,sha256=DYWZ34FGL1Cs_xbJyn6vFzPh3mImT7CIm8QMgk4Y99k,2043
 robotic/include/rai/Optim/CMA/boundary_transformation.h,sha256=Ylu2ZX14fHqpJdKPbIZwR_ttfazgMv8nLJ0l0vvgvRA,3841
 robotic/include/rai/Optim/CMA/cmaes.h,sha256=EphfakrvvJOVgfBj0I9-hJuBV3zdCLmzEi_FqDnQh1I,4588
 robotic/include/rai/Optim/CMA/cmaes_interface.h,sha256=ntBGw2nlUi4bx0ZtW7qzbhwccdE0x8aZBFZkoqIVEn8,2743
@@ -192,7 +191,7 @@ robotic/include/rai/Perception/surfels.h,sha256=OblVWjI_bEpQwqcANJ8cHYvah4BraYmL
 robotic/include/rai/Perception/videoEncoder.h,sha256=TWphAWKPuvwwM6kNSfbEv57w9_LzZSbx-zkovfPVGA0,1823
 robotic/include/rai/Search/AStar.h,sha256=qXZybtUHusQUjmA2xYCvKtLpe8Saq73klpnBuz1plZc,1209
 robotic/include/rai/Search/ComputeNode.h,sha256=JcUy-8fmMsFbluSriDOh9FgLrJhaC4ggoiQwQa-1IZ0,3420
-robotic/include/rai/Search/TreeSearchNode.h,sha256=fvPE2LV_GsIAGSQxaDOdiJdkF_2MA4M0ORRtWmVcwwA,1774
+robotic/include/rai/Search/TreeSearchNode.h,sha256=13aF424b9MAcFNrDgNasWOthnp19zgJDaDo4lKDXbcY,1774
 robotic/include/rai/ry/py-Config.h,sha256=fk-TJMXqY6b9UYk3gYC8pW_BkbUr-D-PtkQ--96zxoc,644
 robotic/include/rai/ry/py-DataGen.h,sha256=mZHIv7PdR9_QBDKy0ONqHKQ70sr89dpgfKlO4UMByD8,434
 robotic/include/rai/ry/py-Feature.h,sha256=t8Tyf1PJ4bkyCRC_mKF6JTallco8YRAX0PTtkid7Vws,434
@@ -373,15 +372,15 @@ 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-0.3.4.dev2.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.4.dev2.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.4.dev2.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.4.dev2.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.4.dev2.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
-robotic-0.3.4.dev2.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.4.dev2.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.4.dev2.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.4.dev2.dist-info/METADATA,sha256=11_0se_X6FO43qJCaPc8Lr-NYEOmRd8Jq7BTfx5emzA,6512
-robotic-0.3.4.dev2.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
-robotic-0.3.4.dev2.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.4.dev2.dist-info/RECORD,,
+robotic-0.3.4.dev4.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.4.dev4.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
+robotic-0.3.4.dev4.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.4.dev4.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.4.dev4.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
+robotic-0.3.4.dev4.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.4.dev4.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.4.dev4.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dev4.dist-info/METADATA,sha256=eQJjL9Vg8vgCI8AKWRnkma0UJ1ejy3EuDmgXEJBQBcM,6512
+robotic-0.3.4.dev4.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
+robotic-0.3.4.dev4.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.4.dev4.dist-info/RECORD,,

robotic/nlp.py

@@ -1,113 +0,0 @@
-import numpy as np
-
-class OT():
-    f = 0
-    sos = 1
-    ineq = 2
-    eq = 3
-
-class NLP():
-    """
-    Non-Linear Mathematical Program
-
-    min_x  1^T phi_f(x) + phi_sos(x)^T phi_sos(x)
-    s.t.     phi_eq(x) = 0
-             phi_ineq(x) <= 0
-             B[0] <= x <= B[1]
-
-    where:
-    x is a continous variable, in vector space R^n
-    phi_f is a vector of cost terms
-    phi_sos is a vector of least cost terms
-    phi_eq is a vector of equality constraints
-    phi_ineq is a vector of inequality constraints
-    B[0] and B[1] in R^n are, respectively, the lower and upper box bounds
-    """
-
-    def __init__(self, *args, **kwargs):
-        pass
-
-    def evaluate(self, x):
-        """
-        query the NLP at a point x; returns the tuple (phi,J), which is
-        the feature vector and its Jacobian; features define cost terms,
-        sum-of-square (sos) terms, inequalities, and equalities depending
-        on 'getFeatureTypes'.
-
-        If the returned Jacobian has 3 columns and #rows non-equal to
-        dim(phi) it should be interpreted by solvers as sparse in
-        triplet format; the C++ solvers exploit such sparse Jacobians,
-        e.g., to efficiently compute Gauss-Newton steps.
-
-        Parameters
-        ------
-        x: np.array, 1-D
-
-        Returns
-        ------
-        phi: np.array 1-D
-        J: np.array 2-D.  J[i,j] is derivative of feature i w.r.t variable j, potentially sparse
-        """
-        raise NotImplementedError()
-
-    def getDimension(self):
-        """
-        Returns
-        -----
-        output: dimensionality of x
-        """
-        raise NotImplementedError()
-
-    def getFeatureTypes(self):
-        """
-        Returns
-        -----
-        output: list of feature Types
-        """
-        return NotImplementedError()
-
-    def getBounds(self):
-        """
-        returns 2-times-n array, where n is the dimensionality of x
-        B[0] is the lower and B[1] the upper bounds, so that B[0] <= x <= B[1]
-
-        Returns
-        ------
-        B: np.array 2D (2-times-n)
-        """
-        n = self.getDimension()
-        return np.tile([[-1.], [+1.]], (1,n))
-
-    def getFHessian(self, x):
-        """
-        Optionally returns a Hessian of the sum of all phi_f objectives
-        The Hessian is by default approximated Gauss-Newton w.r.t. the phi_sos objectives; this
-        method allows to return an explicit Hessian also for phi_f objectives that is added to the
-        Gauss-Newton of phi_sos objectives. Needs to be sparse if $J$ is sparse. Default: empty array (zero).
-
-        Returns
-        -----
-        Hessian: np.array 2D, potentially sparse
-        """
-        return []
-
-    def getInitializationSample(self):
-        """
-        returns a sample to initialize an optimization, not necessarily feasible. Default: uniform within bounds
-
-        Returns
-        -----
-        x:  np.array 1-D
-        """
-        bounds = self.getBounds()
-        return np.random.uniform(low=bounds[0,:], high=bounds[1,:])
-
-    def report(self, verbose):
-        """
-        displays semantic information on the last query. Default: empty string
-
-        Returns
-        ----
-        output: string
-        """
-        return ''