robotic 0.3.4.dev3__cp310-cp310-manylinux2014_x86_64.whl → 0.3.4.dev4__cp310-cp310-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -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>

robotic/include/rai/Kin/cameraview.h

@@ -65,29 +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/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

@@ -98,6 +98,7 @@ struct GaussEDA : EvolutionStrategy {
   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)

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.4.dev3'
+__version__ = '0.3.4.dev4'

{robotic-0.3.4.dev3.dist-info → robotic-0.3.4.dev4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.4.dev3
+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.dev3.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=elGV7HLgxv2rpjwtTNc4-XFZYqV_Ka5iYgDdsCWyfe4,78736
-robotic/_robotic.so,sha256=UDiKkO6YLuKUl7YBcJA8xvR93NCWBVyRdn7Krj-ceec,1283944
+robotic/_robotic.pyi,sha256=XK-lJzDjXVuZ0vuCDREkfpMFOrtXj_u8Uj_mBuB4rxE,78841
+robotic/_robotic.so,sha256=KQhmq1NtJgNmN7N4bfT4Z7lmo5apst6v7Ab0h8uYtcE,1283944
 robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
-robotic/librai.so,sha256=6RzS5XjU-WUp40taQUTYmArrBL7B2pD4WmhkFSJB_ks,39030496
+robotic/librai.so,sha256=pZST3L6Y8KEXVOB83bppWVOzpl9FA8eiWDM7-YSY9KA,39026368
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
 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=xfsM48038Ic2hSirS2ELKQKlZiXeyw-AF4CeC_ZmfBE,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
@@ -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=39RakWi-cKHqfeUxYQ25uQ2MrNMM4SeKtxRtoLKa8zw,2968
+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
@@ -151,9 +150,9 @@ 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=Tvd3DDcd8QCwv5-i0s0WPVF_c25VWx7xcGDex_SQ0wg,3292
+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=_64u-BQMU6D939ilkglnCj4CgOIBswZhSd0yRYgJ7XE,1597
@@ -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.dev3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.4.dev3.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.4.dev3.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.4.dev3.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.4.dev3.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
-robotic-0.3.4.dev3.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.4.dev3.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.4.dev3.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.4.dev3.dist-info/METADATA,sha256=aoF27hrmCkKvJ2dhwB-KHYqHjgX8AYCXK9dkw0Q6RLo,6663
-robotic-0.3.4.dev3.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
-robotic-0.3.4.dev3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.4.dev3.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/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dev4.dist-info/METADATA,sha256=L-Uk3M5xv1M4z4TknL8bsprAQ7rc5q4ItxEzXp1AIBw,6663
+robotic-0.3.4.dev4.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
+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 ''