manipulation.py new version

MarcToussaint · Oct 15, 2024 · 0c034e0 · 0c034e0
1 parent c8341bf
commit 0c034e0
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Showing 13 changed files with 507 additions and 18 deletions.
diff --git a/.github/workflows/sphinx.yml b/.github/workflows/sphinx.yml
@@ -14,10 +14,11 @@ jobs:
           submodules: 'recursive'
       - uses: actions/setup-python@v3
         with:
-          python-version: '3.10'
+          python-version: '3.11'
       - name: install ubuntu dependencies
         run: |
-          sudo apt-get install pandoc freeglut3 libglew-dev
+          sudo apt install pandoc liblapack3 libglut3.12 libglu1-mesa libfreetype6 fonts-ubuntu
+          cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
       - name: install python dependencies
         run: |
           pip install sphinx sphinx_rtd_theme myst_parser nbsphinx robotic numpy

diff --git a/README.md b/README.md
@@ -17,13 +17,14 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 ## Installation via pip (simulation only, no real Franka & realsense support)
 
-* The pip package was compiled for python3.6 .. 3.11, and most of the dependencies statically linked. A few are still loaded dynamically, which requires installing on Ubuntu:
+* The pip package was compiled for python3.8 .. 3.12, and most of the dependencies statically linked. A few are still loaded dynamically, which requires installing on Ubuntu:
 ```
-sudo apt install liblapack3 freeglut3 libglew-dev python3 python3-pip
+sudo apt install liblapack3 freeglut3 libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip
+#latest Ubuntu: libglut3.12 and 'cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3'
 ```
 * pip-install robotic
 ```
-pip install robotic
+pip install robotic numpy
 ```
 * Tests:
 ```

diff --git a/_build_utils/CMakeLists-ubuntu.txt b/_build_utils/CMakeLists-ubuntu.txt
@@ -239,7 +239,7 @@ install(
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PY_SITE}/robotic)
 
 install(
-  FILES robotic/__init__.py robotic/version.py robotic/render.py robotic/nlp.py robotic/_robotic.pyi
+  FILES robotic/__init__.py robotic/version.py robotic/render.py robotic/nlp.py robotic/manipulation.py robotic/_robotic.pyi
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PY_SITE}/robotic)
 
 install(

diff --git a/_build_utils/Dockerfile b/_build_utils/Dockerfile
@@ -38,12 +38,13 @@ RUN ./install.sh -gc physx
 #RUN ./install.sh -g librealsense
 #RUN ./install.sh -g libfranka
 
-RUN python3.6 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
-RUN python3.7 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
+#RUN python3.6 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
+#RUN python3.7 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 RUN python3.8 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 RUN python3.9 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 RUN python3.10 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 RUN python3.11 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
+RUN python3.12 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 
 ##########################################################
 

diff --git a/_build_utils/build-wheels.sh b/_build_utils/build-wheels.sh
@@ -31,7 +31,7 @@ mv robotic/include/src robotic/include/rai
 export PYTHONPATH=.
 
 ### build each version
-for ver in 10 11 7 8 9; do
+for ver in 10 11 12 8 9; do
     echo -e "\n\n======== compiling (python version " $ver ") ========"
     cmake -B build_wheel -DPY_VERSION=3.$ver .
     make -j8 -C build_wheel rai _robotic meshTool --quiet

diff --git a/rai b/rai
diff --git a/rai-docs b/rai-docs
diff --git a/rai-tutorials b/rai-tutorials
diff --git a/robotic/_robotic.pyi b/robotic/_robotic.pyi
@@ -648,6 +648,8 @@ class Frame:
         ...
     def getRotationMatrix(self) -> arr:
         ...
+    def getShapeType(self) -> ST:
+        ...
     def getSize(self) -> arr:
         ...
     def getTransform(self) -> arr:
@@ -708,6 +710,8 @@ class JT:
     """
     Members:
     
+      none
+    
       hingeX
     
       hingeY
@@ -745,12 +749,13 @@ class JT:
       tau
     """
     XBall: typing.ClassVar[JT]  # value = <JT.XBall: 15>
-    __members__: typing.ClassVar[dict[str, JT]]  # value = {'hingeX': <JT.hingeX: 1>, 'hingeY': <JT.hingeY: 2>, 'hingeZ': <JT.hingeZ: 3>, 'transX': <JT.transX: 4>, 'transY': <JT.transY: 5>, 'transZ': <JT.transZ: 6>, 'transXY': <JT.transXY: 7>, 'trans3': <JT.trans3: 8>, 'transXYPhi': <JT.transXYPhi: 9>, 'transYPhi': <JT.transYPhi: 10>, 'universal': <JT.universal: 11>, 'rigid': <JT.rigid: 12>, 'quatBall': <JT.quatBall: 13>, 'phiTransXY': <JT.phiTransXY: 14>, 'XBall': <JT.XBall: 15>, 'free': <JT.free: 16>, 'generic': <JT.generic: 17>, 'tau': <JT.tau: 18>}
+    __members__: typing.ClassVar[dict[str, JT]]  # value = {'none': <JT.none: 0>, 'hingeX': <JT.hingeX: 1>, 'hingeY': <JT.hingeY: 2>, 'hingeZ': <JT.hingeZ: 3>, 'transX': <JT.transX: 4>, 'transY': <JT.transY: 5>, 'transZ': <JT.transZ: 6>, 'transXY': <JT.transXY: 7>, 'trans3': <JT.trans3: 8>, 'transXYPhi': <JT.transXYPhi: 9>, 'transYPhi': <JT.transYPhi: 10>, 'universal': <JT.universal: 11>, 'rigid': <JT.rigid: 12>, 'quatBall': <JT.quatBall: 13>, 'phiTransXY': <JT.phiTransXY: 14>, 'XBall': <JT.XBall: 15>, 'free': <JT.free: 16>, 'generic': <JT.generic: 17>, 'tau': <JT.tau: 18>}
     free: typing.ClassVar[JT]  # value = <JT.free: 16>
     generic: typing.ClassVar[JT]  # value = <JT.generic: 17>
     hingeX: typing.ClassVar[JT]  # value = <JT.hingeX: 1>
     hingeY: typing.ClassVar[JT]  # value = <JT.hingeY: 2>
     hingeZ: typing.ClassVar[JT]  # value = <JT.hingeZ: 3>
+    none: typing.ClassVar[JT]  # value = <JT.none: 0>
     phiTransXY: typing.ClassVar[JT]  # value = <JT.phiTransXY: 14>
     quatBall: typing.ClassVar[JT]  # value = <JT.quatBall: 13>
     rigid: typing.ClassVar[JT]  # value = <JT.rigid: 12>
@@ -828,20 +833,26 @@ class KOMO:
         """
     def addQuaternionNorms(self, times: arr = ..., scale: float = 3.0, hard: bool = True) -> None:
         ...
-    def addStableFrame(self, name: str, parent: str, jointType: JT, stable: bool, initFrame: str = 0) -> Frame:
+    def addRigidSwitch(self, times: float, frames: StringA, noJumpStart: bool = True) -> None:
+        ...
+    def addStableFrame(self, name: str, parent: str, jointType: JT, stable: bool, initFrame: Frame = None) -> Frame:
         """
         complicated...
         """
     def addTimeOptimization(self) -> None:
         ...
     def clearObjectives(self) -> None:
         ...
+    def getConfig(self) -> Config:
+        ...
     def getFeatureNames(self) -> StringA:
         """
         (This is to be passed to the NLP_Solver when needed.) returns a long list of features (per time slice!)
         """
     def getForceInteractions(self) -> list:
         ...
+    def getFrame(self, frameName: str, phaseTime: float) -> Frame:
+        ...
     def getFrameState(self, arg0: int) -> arr:
         ...
     def getPath(self) -> arr:
@@ -1058,7 +1069,7 @@ class NLP_Solver:
         """
         returns steps-times-n array with queries points in each row
         """
-    def setOptions(self, verbose: int = 1, stopTolerance: float = 0.01, stopFTolerance: float = -1.0, stopGTolerance: float = -1.0, stopEvals: int = 1000, maxStep: float = 0.2, damping: float = 1.0, stepInc: float = 1.5, stepDec: float = 0.5, wolfe: float = 0.01, muInit: float = 1.0, muInc: float = 5.0, muMax: float = 10000.0, muLBInit: float = 0.1, muLBDec: float = 0.2, maxLambda: float = -1.0) -> 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, maxStep: float = 0.2, damping: float = 1.0, stepInc: float = 1.5, stepDec: float = 0.5, wolfe: float = 0.01, muInit: float = 1.0, muInc: float = 5.0, muMax: float = 10000.0, muLBInit: float = 0.1, muLBDec: float = 0.2, maxLambda: float = -1.0) -> NLP_Solver:
         """
         set solver options
         """
@@ -1170,6 +1181,10 @@ class NLP_SolverOptions:
         ...
     def set_stopGTolerance(self, arg0: float) -> NLP_SolverOptions:
         ...
+    def set_stopInners(self, arg0: int) -> NLP_SolverOptions:
+        ...
+    def set_stopOuters(self, arg0: int) -> NLP_SolverOptions:
+        ...
     def set_stopTolerance(self, arg0: float) -> NLP_SolverOptions:
         ...
     def set_verbose(self, arg0: int) -> NLP_SolverOptions: