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juelgjuelg
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feat: more flexible ik for 5 dof so101 (#230)
* style: update rl stub files * feat: added more flexible ik for 5 dof so101
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17 files changed

+543
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‎extensions/rcs_robotics_library/src/rcs_robotics_library/__init__.pyi‎

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from __future__ import annotations
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from rcs_robotics_library._core import rl
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from . import _core
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__all__: list = ["rl"]

‎extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi‎

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# ATTENTION: auto generated from C++ code, use `make stubgen` to update!
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"""
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Robot Control Stack Python Bindings
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"""
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from __future__ import annotations
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from . import rl
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__all__ = ["rl"]
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__all__: list[str] = ["rl"]
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__version__: str = "0.5.2"

‎extensions/rcs_robotics_library/src/rcs_robotics_library/_core/rl.pyi‎

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# ATTENTION: auto generated from C++ code, use `make stubgen` to update!
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"""
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rcs robotics library module
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"""
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from __future__ import annotations
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import rcs._core.common
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__all__ = ["RoboticsLibraryIK"]
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__all__: list[str] = ["RoboticsLibraryIK"]
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class RoboticsLibraryIK(rcs._core.common.Kinematics):
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def __init__(self, urdf_path: str, max_duration_ms: int = 300) -> None: ...

‎extensions/rcs_so101/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.19)
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project(
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rcs_so101
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LANGUAGES C CXX
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VERSION 0.5.2
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DESCRIPTION "RCS so101 ik"
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)
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set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
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set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) # Allow us to set options for subprojects
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cmake_policy(SET CMP0048 NEW) # Set version in project
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# Allow target properties affecting visibility during linking in static libraries
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set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
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cmake_policy(SET CMP0072 NEW) # Use GLVND instead of legacy libGL.so
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cmake_policy(SET CMP0135 NEW) # Use timestamp of file extraction not download
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cmake_policy(SET CMP0140 NEW) # Check return arguments
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(BUILD_SHARED_LIBS OFF)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(RL_BUILD_DEMOS OFF)
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set(RL_BUILD_RL_SG OFF)
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set(RL_BUILD_TESTS OFF)
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set(RL_BUILD_EXTRAS OFF)
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set(BUILD_PYTHON_INTERFACE OFF)
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set(BUILD_DOCUMENTATION OFF)
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include(FetchContent)
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find_package(Eigen3 REQUIRED)
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find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
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find_package(pinocchio REQUIRED)
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find_package(rcs REQUIRED)
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FetchContent_Declare(pybind11
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GIT_REPOSITORY https://github.com/pybind/pybind11.git
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GIT_TAG v2.13.4
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GIT_PROGRESS TRUE
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EXCLUDE_FROM_ALL
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)
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FetchContent_MakeAvailable(pybind11)
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add_subdirectory(src)

‎extensions/rcs_so101/Makefile‎

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PYSRC = src
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CPPSRC = src
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COMPILE_MODE = Release
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# CPP
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cppcheckformat:
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clang-format --dry-run -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
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cppformat:
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clang-format -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
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cpplint:
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clang-tidy -p=build --warnings-as-errors='*' $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -name '*.h')
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# import errors
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# clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
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gcccompile:
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pip install --upgrade --requirement requirements_dev.txt
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cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
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cmake --build build --target _core
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clangcompile:
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pip install --upgrade --requirement requirements_dev.txt
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cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
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cmake --build build --target _core
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# Auto generation of CPP binding stub files
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stubgen:
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pybind11-stubgen -o src --numpy-array-use-type-var rcs_so101
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find ./src -name '*.pyi' -print | xargs sed -i '1s/^/# ATTENTION: auto generated from C++ code, use `make stubgen` to update!\n/'
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find ./src -not -path "./src/rcs_so101/_core/*" -name '*.pyi' -delete
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find ./src/rcs_so101/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/tuple\[typing\.Literal[\1]\]/g'
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find ./src/rcs_so101/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/tuple\[\1\]/g'
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ruff check --fix src/rcs_so101/_core
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isort src/rcs_so101/_core
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black src/rcs_so101/_core
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.PHONY: cppcheckformat cppformat cpplint gcccompile clangcompile stubgen

extensions/rcs_so101/README_IMPORTANT.md renamed to extensions/rcs_so101/README.md

File renamed without changes.

‎extensions/rcs_so101/cmake/Findpinocchio.cmake‎

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if (NOT pinocchio_FOUND)
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if (NOT Python3_FOUND)
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set(pinocchio_FOUND FALSE)
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if (pinocchio_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
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endif()
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return()
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endif()
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# Check if the include directory exists
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cmake_path(APPEND Python3_SITELIB cmeel.prefix include OUTPUT_VARIABLE pinocchio_INCLUDE_DIRS)
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if (NOT EXISTS ${pinocchio_INCLUDE_DIRS})
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set(pinocchio_FOUND FALSE)
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if (pinocchio_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
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endif()
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return()
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endif()
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# Check if the library file exists
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cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_default.so OUTPUT_VARIABLE pinocchio_library_path)
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if (NOT EXISTS ${pinocchio_library_path})
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set(pinocchio_FOUND FALSE)
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if (pinocchio_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
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endif()
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return()
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endif()
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# Check if the library file exists
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cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_parsers.so OUTPUT_VARIABLE pinocchio_parsers_path)
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if (NOT EXISTS ${pinocchio_parsers_path})
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set(pinocchio_FOUND FALSE)
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if (pinocchio_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find pinocchio parsers path. Please install pinocchio using pip.")
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endif()
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return()
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endif()
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# Extract version from the library filename
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file(GLOB pinocchio_dist_info "${Python3_SITELIB}/pin-*.dist-info")
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cmake_path(GET pinocchio_dist_info FILENAME pinocchio_library_filename)
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string(REPLACE "pin-" "" pinocchio_VERSION "${pinocchio_library_filename}")
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string(REPLACE ".dist-info" "" pinocchio_VERSION "${pinocchio_VERSION}")
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# Create the imported target
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add_library(pinocchio::pinocchio SHARED IMPORTED)
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target_include_directories(pinocchio::pinocchio INTERFACE ${pinocchio_INCLUDE_DIRS})
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set_target_properties(pinocchio::pinocchio
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PROPERTIES
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IMPORTED_LOCATION "${pinocchio_library_path}"
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)
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add_library(pinocchio::parsers SHARED IMPORTED)
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target_include_directories(pinocchio::parsers INTERFACE ${pinocchio_INCLUDE_DIRS})
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set_target_properties(pinocchio::parsers
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PROPERTIES
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IMPORTED_LOCATION "${pinocchio_parsers_path}"
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)
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add_library(pinocchio::all INTERFACE IMPORTED)
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set_target_properties(pinocchio::all
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PROPERTIES
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INTERFACE_LINK_LIBRARIES "pinocchio::pinocchio;pinocchio::parsers"
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)
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set(pinocchio_FOUND TRUE)
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endif()

‎extensions/rcs_so101/cmake/Findrcs.cmake‎

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if (NOT rcs_FOUND)
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if (NOT Python3_FOUND)
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set(rcs_FOUND FALSE)
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if (rcs_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
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endif()
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return()
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endif()
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# Check if the include directory exists
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cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
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if (NOT EXISTS ${rcs_INCLUDE_DIRS})
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set(rcs_FOUND FALSE)
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if (rcs_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
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endif()
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return()
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endif()
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# Check if the library file exists
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cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
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file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
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if (NOT EXISTS ${rcs_library_path})
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set(rcs_FOUND FALSE)
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if (rcs_FIND_REQUIRED)
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message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
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endif()
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return()
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endif()
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# Extract version from the library filename
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# file(GLOB rcs_dist_info "${Python3_SITELIB}/rcs-*.dist-info")
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# cmake_path(GET rcs_dist_info FILENAME rcs_library_filename)
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# string(REPLACE "rcs-" "" rcs_VERSION "${rcs_library_filename}")
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# string(REPLACE ".dist-info" "" rcs_VERSION "${rcs_VERSION}")
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# Create the imported target
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add_library(rcs SHARED IMPORTED)
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target_include_directories(rcs INTERFACE ${rcs_INCLUDE_DIRS})
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set_target_properties(
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rcs
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PROPERTIES
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IMPORTED_LOCATION "${rcs_library_path}"
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)
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set(rcs_FOUND TRUE)
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endif()

‎extensions/rcs_so101/pyproject.toml‎

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[build-system]
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requires = ["setuptools"]
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build-backend = "setuptools.build_meta"
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requires = []
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build-backend = "scikit_build_core.build"
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[project]
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name = "rcs_so101"
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{ name = "Pierre Krack", email = "pierre.krack@utn.de" },
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]
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requires-python = ">=3.10"
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license = "AGPL-3.0-or-later"
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license = "AGPL-3.0-or-later"
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[tool.scikit-build]
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build.verbose = true
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build.targets = ["_core"]
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logging.level = "INFO"
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build-dir = "build"
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wheel.packages = ["src/rcs_so101"]
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install.components = ["python_package"]

‎extensions/rcs_so101/src/CMakeLists.txt‎

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target_include_directories(rcs INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
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add_subdirectory(pybind)

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