feat(extensions): support for franka emika panda robot

.github/workflows/cpp.yaml

@@ -19,12 +19,13 @@ jobs:
       - name: Check clang format
         run: make cppcheckformat
       - name: Set up Python 3.11
+        id: setup-python
         uses: actions/setup-python@v5
         with:
           python-version: "3.11"
           cache: "pip"
       - name: Clang build
-        run: make clangcompile
+        run: make clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
       - name: Clang Tidy
         run: clang-tidy -p=build --warnings-as-errors='*' $(find src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
@@ -35,9 +36,10 @@ jobs:
       - name: Install dependencies
         run: sudo apt install $(cat debian_deps.txt)
       - name: Set up Python 3.11
+        id: setup-python
         uses: actions/setup-python@v5
         with:
           python-version: "3.11"
           cache: "pip"
       - name: GCC build
-        run: make gcccompile
+        run: make gcccompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}

.github/workflows/py.yaml

@@ -48,8 +48,10 @@ jobs:
         run: python -m pip install wheel
       - name: Install the package
         run: python -m pip install --no-build-isolation .
-      - name: Install the fr3 package
+      - name: Install the fr3 extension
         run: python -m pip install --no-build-isolation extensions/rcs_fr3
+      - name: Install the panda extension
+        run: python -m pip install --no-build-isolation extensions/rcs_panda
       - name: Code linting
         run: make pylint
       - name: Check that stub files are up-to-date

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.19)
+cmake_minimum_required(VERSION 3.5)
 
 project(
     rcs

Makefile

@@ -19,12 +19,12 @@ cpplint:
 
 gcccompile: 
 	pip install --upgrade --requirement requirements_dev.txt
-	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
+	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 
 clangcompile: 
 	pip install --upgrade --requirement requirements_dev.txt
-	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
+	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 
 # Auto generation of CPP binding stub files