Merge remote-tracking branch 'origin/master' into notebook-review

# Conflicts:
#	notebooks/1a-configurations.ipynb
#	notebooks/1b-botop.ipynb
#	notebooks/1c-komo.ipynb
#	notebooks/configurationEditing.ipynb
#	notebooks/features.ipynb
#	notebooks/komo-reporting.ipynb

.github/workflows/cmake.yml

@@ -8,38 +8,29 @@ env:
 
 jobs:
   build:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ubuntu-latest
-
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
-        # recursively checkout all submodules
         submodules: 'recursive'
-
+    - uses: actions/setup-python@v3
+      with:
+        python-version: '3.10'
     - name: install ubuntu dependencies
       run: |
         sudo apt-get install libboost-system-dev libfcl-dev
         APTGETYES=1 make -C rai -j1 installUbuntuAll
-
-    - name: install python and pybind
+    - name: install python dependencies
       run: |
-        sudo apt-get install python3 python3-dev python3-numpy python3-pip python3-distutils
-        sudo pip3 install jupyter nbconvert matplotlib pybind11
-
+        pip install numpy pybind11
     - name: setup build files
       run: |
-        make -C rai -j1 unityAll
         ln -s build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
         cd $HOME && mkdir -p .local/include && cd .local/include && ln -s /usr/include/libqhull qhull
-
     - name: cmake configure
       run: |
         export PYTHONVERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DUSE_PHYSX=OFF -DUSE_BULLET=OFF -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_QHULL8=ON
-
+        ls	
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DUSE_PHYSX=OFF -DUSE_BULLET=OFF -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_QHULL8=ON .
     - name: cmake build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

.github/workflows/sphinx.yml

@@ -0,0 +1,30 @@
+name: SphinxDocumentation
+
+on: [push, pull_request]
+
+permissions:
+  contents: write
+
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - uses: actions/setup-python@v3
+        with:
+          python-version: '3.10'
+      - name: install ubuntu dependencies
+        run: |
+          sudo apt-get install pandoc freeglut3 libglew-dev
+      - name: install python dependencies
+        run: |
+          pip install sphinx sphinx_rtd_theme myst_parser nbsphinx robotic numpy
+      - name: Sphinx build
+        run: |
+          cd rai-docs && sphinx-build doc ../html
+      - name: Deploy to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        with:
+          folder: html

.gitignore

@@ -3,9 +3,10 @@ dist/
 robotic.egg-info/
 rai-robotModels
 ry.pyi
+build_wheel/
 
 %% compile temporaries
-/build
+build/
 *.o
 *.a
 *.so

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "botop"]
 	path = botop
 	url = [email protected]:MarcToussaint/botop.git
+[submodule "rai-docs"]
+	path = rai-docs
+	url = [email protected]:MarcToussaint/rai-docs.git

Makefile

@@ -0,0 +1,44 @@
+default: docs
+
+docs:
+	cd rai-docs && sphinx-build doc ../html
+
+docs-clean:
+	rm -Rf html
+
+install:
+	ln -f -s _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
+	cmake -B build .
+	+make -C build _robotic docstrings install
+
+install-clean:
+	rm -R ${HOME}/.local/lib/python3.8/site-packages/robotic*
+	rm ${HOME}/.local/lib/*rai*
+	rm ${HOME}/.local/bin/*ry*
+
+wheels:
+	$(eval id = $(shell _build_utils/run-docker.sh -d))
+	@echo "started docker " ${id}
+	docker exec -it ${id} /bin/bash -C local/_build_utils/build-wheels.sh
+	docker stop ${id}
+#	_build_utils/run-docker.sh local/_build_utils/build-wheels.sh
+
+wheels-upload:
+	twine upload dist/*.whl --repository robotic
+
+wheels-local:
+	python3.8 -m pip install --user dist/robotic-*cp38*.whl --force-reinstall
+
+test:
+	cd ${HOME} && python3 -c 'from robotic import ry; print("ry version:", ry.__version__, ry.compiled());'
+
+pull:
+	cd rai && git pull
+	cd rai-robotModels && git pull
+	cd rai-docs && git pull
+	cd botop && git pull
+
+docker-clean:
+	$(shell docker container kill "$(docker container ls -q)")
+	docker system prune
+

README.md

@@ -14,7 +14,7 @@ Lab](https://argmin.lis.tu-berlin.de/), operate our robots.
 
 ## Documentation
 
-Please follow the documentation and tutorials here: https://marctoussaint.github.io/robotics-course/
+Please follow the documentation and tutorials here: https://marctoussaint.github.io/robotic/
 
 ## Installation via pip (simulation only, no real Franka & realsense support)
 
@@ -24,17 +24,19 @@ sudo apt install liblapack3 freeglut3 libglew-dev python3 python3-pip
 ```
 * pip-install robotic and dependencies (numpy, scipy)
 ```
-python3 -m pip install --user robotic numpy scipy
+pip install robotic
 ```
-* Test:
+* Tests:
 ```
-python3 -c 'from robotic import ry; print("ry version:", ry.__version__, ry.compiled());'
-python3 -c 'from robotic import ry; ry.test.RndScene()'
+python3 -c 'import robotic as ry; print("ry version:", ry.__version__, ry.compiled());'
+```
+```
+python3 -c 'import robotic as ry; ry.test.RndScene()'
 ```
 <!--
 If the `rai-robotModels` path fails, find rai-robotModels and try something like
 ```
-python3 -c 'from robotic import ry; ry.setRaiPath("/usr/local/rai-robotModels"); ry.test.RndScene()'
+python3 -c 'import robotic as ry; ry.setRaiPath("/usr/local/rai-robotModels"); ry.test.RndScene()'
 ```
 When rai-robotModels is still messed up, try cloning it completely:
 ```
@@ -86,11 +88,10 @@ make -C rai-python/build install
 
 * This should install everything in .local/lib/python*/site-packages/robotic. Test:
 ```
-python3 -c 'from robotic import ry; print("ry version:", ry.__version__, ry.compiled());'
-python3 -c 'from robotic import ry; ry.test.RndScene()'
+python3 -c 'import robotic as ry; print("ry version:", ry.__version__, ry.compiled());'
+python3 -c 'import robotic as ry; ry.test.RndScene()'
 ```
 
-
 ## Building a wheel within a manylinux docker
 
 * Build the docker
@@ -102,7 +103,7 @@ _build_utils/build-docker.sh
 ```
 _build_utils/run-docker.sh
 ## inside docker:
-cd local #this mounts rai-python/
+cd local #this mounts robotic/
 _build_utils/build-wheels.sh
 exit
 ```

_build_utils/CMakeLists-docker.txt

@@ -46,7 +46,7 @@ add_definitions(
 ################################################################################
 
 include_directories(
-  rai/rai
+  rai/src
   botop/src
   /usr/local/include/eigen3
   /usr/include/eigen3
@@ -58,10 +58,10 @@ link_directories(
   $ENV{HOME}/.local/lib
   )
 
-file(GLOB SRC_GeoGJK rai/rai/Geo/GJK/*.c)
-file(GLOB SRC_GeoPly rai/rai/Geo/ply/*.c)
-file(GLOB SRC_GeoCcd rai/rai/Geo/ccd_rai/*.c)
-file(GLOB SRC_GeoLewiner rai/rai/Geo/Lewiner/*.cpp)
+file(GLOB SRC_GeoGJK rai/src/Geo/GJK/*.c)
+file(GLOB SRC_GeoPly rai/src/Geo/ply/*.c)
+file(GLOB SRC_GeoCcd rai/src/Geo/ccd_rai/*.c)
+file(GLOB SRC_GeoLewiner rai/src/Geo/Lewiner/*.cpp)
 
 file(GLOB SRC_BotOp botop/src/BotOp/*.cpp)
 file(GLOB SRC_Franka botop/src/Franka/*.cpp)
@@ -71,21 +71,21 @@ file(GLOB SRC_Robotiq botop/src/Robotiq/*.cpp)
 file(GLOB SRC_Audio botop/src/Audio/*.cpp)
 
 add_library(rai STATIC
-  rai/rai/Core/unity.cxx
-  rai/rai/Optim/unity.cxx
-  rai/rai/Geo/unity.cxx
+  rai/src/Core/unity.cxx
+  rai/src/Optim/unity.cxx
+  rai/src/Geo/unity.cxx
   ${SRC_GeoGJK}
   ${SRC_GeoPly}
   ${SRC_GeoCcd}
   ${SRC_GeoLewiner}
-  rai/rai/Algo/unity.cxx
-  rai/rai/Search/unity.cxx
-  rai/rai/PathAlgos/unity.cxx
-  rai/rai/Gui/unity.cxx
-  rai/rai/Kin/unity.cxx
-  rai/rai/KOMO/unity.cxx
-  rai/rai/Logic/unity.cxx
-  rai/rai/Control/unity.cxx
+  rai/src/Algo/unity.cxx
+  rai/src/Search/unity.cxx
+  rai/src/PathAlgos/unity.cxx
+  rai/src/Gui/unity.cxx
+  rai/src/Kin/unity.cxx
+  rai/src/KOMO/unity.cxx
+  rai/src/Logic/unity.cxx
+  rai/src/Control/unity.cxx
   ${SRC_BotOp}
   ${SRC_Franka}
   ${SRC_OptiTrack}
@@ -106,7 +106,7 @@ if(USE_BULLET)
   find_package(Bullet REQUIRED)
   add_definitions(-DRAI_BULLET)
   include_directories(${BULLET_INCLUDE_DIRS})
-#  target_link_libraries(rai ${BULLET_LIBRARIES})
+  target_link_libraries(rai ${BULLET_LIBRARIES})
   message(STATUS "[rai] using bullet libs:" ${BULLET_LIBRARIES})
 endif()
 
@@ -150,12 +150,12 @@ if(USE_PYBIND)
   find_package(pybind11)
   add_definitions(-DRAI_PYBIND)
 
-  pybind11_add_module(ry SHARED
-    rai/rai/ry/unity.cxx
+  pybind11_add_module(_robotic SHARED
+    rai/src/ry/unity.cxx
     botop/src/BotOp/pyBot.cxx
   )
 
-  target_link_libraries(ry PRIVATE
+  target_link_libraries(_robotic PRIVATE
     rai
     libjsoncpp.a lapack pthread rt X11 libatlas.a
     libassimp.a libglfw3.a libGLEW.a glut GLU GL libpng16.a libzlibstatic.a libqhull.a libANN.a libccd.a libfcl.a
@@ -168,8 +168,16 @@ endif()
 
 ################################################################################
 
-#add_executable(kinEdit rai/bin/src_kinEdit/main.cpp)
-#target_link_libraries(kinEdit rai)
+add_executable(raiView rai/bin/src_kinEdit/main.cpp)
+target_link_libraries(raiView PRIVATE
+  rai
+  dl libjsoncpp.a lapack pthread rt X11 libatlas.a
+    libassimp.a libglfw3.a libGLEW.a glut GLU GL libpng16.a libzlibstatic.a libqhull.a libANN.a libccd.a libfcl.a
+    #${BULLET_LIBRARIES}
+    libBullet2FileLoader.a  libBullet3Common.a    libBullet3Geometry.a     libBulletCollision.a  libBulletInverseDynamics.a
+    libBullet3Collision.a   libBullet3Dynamics.a  libBullet3OpenCL_clew.a  libBulletDynamics.a   libBulletSoftBody.a
+    libLinearMath.a 
+  )
 
 #add_executable(testSim rai/test/Kin/simulation/main.cpp)
 #target_link_libraries(testSim rai)