v23 cleaned

_build_utils/CMakeLists-docker.txt

@@ -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()
 
@@ -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)

_build_utils/CMakeLists-ubuntu.txt

@@ -181,7 +181,7 @@ message(STATUS "[rai] compiler flags: " "${_defs}")
 
 ################################################################################
 
-add_custom_target(docstrings ALL
+add_custom_target(docstrings #ALL
   DEPENDS ry
   COMMAND pybind11-stubgen ry
   COMMAND mv stubs/ry*/__init__.pyi ry.pyi)

_build_utils/build-wheels.sh

@@ -6,7 +6,6 @@ mkdir -p build
 
 ### delete old 
 rm -Rf robotic/*ry.* robotic/*~ robotic/__pycache__ dist/ build/bdist* build/lib robotic.egg-info
-unalias cp
 
 ### copy robotModels files
 cd robotic
@@ -31,13 +30,13 @@ for ver in 8 9 10 6 7; do
     cmake -DPYBIND11_PYTHON_VERSION=3.$ver .. && make ry
     strip --strip-unneeded ry.*3$ver*.so
     echo -e "\n\n======== documenting (python version " $ver ") ========"
-    /opt/_internal/cpython-3.$ver.*/bin/pybind11-stubgen --ignore-invalid=all ry
+    /opt/_internal/cpython-3.$ver.*/bin/pybind11-stubgen ry
     cd ..
     echo -e "\n\n======== build wheel (python version " $ver ") ========"
     cp -f build/ry.*3$ver*.so robotic/ry.so
-    cp -f build/stubs/ry-stubs/__init__.pyi robotic/ry.pyi
+    cp -f build/stubs/ry*/__init__.pyi robotic/ry.pyi
     python3.$ver setup.py bdist_wheel
-    #break
+    break
 done
 
 echo -e "\n\n======== renaming wheels ========"