v25 - big cleanup

.gitignore

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

Makefile

@@ -1,5 +1,44 @@
+default: docs
+
 docs:
 	cd rai-docs && sphinx-build doc ../html
 
-clean:
-	rm -Rf build
+docs-clean:
+	rm -Rf html
+
+install:
+	ln -f -s _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
+	cmake -B build .
+	+cmake --install build
+
+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-push:
+	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)
 
@@ -24,11 +24,13 @@ 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()'
 ```
 <!--
@@ -90,7 +92,6 @@ python3 -c 'from robotic import ry; print("ry version:", ry.__version__, ry.comp
 python3 -c 'from robotic import 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}
@@ -151,7 +151,7 @@ if(USE_PYBIND)
   add_definitions(-DRAI_PYBIND)
 
   pybind11_add_module(ry SHARED
-    rai/rai/ry/unity.cxx
+    rai/src/ry/unity.cxx
     botop/src/BotOp/pyBot.cxx
   )
 

_build_utils/CMakeLists-ubuntu.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(RaiPython)
+project(RoboticPython)
 
 ## first time call: generate unity sources
 if(NOT DEFINED CMAKE_CACHE_MAJOR_VERSION)
@@ -46,7 +46,7 @@ add_definitions(
 ################################################################################
 
 include_directories(
-  rai/rai
+  rai/src
   botop/src
   /usr/include/eigen3
   $ENV{HOME}/.local/include
@@ -57,10 +57,10 @@ link_directories(
   $ENV{HOME}/.local/lib/PhysX
   )
 
-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)
@@ -70,21 +70,21 @@ file(GLOB SRC_Robotiq botop/src/Robotiq/*.cpp)
 file(GLOB SRC_Audio botop/src/Audio/*.cpp)
 
 add_library(rai SHARED
-  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}
   ${SRC_OptiTrack}
@@ -163,7 +163,7 @@ if(USE_PYBIND)
   include_directories(${pybind11_INCLUDE_DIRS})
 
   pybind11_add_module(ry SHARED
-    rai/rai/ry/unity.cxx
+    rai/src/ry/unity.cxx
     botop/src/BotOp/pyBot.cxx
   )
 
@@ -206,7 +206,7 @@ target_link_libraries(bot rai)
 
 set(PYTHON_SITE "lib/python${PYBIND11_PYTHON_VERSION}/site-packages")
 
-message(STATUS "[rai] installing in python path " ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic )
+message(STATUS "[rai] installing python packages in " ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic )
 
 install(
   TARGETS ry
@@ -222,7 +222,8 @@ install(
 
 install(
   TARGETS rai
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  COMPONENT pkgconfig)
 
 install(
   TARGETS kinEdit meshTool bot

_build_utils/Dockerfile

@@ -41,6 +41,7 @@ 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
 
 ##########################################################
 

_build_utils/build-wheels.sh

@@ -1,11 +1,10 @@
 #/bin/sh
 
-rm -f CMakeLists.txt
-ln -s _build_utils/CMakeLists-docker.txt CMakeLists.txt
-mkdir -p build
+cd $HOME/local 
+ln -f -s _build_utils/CMakeLists-docker.txt CMakeLists.txt
 
-### delete old 
-rm -Rf robotic/*ry.* robotic/*~ robotic/__pycache__ dist/ build/bdist* build/lib robotic.egg-info
+### delete setup temp files
+rm -Rf robotic/*ry.* robotic/__pycache__ dist/ build/bdist* build/lib robotic.egg-info
 
 ### copy robotModels files
 cd robotic
@@ -15,7 +14,7 @@ cd rai-robotModels
 mkdir -p objects; cp ../../rai-robotModels/objects/*.g objects
 mkdir -p panda; cp ../../rai-robotModels/panda/*.g panda;  cp -R ../../rai-robotModels/panda/*_description panda
 mkdir -p ur10; cp ../../rai-robotModels/ur10/*.g ur10;  cp -R ../../rai-robotModels/ur10/*_description ur10
-mkdir -p pr2; cp ../../rai-robotModels/pr2/*.g pr2;  cp -R ../../rai-robotModels/pr2/meshes pr2
+mkdir -p pr2; cp ../../rai-robotModels/pr2/*.g pr2;  cp -R ../../rai-robotModels/pr2/*_description pr2
 mkdir -p baxter; cp ../../rai-robotModels/baxter/*.g baxter;  cp -R ../../rai-robotModels/baxter/*_description baxter
 mkdir -p robotiq; cp ../../rai-robotModels/robotiq/*.g robotiq;  cp -R ../../rai-robotModels/robotiq/meshes robotiq
 mkdir -p scenarios; cp ../../rai-robotModels/scenarios/*.g scenarios
@@ -25,24 +24,26 @@ cd ../..
 export PYTHONPATH=.
 
 ### build each version
-for ver in 8 9 10 6 7; do
+for ver in 8 9 10 11 6 7; do
     echo -e "\n\n======== compiling (python version " $ver ") ========"
-    cd build
-    cmake -DPYBIND11_PYTHON_VERSION=3.$ver .. && make ry
+    cmake -B build_wheel -DPYBIND11_PYTHON_VERSION=3.$ver .
+    cd build_wheel
+    make ry
     strip --strip-unneeded ry.*3$ver*.so
     echo -e "\n\n======== documenting (python version " $ver ") ========"
     /opt/_internal/cpython-3.$ver.*/bin/pybind11-stubgen 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*/__init__.pyi robotic/ry.pyi
+    cp -f build_wheel/ry.*3$ver*.so robotic/ry.so
+    cp -f build_wheel/stubs/ry*/__init__.pyi robotic/ry.pyi
     python3.$ver setup.py bdist_wheel
     #break
 done
 
+### delete setup temp files
+rm -Rf robotic/*ry.* robotic/__pycache__ build/bdist* build/lib robotic.egg-info
+
 echo -e "\n\n======== renaming wheels ========"
 for wheel in $(find dist -iname "*.whl") ; do 
   mv $wheel $(echo $wheel | sed 's/-linux_/-manylinux2014_/')
 done
-
-#twine upload dist/*.whl

_build_utils/run-docker.sh

@@ -1,6 +1,6 @@
 #/bin/sh
 
-thispath=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+thispath="$(dirname "$(realpath "$0")")"
 
 # #see http://wiki.ros.org/docker/Tutorials/GUI
 # #https://stackoverflow.com/questions/16296753/can-you-run-gui-apps-in-a-docker-container
@@ -11,22 +11,22 @@ thispath=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
 # xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH # # nmerge -
 # chmod 755 $XAUTH
 
-xhost +local:root
+xhost +local:root > /dev/null
 
-docker run -it \
+docker run -it $1 \
        --volume="$thispath/..:/root/local" \
-       --volume="$HOME/:/root/home" \
+       --volume="$HOME:/root/home" \
        --volume="$thispath/docker.bashrc:/root/.bash_aliases" \
        --volume="$HOME/.gitconfig:/root/.gitconfig:ro" \
        --volume="$HOME/.ssh:/root/.ssh:ro" \
        --env="DISPLAY" \
        --network host \
        --device /dev/input \
        --device /dev/dri \
-       rai-manylinux /bin/bash -C $1
+       rai-manylinux /bin/bash
 
 #       -v $XSOCK:$XSOCK \
 #       -v $XAUTH:$XAUTH \
 #       -e XAUTHORITY=$XAUTH \
 
-xhost -local:root
+xhost -local:root > /dev/null

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.0.24'
+__version__ = '0.0.25'

setup.py

@@ -39,9 +39,11 @@ def has_ext_modules(foo):
     long_description=long_description,
     long_description_content_type="text/markdown",
 
+    install_requires=[ 'numpy' ],
+
     distclass=BinaryDistribution,
     version=myversion['__version__'],
-    url='https://github.com/MarcToussaint/rai-python/',
+    url='https://github.com/MarcToussaint/robotic/',
     author='Marc Toussaint',
     author_email='[email protected]',
 )