v1.8

MarcToussaint · Feb 27, 2024 · d354acc · d354acc
1 parent e57dad5
commit d354acc
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Showing 9 changed files with 51 additions and 29 deletions.
diff --git a/README.md b/README.md
@@ -27,6 +27,9 @@ pip install robotic
 ```
 * Tests:
 ```
+ry-info
+```
+```
 python3 -c 'import robotic as ry; print("ry version:", ry.__version__, ry.compiled());'
 ```
 ```

diff --git a/_build_utils/CMakeLists-docker.txt b/_build_utils/CMakeLists-docker.txt
@@ -27,6 +27,7 @@ option(USE_OPENCV "link to opencv" OFF)
 option(USE_REALSENSE "link to realsense2 driver library" OFF)
 option(USE_LIBFRANKA "link to libfranka" OFF)
 option(USE_PCL "link to pcl library" OFF)
+option(USE_H5 "link to h5 library" ON)
 
 ## compile options
 add_compile_options(
@@ -41,7 +42,7 @@ add_definitions(
   -DRAI_ROOT_PATH=\"${CMAKE_SOURCE_DIR}/rai\"
   -DRAI_X11 -DRAI_LAPACK -DRAI_EIGEN -DRAI_PTHREAD
   -DRAI_GL
-  -DRAI_GLFW -DRAI_ANN -DRAI_QHULL8 -DRAI_ASSIMP -DNO_CYCLE_DETECTION -DRAI_PNG -DRAI_PLY -DRAI_H5
+  -DRAI_GLFW -DRAI_ANN -DRAI_QHULL8 -DRAI_ASSIMP -DNO_CYCLE_DETECTION -DRAI_PNG -DRAI_PLY
   -DRAI_GJK -DRAI_CCD -DRAI_FCL -DRAI_Lewiner
   -DRAI_NO_STB_IMPL
   -DRAI_BotOp
@@ -104,26 +105,32 @@ add_library(rai SHARED
   ${SRC_Audio}
   )
 
+
+################################################################################
+#
+# rai include/link
+
 target_link_libraries(rai PRIVATE
     # ORDER MATTERS! test with -no-undefined linker flag (above)
-    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
+    libjsoncpp.a lapack libatlas.a
+    libassimp.a libglfw3.a libGLEW.a glut GLU GL libpng16.a libzlibstatic.a libqhull.a libANN.a libfcl.a libccd.a
     libhdf5_cpp.a libhdf5.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
-    dl
   )
 
-################################################################################
-#
-# include external libraries
-
 #find_package (FindEigen3 REQUIRED)
 #target_link_libraries (rai FindEigen3::Eigen)
 #target_link_libraries (rai eigen)
 
+if(USE_H5)
+  add_definitions(-DRAI_H5)
+  target_link_libraries(rai PRIVATE libhdf5_cpp.a libhdf5.a libzlibstatic.a)
+  message(STATUS "[rai] using H5 libs: hdf5 hdf5_cpp in " ${HDF5_INCLUDE_DIRS})
+endif()
+
 if(USE_BULLET)
   find_package(Bullet REQUIRED)
   add_definitions(-DRAI_BULLET)
@@ -157,6 +164,10 @@ if(USE_LIBFRANKA)
   message(STATUS "[rai] using libfranka")
 endif()
 
+target_link_libraries(rai PRIVATE
+  pthread rt X11 dl
+  )
+
 ################################################################################
 
 if(USE_PYBIND)

diff --git a/_build_utils/CMakeLists-ubuntu.txt b/_build_utils/CMakeLists-ubuntu.txt
@@ -53,8 +53,8 @@ add_definitions(
 include_directories(
   rai/src
   botop/src
-  /usr/include/eigen3
   $ENV{HOME}/.local/include
+  /usr/include/eigen3
   )
 
 link_directories(
@@ -64,6 +64,9 @@ link_directories(
 if(USE_PHYSX)
   link_directories($ENV{HOME}/.local/lib/PhysX)
 endif()
+if(USE_H5)
+  link_directories(/usr/lib/x86_64-linux-gnu/hdf5/serial)
+endif()
 
 file(GLOB SRC_GeoGJK rai/src/Geo/GJK/*.c)
 file(GLOB SRC_GeoPly rai/src/Geo/ply/*.c)
@@ -103,32 +106,35 @@ add_library(rai SHARED
   ${SRC_Audio}
   )
 
+################################################################################
+#
+# rai include/link
+
+# default/required dependencies
 target_link_libraries(rai PRIVATE
   # ORDER MATTERS! test with -no-undefined linker flag (above)
-  jsoncpp lapack blas pthread rt X11
-  assimp ccd fcl qhull ann glfw GLEW glut GLU GL png
-  boost_system
+  jsoncpp lapack blas
+  assimp fcl ccd ann qhull
+  glfw GLEW glut GLU GL png
   )
 
-################################################################################
-#
-# include external libraries
-
 #find_package (Eigen3 3.3 REQUIRED NO_MODULE)
 #target_link_libraries (rai Eigen3::Eigen)
 find_package(PkgConfig REQUIRED)
 
 if(USE_H5)
+  find_package(HDF5 REQUIRED)
   add_definitions(-DRAI_H5)
-  target_link_libraries(rai PRIVATE hdf5_cpp hdf5)
-  message(STATUS "[rai] using H5 libs: hdf5 hdf5_cpp")
+  include_directories(${HDF5_INCLUDE_DIRS})
+  target_link_libraries(rai PRIVATE hdf5_cpp hdf5 z)
+  message(STATUS "[rai] using H5 libs: hdf5 hdf5_cpp in " ${HDF5_INCLUDE_DIRS})
 endif()
 
 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 PRIVATE ${BULLET_LIBRARIES})
   message(STATUS "[rai] using bullet libs:" ${BULLET_LIBRARIES})
 endif()
 
@@ -141,7 +147,7 @@ endif()
 if(USE_OPENCV)
   find_package(OpenCV REQUIRED)
   add_definitions(-DRAI_OPENCV)
-  target_link_libraries(rai ${OpenCV_LIBS})
+  target_link_libraries(rai PRIVATE ${OpenCV_LIBS})
   message(STATUS "[rai] using OpenCV libs:" ${OpenCV_LIBS})
 endif()
 
@@ -164,6 +170,10 @@ if(USE_LIBFRANKA)
   message(STATUS "[rai] using libfranka")
 endif()
 
+target_link_libraries(rai PRIVATE
+  pthread rt X11 boost_system
+  )
+
 ################################################################################
 
 if(USE_PYBIND)

diff --git a/_build_utils/Dockerfile b/_build_utils/Dockerfile
@@ -31,11 +31,8 @@ RUN ./install.sh -gc fcl
 RUN ./install.sh -gc assimp
 
 RUN ./install.sh -gc bullet
-RUN rm install.sh
-RUN wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod  a+x  install.sh
 RUN ./install.sh -gc physx
 
-#RUN wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod a+x install.sh
 #RUN yum -y install openssl-devel poco-devel libusbx-devel
 #RUN ./install.sh -g librealsense
 #RUN ./install.sh -g libfranka
@@ -51,4 +48,4 @@ RUN python3.11 -m pip install pybind11 pybind11-stubgen==0.16.2 numpy
 
 WORKDIR /root
 
-RUN printf "\necho '*** Welcome to the manylinux docker! ***'\n" >> $HOME/.bashrc
+RUN printf "\necho '*** Robotic Python Lib - docker for wheel build ***'\n" >> $HOME/.bashrc
diff --git a/_build_utils/build-wheels.sh b/_build_utils/build-wheels.sh
@@ -46,7 +46,7 @@ for ver in 8 9 10 11 6 7; do
     strip --strip-unneeded robotic/librai.so
 
     echo -e "\n\n======== build wheel (python version " $ver ") ========"
-    python3.$ver setup.py bdist_wheel
+    python3.$ver setup.py --quiet bdist_wheel
     #break
 done
 

diff --git a/botop b/botop
diff --git a/rai b/rai
diff --git a/robotic/version.py b/robotic/version.py
@@ -1 +1 @@
-__version__ = '0.1.7'
+__version__ = '0.1.8'
diff --git a/setup.py b/setup.py
@@ -29,7 +29,8 @@ def has_ext_modules(foo):
 
 setup(
     name='robotic',
-    packages=['robotic'],
+    #packages=['robotic'],
+    packages=setuptools.find_namespace_packages(),
     package_data={
         'robotic': ['_robotic.so', 'librai.so', '_robotic.pyi', 'version.py', 'render.py',
                     'rai-robotModels/*/*', 'rai-robotModels/*/*/*', 'rai-robotModels/*/*/*/*', 'rai-robotModels/*/*/*/*/*', 'rai-robotModels/*/*/*/*/*/*',