diff --git a/.github/workflows/ci_linux.yml b/.github/workflows/ci_linux.yml index 14ecc4d2..1ddd842f 100644 --- a/.github/workflows/ci_linux.yml +++ b/.github/workflows/ci_linux.yml @@ -80,6 +80,7 @@ jobs: export CC=/usr/bin/clang && export CXX=/usr/bin/clang++ fi cd ${{github.workspace}}/cmake/example && mkdir -p build && cd build && cmake -DDART_DIR=$DART_DIR .. && make -j4 + cd ${{github.workspace}}/cmake/example_utheque && mkdir -p build && cd build && cmake .. && make -j4 - name: Run Python run: | if [ "$BUILD_PYTHON" = "ON" ]; then diff --git a/README.md b/README.md index 816a2d82..35b3d6f9 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,8 @@ robot_dart [![Build Status](https://github.com/resibots/robot_dart/actions/workf ## Authors - Author/Maintainer: Konstantinos Chatzilygeroudis -- Other contributors: Vaios Papaspyros +- Active contributors: Jean-Baptiste Mouret +- Other contributors: Antoine Cully, Vassilis Vassiliades, Vaios Papaspyros ### Using the code diff --git a/cmake/UthequeConfig.cmake.in b/cmake/UthequeConfig.cmake.in new file mode 100644 index 00000000..4fdcbf48 --- /dev/null +++ b/cmake/UthequeConfig.cmake.in @@ -0,0 +1,32 @@ +# - Config file for the utheque package +# example: +# find_package(Utheque REQUIRED) +# add_executable(your_example example.cpp) +# target_link_libraries(your_example Utheque) + +include(CMakeFindDependencyMacro) +include(FindPackageHandleStandardArgs) + +# CMAKE_MODULE_PATH +set(CMAKE_MODULE_PATH "@Utheque_CMAKE_MODULE_PATH@") + +find_package(Boost REQUIRED filesystem) + +set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@") + +set(Utheque_LIBRARIES "Boost::filesystem") + +add_library(Utheque INTERFACE IMPORTED) +set_target_properties(Utheque PROPERTIES + INTERFACE_LINK_LIBRARIES "${Utheque_LIBRARIES}" + INTERFACE_COMPILE_DEFINITIONS @Utheque_PREFIX@ + INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}") + +# Handle the QUIET and REQUIRED arguments +find_package_handle_standard_args( + Utheque #Package name + DEFAULT_MSG + # Variables required to evaluate as TRUE + Utheque_INCLUDE_DIRS) + +mark_as_advanced(Utheque_INCLUDE_DIRS Utheque_FOUND) diff --git a/cmake/UthequeConfigVersion.cmake.in b/cmake/UthequeConfigVersion.cmake.in new file mode 100644 index 00000000..f539c7c6 --- /dev/null +++ b/cmake/UthequeConfigVersion.cmake.in @@ -0,0 +1,11 @@ +set(PACKAGE_VERSION "@utheque_VERSION@") + +# Check whether the requested PACKAGE_FIND_VERSION is compatible +if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE FALSE) +else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_EXACT TRUE) + endif() +endif() diff --git a/cmake/example_utheque/CMakeLists.txt b/cmake/example_utheque/CMakeLists.txt new file mode 100644 index 00000000..a94568f3 --- /dev/null +++ b/cmake/example_utheque/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 3.10 FATAL_ERROR) +project(utheque_example) + +find_package(Utheque REQUIRED) + +add_executable(utheque_example example_utheque.cpp) +set_target_properties(utheque_example PROPERTIES CXX_STANDARD 11 CXX_STANDARD_REQUIRED YES) +target_link_libraries(utheque_example PUBLIC Utheque) diff --git a/cmake/example_utheque/example_utheque.cpp b/cmake/example_utheque/example_utheque.cpp new file mode 100644 index 00000000..b12daba6 --- /dev/null +++ b/cmake/example_utheque/example_utheque.cpp @@ -0,0 +1,9 @@ +#include +#include + +int main() +{ + auto p = utheque::path("talos/talos.urdf", true); // verbose mode + std::cout << "Path of the URDF: " << p << std::endl; + return 0; +} diff --git a/src/robot_dart/robot.cpp b/src/robot_dart/robot.cpp index 3fc3f240..3b435d01 100644 --- a/src/robot_dart/robot.cpp +++ b/src/robot_dart/robot.cpp @@ -10,6 +10,8 @@ #include +#include // library of URDF + namespace robot_dart { namespace detail { template @@ -1876,39 +1878,6 @@ namespace robot_dart { const std::vector>& Robot::drawing_axes() const { return _axis_shapes; } - std::string Robot::_get_path(const std::string& filename) const - { - namespace fs = boost::filesystem; - fs::path model_file(boost::trim_copy(filename)); - if (model_file.string()[0] == '/') - return "/"; - - // search current directory - if (fs::exists(model_file)) - return fs::current_path().string(); - - // search /robots - if (fs::exists(fs::path("robots") / model_file)) - return (fs::current_path() / fs::path("robots")).string(); - - // search $ROBOT_DART_PATH - const char* env = std::getenv("ROBOT_DART_PATH"); - if (env != nullptr) { - fs::path env_path(env); - if (fs::exists(env_path / model_file)) - return env_path.string(); - } - - // search PREFIX/share/robot_dart/robots - fs::path system_path(std::string(ROBOT_DART_PREFIX) + "/share/robot_dart/robots/"); - if (fs::exists(system_path / model_file)) - return system_path.string(); - - ROBOT_DART_EXCEPTION_ASSERT(false, std::string("Could not find :") + filename); - - return std::string(); - } - dart::dynamics::SkeletonPtr Robot::_load_model(const std::string& filename, const std::vector>& packages, bool is_urdf_string) { ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), "Empty URDF filename"); @@ -1916,8 +1885,7 @@ namespace robot_dart { dart::dynamics::SkeletonPtr tmp_skel; if (!is_urdf_string) { // search for the right directory for our files - std::string file_dir = _get_path(filename); - std::string model_file = file_dir + '/' + boost::trim_copy(filename); + std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX)); // store the name for future use _model_filename = model_file; _packages = packages; @@ -1937,7 +1905,7 @@ namespace robot_dart { #endif for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = _get_path(package); + std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX)); loader.addPackageDirectory( std::get<0>(packages[i]), package_path + "/" + package); } @@ -1962,7 +1930,7 @@ namespace robot_dart { dart::io::DartLoader loader; for (size_t i = 0; i < packages.size(); i++) { std::string package = std::get<1>(packages[i]); - std::string package_path = _get_path(package); + std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX)); loader.addPackageDirectory(std::get<0>(packages[i]), package_path + "/" + package); } tmp_skel = loader.parseSkeletonString(filename, ""); diff --git a/src/tests/test_control.cpp b/src/tests/test_control.cpp index e015d1b3..92aa4eb5 100644 --- a/src/tests/test_control.cpp +++ b/src/tests/test_control.cpp @@ -40,7 +40,7 @@ BOOST_AUTO_TEST_CASE(test_pd_control) BOOST_CHECK(!pd_control->active()); // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // set proper parameters @@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE(test_simple_control) BOOST_CHECK(!simple_control->active()); // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); @@ -125,7 +125,7 @@ BOOST_AUTO_TEST_CASE(test_simple_control) BOOST_AUTO_TEST_CASE(test_robot_control) { // load a robot - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); diff --git a/src/tests/test_robot.cpp b/src/tests/test_robot.cpp index 5d5fe154..34beceb8 100644 --- a/src/tests/test_robot.cpp +++ b/src/tests/test_robot.cpp @@ -28,7 +28,7 @@ BOOST_AUTO_TEST_CASE(test_constructors) BOOST_CHECK(robot == nullptr); // well-defined URDF - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // well-defined skeleton dart::dynamics::SkeletonPtr dummy_skel = dart::dynamics::Skeleton::create("dummy"); @@ -46,7 +46,7 @@ BOOST_AUTO_TEST_CASE(test_constructors) BOOST_AUTO_TEST_CASE(test_dof_maps) { - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); // check dofs @@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE(test_dof_maps) BOOST_AUTO_TEST_CASE(test_fix_free) { - auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pendulum.urdf"); + auto pendulum = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pendulum.urdf"); BOOST_REQUIRE(pendulum); pendulum->fix_to_world(); @@ -80,7 +80,7 @@ BOOST_AUTO_TEST_CASE(test_fix_free) BOOST_AUTO_TEST_CASE(test_actuators_and_dofs) { - auto pexod = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/robots/pexod.urdf"); + auto pexod = std::make_shared(std::string(ROBOT_DART_BUILD_DIR) + "/utheque/pexod.urdf"); BOOST_REQUIRE(pexod); // fix to world pexod->fix_to_world(); diff --git a/src/utheque/utheque.hpp b/src/utheque/utheque.hpp new file mode 100644 index 00000000..a79807a6 --- /dev/null +++ b/src/utheque/utheque.hpp @@ -0,0 +1,98 @@ +#ifndef UTHEQUE_HPP_ +#define UTHEQUE_HPP_ + +#include +#include // will move to std::filesystem +#include +#include + +namespace utheque { +#ifndef UTHEQUE_PREFIX + static constexpr char* DEFAULT_PREFIX = const_cast("/usr/local"); +#else + static constexpr char* DEFAULT_PREFIX = const_cast(UTHEQUE_PREFIX); +#endif + /// return the directory where to find the urdf (or urdf package) from the utheque (URDF library) + /// if start by /, do nothing + /// otherwise, search (in this order): + /// - in the current directory + /// - in /utheque/ + /// - $UTHEQUE_PATH + /// - in /share/utheque + /// The default prefix is got : + /// - from the cmake config (which defines UTHEQUE_PREFIX) + /// - otherwise from -DUTHEQUE_PREFIX="..." + /// - if no UTHEQUE_PREFIX, then use /usr/local + /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) + /// @arg prefix (default to UTHEQUE_PREFIX) + /// @arg verbose print search paths + /// @return the full (absolute) path where to find the URDF (e.g. /usr/local/share/utheque/) + static std::string directory(const std::string& filename, bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) + { + namespace fs = boost::filesystem; + fs::path model_file(boost::trim_copy(filename)); + if (verbose) + std::cout << "utheque: searching for [" << model_file.string() << "]" << std::endl; + + if (model_file.string()[0] == '/') + return "/"; + + if (verbose) + std::cout << "utheque: not an absolute path" << std::endl; + + // search current directory + if (fs::exists(model_file)) + return fs::current_path().string(); + + if (verbose) + std::cout << "utheque: not found in current path [" << fs::current_path().string() << "]" << std::endl; + + // search /robots + if (fs::exists(fs::path("utheque") / model_file)) + return (fs::current_path() / fs::path("utheque")).string(); + + if (verbose) + std::cout << "utheque: not found in current path/utheque [" << (fs::current_path() / fs::path("utheque")).string() << "]" << std::endl; + + // search $UTHEQUE_PATH + const char* env = std::getenv("UTHEQUE_PATH"); + if (env != nullptr) { + if (verbose) + std::cout << "Utheque: $UTHEQUE_PATH: [" << env << "]" << std::endl; + fs::path env_path(env); + if (fs::exists(env_path / model_file)) + return env_path.string(); + } + else if (verbose) + std::cout << "Utheque: no $UTHEQUE_PATH" << std::endl; + + if (verbose) + std::cout << "utheque: not found in $UTHEQUE_PATH" << std::endl; + + // search PREFIX/share/utheque + fs::path system_path(prefix + "/share/utheque"); + if (fs::exists(system_path / model_file)) + return system_path.string(); + + if (verbose) + std::cout << "utheque: not found in [" << system_path.string() << "]" << std::endl; + + throw std::runtime_error(std::string("Utheque:: could not find: ") + filename); + + return std::string(); + } + + /// call directory() and put the filename back in the path + /// @arg urdf or package name (e.g. talos/talos.urdf or talos_description) + /// @arg prefix /usr/local/ + /// @return full path of the URDF file: (e.g. /usr/local/share/utheque/talos/talos.urdf) + static std::string path(const std::string& filename, bool verbose = false, const std::string& prefix = DEFAULT_PREFIX) + { + namespace fs = boost::filesystem; + auto file_dir = fs::path(directory(filename, verbose, prefix)); + auto model_file = file_dir / fs::path(boost::trim_copy(filename)); + return model_file.string(); + } +} // namespace utheque + +#endif diff --git a/robots/arm.urdf b/utheque/arm.urdf similarity index 100% rename from robots/arm.urdf rename to utheque/arm.urdf diff --git a/robots/franka/franka.urdf b/utheque/franka/franka.urdf similarity index 100% rename from robots/franka/franka.urdf rename to utheque/franka/franka.urdf diff --git a/robots/franka/franka_description/meshes/collision/finger.stl b/utheque/franka/franka_description/meshes/collision/finger.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/finger.stl rename to utheque/franka/franka_description/meshes/collision/finger.stl diff --git a/robots/franka/franka_description/meshes/collision/hand.stl b/utheque/franka/franka_description/meshes/collision/hand.stl similarity index 100% rename from robots/franka/franka_description/meshes/collision/hand.stl rename to utheque/franka/franka_description/meshes/collision/hand.stl diff --git a/robots/franka/franka_description/meshes/collision/link0.stl 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utheque/tiago/tiago_description/meshes/torso/torso_lift_with_arm.stl diff --git a/robots/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl b/utheque/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl rename to utheque/tiago/tiago_description/meshes/torso/torso_lift_without_arm.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/caster_1.stl b/utheque/tiago/tiago_description/meshes/wheels/caster_1.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/caster_1.stl rename to utheque/tiago/tiago_description/meshes/wheels/caster_1.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/caster_2.stl b/utheque/tiago/tiago_description/meshes/wheels/caster_2.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/caster_2.stl rename to utheque/tiago/tiago_description/meshes/wheels/caster_2.stl diff --git a/robots/tiago/tiago_description/meshes/wheels/wheel.stl b/utheque/tiago/tiago_description/meshes/wheels/wheel.stl similarity index 100% rename from robots/tiago/tiago_description/meshes/wheels/wheel.stl rename to utheque/tiago/tiago_description/meshes/wheels/wheel.stl diff --git a/robots/tiago/tiago_description/urdf/arm/arm.transmission.xacro b/utheque/tiago/tiago_description/urdf/arm/arm.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/arm.transmission.xacro rename to utheque/tiago/tiago_description/urdf/arm/arm.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/arm.urdf.xacro b/utheque/tiago/tiago_description/urdf/arm/arm.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/arm.urdf.xacro rename to utheque/tiago/tiago_description/urdf/arm/arm.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/wrist.transmission.xacro b/utheque/tiago/tiago_description/urdf/arm/wrist.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/wrist.transmission.xacro rename to utheque/tiago/tiago_description/urdf/arm/wrist.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/arm/wrist.urdf.xacro b/utheque/tiago/tiago_description/urdf/arm/wrist.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/arm/wrist.urdf.xacro rename to utheque/tiago/tiago_description/urdf/arm/wrist.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/deg_to_rad.xacro b/utheque/tiago/tiago_description/urdf/deg_to_rad.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/deg_to_rad.xacro rename to utheque/tiago/tiago_description/urdf/deg_to_rad.xacro diff --git a/robots/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro b/utheque/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro rename to utheque/tiago/tiago_description/urdf/end_effector/end_effector.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/head/head.transmission.xacro b/utheque/tiago/tiago_description/urdf/head/head.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/head/head.transmission.xacro rename to utheque/tiago/tiago_description/urdf/head/head.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/head/head.urdf.xacro b/utheque/tiago/tiago_description/urdf/head/head.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/head/head.urdf.xacro rename to utheque/tiago/tiago_description/urdf/head/head.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/materials.urdf.xacro b/utheque/tiago/tiago_description/urdf/materials.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/materials.urdf.xacro rename to utheque/tiago/tiago_description/urdf/materials.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro b/utheque/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro rename to utheque/tiago/tiago_description/urdf/sensors/ftsensor.gazebo.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro b/utheque/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro rename to utheque/tiago/tiago_description/urdf/sensors/ftsensor.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro b/utheque/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro rename to utheque/tiago/tiago_description/urdf/sensors/openni.gazebo.xacro diff --git a/robots/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro b/utheque/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro rename to utheque/tiago/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro diff --git a/robots/tiago/tiago_description/urdf/torso/torso.transmission.xacro b/utheque/tiago/tiago_description/urdf/torso/torso.transmission.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/torso/torso.transmission.xacro rename to utheque/tiago/tiago_description/urdf/torso/torso.transmission.xacro diff --git a/robots/tiago/tiago_description/urdf/torso/torso.urdf.xacro b/utheque/tiago/tiago_description/urdf/torso/torso.urdf.xacro similarity index 100% rename from robots/tiago/tiago_description/urdf/torso/torso.urdf.xacro rename to utheque/tiago/tiago_description/urdf/torso/torso.urdf.xacro diff --git a/robots/tiago/tiago_steel.urdf b/utheque/tiago/tiago_steel.urdf similarity index 100% rename from robots/tiago/tiago_steel.urdf rename to utheque/tiago/tiago_steel.urdf diff --git a/robots/unitree_a1/a1.urdf b/utheque/unitree_a1/a1.urdf similarity index 100% rename from robots/unitree_a1/a1.urdf rename to utheque/unitree_a1/a1.urdf diff --git a/robots/unitree_a1/a1_description/meshes/calf.glb b/utheque/unitree_a1/a1_description/meshes/calf.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/calf.glb rename to utheque/unitree_a1/a1_description/meshes/calf.glb diff --git a/robots/unitree_a1/a1_description/meshes/hip.glb b/utheque/unitree_a1/a1_description/meshes/hip.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/hip.glb rename to utheque/unitree_a1/a1_description/meshes/hip.glb diff --git a/robots/unitree_a1/a1_description/meshes/thigh.glb b/utheque/unitree_a1/a1_description/meshes/thigh.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/thigh.glb rename to utheque/unitree_a1/a1_description/meshes/thigh.glb diff --git a/robots/unitree_a1/a1_description/meshes/thigh_mirror.glb b/utheque/unitree_a1/a1_description/meshes/thigh_mirror.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/thigh_mirror.glb rename to utheque/unitree_a1/a1_description/meshes/thigh_mirror.glb diff --git a/robots/unitree_a1/a1_description/meshes/trunk.glb b/utheque/unitree_a1/a1_description/meshes/trunk.glb similarity index 100% rename from robots/unitree_a1/a1_description/meshes/trunk.glb rename to utheque/unitree_a1/a1_description/meshes/trunk.glb diff --git a/wscript b/wscript index 9e06669a..6ca74e12 100644 --- a/wscript +++ b/wscript @@ -42,9 +42,34 @@ def options(opt): opt.add_option('--shared', action='store_true', help='build shared library', dest='build_shared') opt.add_option('--tests', action='store_true', help='compile tests or not', dest='tests') opt.add_option('--python', action='store_true', help='compile python bindings', dest='pybind') + opt.add_option('--no-robot_dart', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only') def configure(conf): + if not conf.options.utheque_only: + try: + Logs.pprint("GREEN", "=== Configuring RobotDART ===") + configure_robot_dart(conf) + Logs.pprint("GREEN", "=== RobotDART ready to build ===") + conf.env['BUILD_ROBOT_DART'] = True + except: + conf.env['BUILD_ROBOT_DART'] = False + + conf.end_msg("ERROR", color="RED") + else: + conf.env['BUILD_ROBOT_DART'] = False + + if not conf.env['BUILD_ROBOT_DART']: + Logs.pprint("RED", "=== RobotDART will NOT be compiled/installed ===") + + print("\n=== Summary: ===") + if conf.env['BUILD_ROBOT_DART']: + conf.msg("Build/install RobotDart", "yes") + else: + conf.msg("Build/install RobotDart", "no", color="YELLOW") + conf.msg("Install Utheque (URDF library)", "yes") + +def configure_robot_dart(conf): conf.get_env()['BUILD_GRAPHIC'] = False conf.load('compiler_cxx') @@ -159,7 +184,47 @@ def summary(bld): if tfail > 0: bld.fatal("Build failed, because some tests failed!") + def build(bld): + if bld.env['BUILD_ROBOT_DART']: + Logs.pprint("GREEN", "=== Building RobotDART ===") + build_robot_dart(bld) + build_utheque(bld) + + +#### install the URDF library (utheque) +def build_utheque(bld): + prefix = bld.get_env()['PREFIX'] + + ###### URDF + bld.install_files("${PREFIX}/share/utheque/", + bld.path.ant_glob('utheque/**'), + cwd=bld.path.find_dir('utheque/'), + relative_trick=True) + ###### HEADER + bld.install_files("${PREFIX}/include/utheque/", + bld.path.ant_glob('src/utheque/**'), + cwd=bld.path.find_dir('src/utheque/'), + relative_trick=True) + #### CMake + with open('cmake/UthequeConfig.cmake.in') as f: + newText=f.read() \ + .replace('@Utheque_INCLUDE_DIRS@', prefix + "/include")\ + .replace('@Utheque_CMAKE_MODULE_PATH@', prefix + "/lib/cmake/Utheque/")\ + .replace('@Utheque_PREFIX@', "UTHEQUE_PREFIX=\"" + prefix + "\"") + + with open(blddir + '/UthequeConfig.cmake', "w") as f: + f.write(newText) + with open('cmake/UthequeConfigVersion.cmake.in') as f: + newText = f.read().replace('@utheque_VERSION@', str(VERSION)) + with open(blddir + '/UthequeConfigVersion.cmake', "w") as f: + f.write(newText) + + bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfig.cmake') + bld.install_files('${PREFIX}/lib/cmake/Utheque/', blddir + '/UthequeConfigVersion.cmake') + + +def build_robot_dart(bld): prefix = bld.get_env()['PREFIX'] if len(bld.env.INCLUDES_DART) == 0 or len(bld.env.INCLUDES_EIGEN) == 0 or len(bld.env.INCLUDES_BOOST) == 0: @@ -187,6 +252,7 @@ def build(bld): libs = 'BOOST EIGEN DART PTHREAD' defines = ["ROBOT_DART_PREFIX=\"" + bld.env['PREFIX'] + "\""] + bld.program(features = 'cxx ' + bld.env['lib_type'], source = robot_dart_srcs, includes = './src', @@ -254,15 +320,9 @@ def build(bld): f.write('#define ROBOT_DART_VERSION_MAJOR ' + version[0] + '\n') f.write('#define ROBOT_DART_VERSION_MINOR ' + version[1] + '\n') f.write('#define ROBOT_DART_VERSION_PATCH ' + version[2] + '\n') - f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/robot_dart/robots\"\n') + f.write('#define ROBOT_DART_ROBOTS_DIR \"' + prefix + '/share/utheque/\"\n') bld.install_files("${PREFIX}/include/robot_dart/", config_file) - #### install the URDF library (robots) - bld.install_files("${PREFIX}/share/robot_dart/robots/", - bld.path.ant_glob('robots/**'), - cwd=bld.path.find_dir('robots/'), - relative_trick=True) - #### installation (waf install) install_files = [] for root, dirnames, filenames in os.walk(bld.path.abspath()+'/src/robot_dart/'): @@ -381,3 +441,7 @@ def build_examples(bld): class BuildExamples(BuildContext): cmd = 'examples' fun = 'build_examples' + +class BuildUtheque(BuildContext): + cmd = 'utheque' + fun = 'build_utheque'