fix(panda): symlink between panda and fr3

- refactored symlinks to work in the panda package
- updated version numbers
- added panda extension to version bumps
- renamed cpp python submodule to franka to be more generic

Author: juelg

extensions/rcs_fr3/Makefile

@@ -24,12 +24,12 @@ clangcompile:
 
 # Auto generation of CPP binding stub files
 stubgen:
-	pybind11-stubgen -o ${PYSRC} --numpy-array-use-type-var rcs_fr3
+	pybind11-stubgen -o src --numpy-array-use-type-var rcs_fr3
 	find ./${PYSRC} -name '*.pyi' -print | xargs sed -i '1s/^/# ATTENTION: auto generated from C++ code, use `make stubgen` to update!\n/'
 	find ./${PYSRC} -not -path "./${PYSRC}/_core/*" -name '*.pyi' -delete
 	find ./${PYSRC}/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/tuple\[typing\.Literal[\1]\]/g'
 	find ./${PYSRC}/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/tuple\[\1\]/g'
-	ruff check --fix {PYSRC}/_core
+	ruff check --fix ${PYSRC}/_core
 	isort ${PYSRC}/_core
 	black ${PYSRC}/_core
 

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -39,7 +39,7 @@ PYBIND11_MODULE(_core, m) {
 #endif
 
   // HARDWARE MODULE
-  auto hw = m.def_submodule("hw", "rcs fr3 module");
+  auto hw = m.def_submodule("hw", "rcs franka module");
 
   py::object robot_state =
       (py::object)py::module_::import("rcs").attr("common").attr("RobotState");

extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi

@@ -1,6 +1,6 @@
 # ATTENTION: auto generated from C++ code, use `make stubgen` to update!
 """
-rcs fr3 module
+rcs franka module
 """
 from __future__ import annotations
 
@@ -55,14 +55,19 @@ class FR3(rcs._core.common.Robot):
     def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
-        self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
+        self,
+        desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]],
     ) -> None: ...
     def double_tap_robot_to_continue(self) -> None: ...
     def get_config(self) -> FR3Config: ...
     def get_state(self) -> FR3State: ...
     def osc_set_cartesian_position(self, desired_pos_EE_in_base_frame: rcs._core.common.Pose) -> None: ...
     def set_cartesian_position_ik(
-        self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
+        self,
+        pose: rcs._core.common.Pose,
+        max_time: float,
+        elbow: float | None,
+        max_force: float | None = 5,
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
     def set_config(self, cfg: FR3Config) -> bool: ...

extensions/rcs_panda/CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(
     rcs_panda
     LANGUAGES C CXX
-    VERSION 0.4.0
+    VERSION 0.5.2
     DESCRIPTION "RCS Libfranka integration"
 )
 

extensions/rcs_panda/pyproject.toml

@@ -4,11 +4,10 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_panda"
-version = "0.4.0"
+version = "0.5.2"
 description="RCS libfranka integration"
 dependencies = [
-    # NOTE: when changing the pin version, also change it in requirements_dev.txt
-    "pin==3.7.0",
+    "rcs>=0.5.0",
 ]
 readme = "../../README.md"
 maintainers = [

extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi

@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import hw
 
 __all__ = ["hw"]
-__version__: str = "0.4.0"
+__version__: str = "0.5.2"

extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi

@@ -1,6 +1,6 @@
 # ATTENTION: auto generated from C++ code, use `make stubgen` to update!
 """
-rcs panda module
+rcs franka module
 """
 from __future__ import annotations
 
@@ -52,19 +52,25 @@ class FHState(rcs._core.common.GripperState):
     def width(self) -> float: ...
 
 class FR3(rcs._core.common.Robot):
-    def __init__(self, ip: str, ik: rcs._core.common.IK | None = None) -> None: ...
+    def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
-        self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
+        self,
+        desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]],
     ) -> None: ...
     def double_tap_robot_to_continue(self) -> None: ...
-    def get_parameters(self) -> FR3Config: ...
+    def get_config(self) -> FR3Config: ...
     def get_state(self) -> FR3State: ...
     def osc_set_cartesian_position(self, desired_pos_EE_in_base_frame: rcs._core.common.Pose) -> None: ...
     def set_cartesian_position_ik(
-        self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
+        self,
+        pose: rcs._core.common.Pose,
+        max_time: float,
+        elbow: float | None,
+        max_force: float | None = 5,
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
+    def set_config(self, cfg: FR3Config) -> bool: ...
     def set_default_robot_behavior(self) -> None: ...
     def set_guiding_mode(
         self,
@@ -76,7 +82,6 @@ class FR3(rcs._core.common.Robot):
         yaw: bool = True,
         elbow: bool = True,
     ) -> None: ...
-    def set_parameters(self, cfg: FR3Config) -> bool: ...
     def stop_control_thread(self) -> None: ...
     def zero_torque_guiding(self) -> None: ...
 
@@ -100,11 +105,11 @@ class FR3State(rcs._core.common.RobotState):
 
 class FrankaHand(rcs._core.common.Gripper):
     def __init__(self, ip: str, cfg: FHConfig) -> None: ...
-    def get_parameters(self) -> FHConfig: ...
+    def get_config(self) -> FHConfig: ...
     def get_state(self) -> FHState: ...
     def homing(self) -> bool: ...
     def is_grasped(self) -> bool: ...
-    def set_parameters(self, cfg: FHConfig) -> bool: ...
+    def set_config(self, cfg: FHConfig) -> bool: ...
 
 class IKSolver:
     """

extensions/rcs_panda/src_fr3/pybind

@@ -0,0 +1,14 @@
+pybind11_add_module(_core MODULE rcs.cpp)
+target_link_libraries(_core PRIVATE hw rcs pinocchio::all)
+target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
+
+set_target_properties(franka PROPERTIES
+    INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"
+    INTERPROCEDURAL_OPTIMIZATION TRUE
+)
+set_target_properties(_core PROPERTIES
+    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs;$ORIGIN/../cmeel.prefix/lib"
+    INTERPROCEDURAL_OPTIMIZATION TRUE
+)
+# in pip
+install(TARGETS _core franka DESTINATION rcs_panda COMPONENT python_package)

extensions/rcs_panda/src_fr3/pybind/CMakeLists.txt

@@ -0,0 +1 @@
+../../../rcs_fr3/src/pybind/rcs.cpp