oproco 0.3.5__tar.gz

oproco-0.3.5/.clang-format

@@ -0,0 +1,44 @@
+---
+# ORC C++ style. Based on Google with project-specific tweaks calibrated to
+# the dominant style in include/orc/ (4-space indent, wider lines, templates
+# broken on their own line).
+BasedOnStyle: Google
+Language: Cpp
+Standard: c++17
+
+ColumnLimit: 100
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never
+ContinuationIndentWidth: 4
+AccessModifierOffset: -4
+
+PointerAlignment: Left
+DerivePointerAlignment: false
+
+AlwaysBreakTemplateDeclarations: Yes
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortLambdasOnASingleLine: All
+
+BreakBeforeBraces: Attach
+NamespaceIndentation: None
+FixNamespaceComments: true
+CompactNamespaces: false
+
+IncludeBlocks: Preserve
+SortIncludes: CaseSensitive
+SortUsingDeclarations: true
+
+SpacesBeforeTrailingComments: 2
+SpaceAfterTemplateKeyword: true
+SpaceBeforeParens: ControlStatements
+
+AllowAllParametersOfDeclarationOnNextLine: false
+BinPackArguments: true
+BinPackParameters: true
+
+ReflowComments: true
+...

oproco-0.3.5/.clang-tidy

@@ -0,0 +1,76 @@
+# clang-tidy configuration for the ORC robotics library (C++20).
+#
+# Notes on check selection:
+#   * We enable broad families useful for a numerics / real-time / robotics
+#     codebase: bugprone, cert, clang-analyzer, misc, modernize, performance,
+#     portability, readability, plus selected cppcoreguidelines rules.
+#   * We exclude several checks that are excessively noisy for scientific /
+#     numerical C++ or that conflict with established style in this repo.
+#   * WarningsAsErrors is empty on purpose: clang-tidy reports warnings only;
+#     CI does not fail the build on tidy diagnostics (yet).
+
+Checks: >
+  bugprone-*,
+  cert-*,
+  clang-analyzer-*,
+  cppcoreguidelines-avoid-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -modernize-use-trailing-return-type,
+  -modernize-avoid-c-arrays,
+  -modernize-use-nodiscard,
+  -readability-magic-numbers,
+  -readability-identifier-length,
+  -readability-named-parameter,
+  -readability-function-cognitive-complexity,
+  -readability-braces-around-statements,
+  -readability-implicit-bool-conversion,
+  -readability-uppercase-literal-suffix,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -cppcoreguidelines-avoid-c-arrays,
+  -cppcoreguidelines-avoid-non-const-global-variables,
+  -cert-err58-cpp,
+  -misc-non-private-member-variables-in-classes,
+  -misc-no-recursion,
+  -misc-include-cleaner,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-narrowing-conversions
+
+WarningsAsErrors: ''
+
+HeaderFilterRegex: '^(include|src|python)/.*\.(h|hpp)$'
+
+FormatStyle: file
+
+CheckOptions:
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: camelBack
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _
+  - key: readability-identifier-naming.ProtectedMemberSuffix
+    value: _
+  - key: readability-identifier-naming.ConstexprVariableCase
+    value: CamelCase
+  - key: readability-identifier-naming.ConstexprVariablePrefix
+    value: k
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.GlobalConstantPrefix
+    value: k
+  - key: readability-identifier-naming.MacroDefinitionCase
+    value: UPPER_CASE
+  - key: performance-move-const-arg.CheckTriviallyCopyableMove
+    value: 'false'
+  - key: modernize-use-default-member-init.UseAssignment
+    value: 'true'

oproco-0.3.5/.devcontainer/Dockerfile

@@ -0,0 +1,38 @@
+FROM mcr.microsoft.com/devcontainers/python:1-3.12-bookworm
+
+# Dependency versions here must stay aligned with the CI workflows:
+#   * Boost: libboost-all-dev (Debian bookworm ships 1.74, within the
+#     1.71...1.83 range declared in CMakeLists.txt and matching ubuntu-22.04
+#     / ubuntu-24.04 runners).
+#   * Eigen3: libeigen3-dev 3.4.x (matches ubuntu runners).
+#   * MuJoCo: 3.3.2 — pinned explicitly below via the MUJOCO_VERSION ARG
+#     (must match pyproject.toml and CMakeLists.txt find_package(mujoco 3.3.2)).
+RUN rm -f /etc/apt/sources.list.d/yarn.list \
+    && apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        ninja-build \
+        git \
+        libeigen3-dev \
+        libboost-all-dev \
+        libgl1 \
+        libgl1-mesa-dri \
+        libglfw3 \
+        libosmesa6 \
+        libx11-6 \
+        libxcursor1 \
+        libxinerama1 \
+        libxrandr2 \
+        libxi6 \
+        curl \
+        ca-certificates \
+        git-lfs \
+    && rm -rf /var/lib/apt/lists/*
+
+# MuJoCo C++ release (matches the version pinned in pyproject.toml / CMakeLists.txt).
+ARG MUJOCO_VERSION=3.3.2
+RUN curl -fsSL "https://github.com/google-deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz" \
+      | tar -xz -C /opt \
+    && ln -s "/opt/mujoco-${MUJOCO_VERSION}" /opt/mujoco
+ENV CMAKE_PREFIX_PATH=/opt/mujoco
+ENV LD_LIBRARY_PATH=/opt/mujoco/lib

oproco-0.3.5/.devcontainer/devcontainer.json

@@ -0,0 +1,41 @@
+{
+    "name": "orc-a",
+    "build": { "dockerfile": "Dockerfile" },
+    "workspaceFolder": "/workspaces/orc-a",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/workspaces/orc-a,type=bind",
+    "postCreateCommand": "bash .devcontainer/postCreate.sh",
+    "runArgs": [
+        "--net=host",
+        "--ipc=host",
+        "--env=DISPLAY=${localEnv:DISPLAY}",
+        "--env=LIBGL_ALWAYS_SOFTWARE=1",
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    ],
+    "mounts": [
+        "source=${localEnv:HOME}/.gitconfig,target=/home/vscode/.gitconfig,type=bind,readonly",
+        "source=${localEnv:HOME}/.ssh,target=/home/vscode/.ssh,type=bind,readonly",
+        "source=${localWorkspaceFolder}/.git,target=/workspaces/.git,type=bind",
+        "source=${localEnv:SSH_AUTH_SOCK},target=${localEnv:SSH_AUTH_SOCK},type=bind"
+    ],
+    "remoteUser": "root",
+    "updateRemoteUserUID": true,
+    "containerEnv": {
+        "SSH_AUTH_SOCK": "${localEnv:SSH_AUTH_SOCK}"
+    },
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "ms-vscode.cpptools",
+                "ms-vscode.cmake-tools",
+                "twxs.cmake"
+            ],
+            "settings": {
+                "cmake.sourceDirectory": "${workspaceFolder}",
+                "cmake.buildDirectory": "${workspaceFolder}/build",
+                "cmake.configureArgs": ["-DBUILD_TESTS=ON", "-DBUILD_EXAMPLES=ON"],
+                "window.title": "[devcontainer] openrobotcontrol"
+            }
+        }
+    }
+}

oproco-0.3.5/.devcontainer/postCreate.sh

@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+git config --global --add safe.directory /workspaces/orc-a
+
+pip install --upgrade pip
+pip install -e ".[dev]"
+git lfs install
+pre-commit install
+
+cat <<'EOF'
+
+========================================================================
+  orc-a devcontainer ready.
+
+  Python example (MuJoCo viewer):
+      python examples/python/kinova_simulation.py
+
+  Other Python examples:
+      ls python/examples/
+
+  C++ build (library + tests + examples):
+      cmake -S . -B build -GNinja -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON
+      cmake --build build
+
+  Run C++ tests:
+      ctest --test-dir build --output-on-failure
+
+  GUI note: on Linux hosts, run `xhost +local:docker` once on the host
+  so the MuJoCo viewer can reach the X server.
+========================================================================
+EOF

oproco-0.3.5/.editorconfig

@@ -0,0 +1,51 @@
+# EditorConfig for the ORC project
+# https://editorconfig.org
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+indent_style = space
+
+# C / C++
+[*.{c,cc,cpp,cxx,h,hh,hpp,hxx,ipp,inl}]
+indent_style = space
+indent_size = 4
+
+# Python
+[*.{py,pyi}]
+indent_style = space
+indent_size = 4
+
+# CMake
+[{CMakeLists.txt,*.cmake}]
+indent_style = space
+indent_size = 4
+
+# YAML
+[*.{yml,yaml}]
+indent_size = 2
+
+# JSON
+[*.{json,json5}]
+indent_size = 2
+
+# TOML
+[*.toml]
+indent_size = 2
+
+# Markdown — preserve trailing whitespace (line breaks)
+[*.md]
+indent_size = 2
+trim_trailing_whitespace = false
+
+# Shell scripts
+[*.{sh,bash,zsh}]
+indent_style = space
+indent_size = 2
+
+# Makefiles require tabs
+[{Makefile,makefile,GNUmakefile,*.mk}]
+indent_style = tab

oproco-0.3.5/.gitattributes

@@ -0,0 +1,30 @@
+# Normalise line endings across platforms. Anything we treat as text is
+# checked in with LF regardless of the contributor's OS.
+* text=auto eol=lf
+# Explicit: shell scripts, CMake files, YAML, Python, C/C++ sources — all LF.
+*.sh       text eol=lf
+*.py       text eol=lf
+*.cmake    text eol=lf
+*.yml      text eol=lf
+*.yaml     text eol=lf
+*.toml     text eol=lf
+*.c        text eol=lf
+*.h        text eol=lf
+*.cpp      text eol=lf
+*.hpp      text eol=lf
+*.in       text eol=lf
+CMakeLists.txt text eol=lf
+# Binary assets — never line-ending-translate.
+*.mjb      binary
+*.png      binary
+*.jpg      binary
+*.jpeg     binary
+*.ico      binary
+*.pdf      binary
+*.whl      binary
+*.tar.gz   binary
+*.zip      binary
+# CSV data files in tests/data should not be EOL-mangled (some contain
+# exact floating-point fixtures that diffs should reflect literally).
+*.csv      binary
+models/presets/*.mjb filter=lfs diff=lfs merge=lfs -text

oproco-0.3.5/.github/CODEOWNERS

@@ -0,0 +1,2 @@
+* @Geryyy
+* @niko-mit-d

oproco-0.3.5/.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,63 @@
+name: Bug report
+description: Report a defect in ORC / oproco
+labels: ["bug"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to file a bug report. Please fill in as much
+        of the following as you can — it makes diagnosis much faster.
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened?
+      description: A clear description of the unexpected behavior.
+    validations:
+      required: true
+  - type: textarea
+    id: expected
+    attributes:
+      label: What did you expect to happen?
+    validations:
+      required: true
+  - type: textarea
+    id: repro
+    attributes:
+      label: Minimal reproduction
+      description: |
+        Smallest code / command sequence that reproduces the issue. A link to a
+        branch or gist is fine.
+      render: shell
+    validations:
+      required: true
+  - type: input
+    id: orc-version
+    attributes:
+      label: ORC version / commit
+      placeholder: "e.g. v0.1.0 or commit 6526351"
+    validations:
+      required: true
+  - type: input
+    id: os
+    attributes:
+      label: Operating system
+      placeholder: "e.g. Ubuntu 24.04, Windows 11, macOS 14"
+    validations:
+      required: true
+  - type: input
+    id: compiler
+    attributes:
+      label: Compiler / Python version
+      placeholder: "e.g. gcc 13.2 / Python 3.12.3"
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant log output
+      render: shell
+  - type: checkboxes
+    id: confirm
+    attributes:
+      label: Checks
+      options:
+        - label: I have searched existing issues for duplicates.
+          required: true

oproco-0.3.5/.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Questions and discussions
+    url: https://github.com/niko-mit-d/orc-a/discussions
+    about: For usage questions, design ideas, and open-ended discussion, please use GitHub Discussions.

oproco-0.3.5/.github/ISSUE_TEMPLATE/feature_request.yml

@@ -0,0 +1,28 @@
+name: Feature request
+description: Suggest a new capability or improvement
+labels: ["enhancement"]
+body:
+  - type: textarea
+    id: problem
+    attributes:
+      label: What problem does this solve?
+      description: Describe the use case or pain point.
+    validations:
+      required: true
+  - type: textarea
+    id: proposal
+    attributes:
+      label: Proposed solution
+      description: How would you like the feature to work?
+    validations:
+      required: true
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Alternatives considered
+      description: Other approaches you've thought about, and why they're less good.
+  - type: textarea
+    id: context
+    attributes:
+      label: Additional context
+      description: Links, screenshots, references, prior art.

oproco-0.3.5/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,26 @@
+<!--
+Thanks for contributing! A few notes:
+ - Use a conventional-commit-style title: fix:, feat:, refactor:, docs:, chore:, ci: …
+ - Keep PRs focused. Separate refactors from behavior changes when practical.
+ - See CONTRIBUTING.md for the full workflow.
+-->
+
+## Summary
+
+<!-- What does this PR change? One or two sentences. -->
+
+## Motivation
+
+<!-- Why is this change needed? Link to an issue if applicable: Closes #123 -->
+
+## Tests
+
+<!-- How did you verify this change? New unit tests? Manual repro? -->
+
+## Checklist
+
+- [ ] Tests added or updated for the changed behavior
+- [ ] Documentation updated (README / docstrings / `doc/`)
+- [ ] `pre-commit run --all-files` passes locally
+- [ ] Commit messages follow the conventional-commit style
+- [ ] Breaking changes are flagged in the PR title and described above

oproco-0.3.5/.github/dependabot.yml

@@ -0,0 +1,24 @@
+version: 2
+
+updates:
+  # Keep GitHub Actions versions current.
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    open-pull-requests-limit: 5
+    labels:
+      - "dependencies"
+      - "github-actions"
+
+  # Python package (root) — pyproject.toml / setup.cfg / requirements*.txt.
+  - package-ecosystem: "pip"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    open-pull-requests-limit: 5
+    labels:
+      - "dependencies"
+      - "python"
+    ignore:
+      - dependency-name: "mujoco"

oproco-0.3.5/.github/workflows/ci.yml

@@ -0,0 +1,176 @@
+name: CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+concurrency:
+  group: ci-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # ---------------------------------------------------------------------------
+  # Lint: pre-commit (clang-format, black, ruff, etc., whatever is configured)
+  # ---------------------------------------------------------------------------
+  lint:
+    name: Lint (pre-commit)
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+
+      - name: Install pre-commit
+        if: hashFiles('.pre-commit-config.yaml') != ''
+        run: python -m pip install pre-commit
+
+      - name: Run pre-commit
+        if: hashFiles('.pre-commit-config.yaml') != ''
+        run: pre-commit run --all-files --show-diff-on-failure
+
+      - name: No pre-commit config, skipping
+        if: hashFiles('.pre-commit-config.yaml') == ''
+        run: echo "No .pre-commit-config.yaml at repo root; skipping pre-commit."
+
+
+  # ---------------------------------------------------------------------------
+  # Build + test matrix
+  # ---------------------------------------------------------------------------
+  build-test:
+    name: Build & Test (Ubuntu 24.04 / GCC)
+    runs-on: ubuntu-24.04
+
+    env:
+      MUJOCO_VERSION: 3.3.2
+      MUJOCO_DIR: /opt/mujoco
+
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            ninja-build \
+            libgl1-mesa-dev \
+            libxinerama-dev \
+            libxcursor-dev \
+            libxrandr-dev \
+            libxi-dev \
+            libboost-all-dev \
+            libgtest-dev \
+            libeigen3-dev
+
+      - name: Cache MuJoCo install tree
+        id: cache-mujoco
+        uses: actions/cache@v5
+        with:
+          path: ${{ env.MUJOCO_DIR }}
+          key: mujoco-${{ env.MUJOCO_VERSION }}-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Install MuJoCo
+        if: steps.cache-mujoco.outputs.cache-hit != 'true'
+        run: |
+          wget -q https://github.com/google-deepmind/mujoco/releases/download/${{ env.MUJOCO_VERSION }}/mujoco-${{ env.MUJOCO_VERSION }}-linux-x86_64.tar.gz
+          tar -xzf mujoco-${{ env.MUJOCO_VERSION }}-linux-x86_64.tar.gz
+          sudo mv mujoco-${{ env.MUJOCO_VERSION }} ${{ env.MUJOCO_DIR }}
+
+      - name: Configure
+        run: |
+          cmake -B build -S . \
+            -DCMAKE_C_COMPILER=gcc \
+            -DCMAKE_CXX_COMPILER=g++ \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DBUILD_TESTS=ON \
+            -DCMAKE_PREFIX_PATH=${MUJOCO_DIR}
+
+      - name: Build
+        run: cmake --build build --config Release -- -j$(nproc)
+
+      - name: Test
+        working-directory: build
+        run: ctest --output-on-failure
+
+
+  # # ---------------------------------------------------------------------------
+  # # clang-tidy on changed .cpp/.h files (PR) or full repo (push)
+  # # ---------------------------------------------------------------------------
+  # clang-tidy:
+  #   name: clang-tidy
+  #   runs-on: ubuntu-24.04
+  #   continue-on-error: true
+  #   steps:
+  #     - uses: actions/checkout@v6
+  #       with:
+  #         submodules: recursive
+  #         fetch-depth: 0
+        # - name: Cache MuJoCo install tree
+        # id: cache-mujoco
+        # uses: actions/cache@v5
+        # with:
+        #   path: /usr/local/mujoco-3.3.2
+        #   key: mujoco-3.3.2-${{ runner.os }}-${{ runner.arch }}
+
+  #     - name: Install system dependencies
+  #       run: |
+  #         sudo apt-get update
+  #         sudo apt-get install -y \
+  #           libgl1-mesa-dev libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev \
+  #           ninja-build libboost-all-dev libgtest-dev libeigen3-dev \
+  #           clang-tidy clang
+
+  #     - name: Install MuJoCo
+  #       if: steps.cache-mujoco.outputs.cache-hit != 'true'
+  #       run: |
+  #         git clone https://github.com/deepmind/mujoco.git
+  #         cd mujoco && git checkout tags/3.3.2
+  #         cmake -S . -B build -DMUJOCO_BUILD_EXAMPLES=OFF -DMUJOCO_BUILD_SIMULATE=OFF -DMUJOCO_BUILD_TESTS=OFF -DBUILD_TESTING=OFF
+  #         sudo cmake --build build --target install -- -j$(nproc)
+
+  #     - name: Configure (export compile_commands.json)
+  #       env:
+  #         CC: clang
+  #         CXX: clang++
+  #       run: |
+  #         cmake -B build -S . \
+  #           -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+  #           -DCMAKE_BUILD_TYPE=Debug \
+  #           -DBUILD_TESTS=ON
+
+  #     - name: Determine changed files
+  #       id: changed
+  #       shell: bash
+  #       run: |
+  #         set -euo pipefail
+  #         if [[ "${{ github.event_name }}" == "pull_request" ]]; then
+  #           BASE="${{ github.event.pull_request.base.sha }}"
+  #           HEAD="${{ github.event.pull_request.head.sha }}"
+  #           git fetch --no-tags --depth=50 origin "$BASE" || true
+  #           FILES=$(git diff --name-only --diff-filter=AMR "$BASE" "$HEAD" \
+  #             -- '*.cpp' '*.cc' '*.cxx' '*.h' '*.hpp' | tr '\n' ' ')
+  #         else
+  #           FILES=$(git ls-files '*.cpp' '*.cc' '*.cxx' '*.h' '*.hpp' | tr '\n' ' ')
+  #         fi
+  #         echo "files=$FILES" >> "$GITHUB_OUTPUT"
+  #         echo "Changed files: $FILES"
+
+  #     - name: Run clang-tidy
+  #       if: steps.changed.outputs.files != ''
+  #       run: |
+  #         # Fall back to run-clang-tidy for multi-file parallel execution.
+  #         if command -v run-clang-tidy >/dev/null 2>&1; then
+  #           run-clang-tidy -p build -quiet ${{ steps.changed.outputs.files }}
+  #         else
+  #           for f in ${{ steps.changed.outputs.files }}; do
+  #             clang-tidy -p build "$f" || true
+  #           done
+  #         fi