panda-python 0.5.0__tar.gz → 0.5.2__tar.gz

panda-python-0.5.2/.github/workflows/docs.yml

@@ -0,0 +1,32 @@
+name: Build and deploy documentation
+
+on:
+  push:
+    branches: [main]
+
+permissions:
+  contents: write
+  id-token: write
+  pages: write
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install prerequisites
+        run: ./bin/before_install_ubuntu.sh
+      - name: Build wheel
+        run: pip install .[docs]
+      - name: Build documentation
+        run: cd docs && make html
+      - name: Setup Pages
+        uses: actions/configure-pages@v3
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v2
+        with:
+          path: ./docs/_build/html
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v2

panda-python-0.5.2/.github/workflows/release.yml

@@ -0,0 +1,99 @@
+name: Build and deploy all variants
+
+on:
+  release:
+    types: [published]
+
+env:
+  VERSION: 0.5.2
+
+permissions: write-all
+
+jobs:
+  build_wheels:
+    name: Build all wheels with cibuildwheel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.12.0
+      - name: Build all wheels
+        run: ./bin/build_all.sh
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./dist/*.whl
+          name: dist
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./archive/*.zip
+          name: archive
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Build sdist
+        run: pipx run build --sdist
+      - uses: actions/upload-artifact@v3
+        with:
+          path: dist/*.tar.gz
+          name: dist
+
+  upload_pypi:
+    name: "Upload wheels to pypi"
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          name: dist
+          path: dist
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+
+  upload_assets:
+    name: "Upload release assets"
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          name: archive
+          path: archive
+      - uses: actions/upload-release-asset@v1
+        with:
+          upload_url: ${{ github.event.release.upload_url }}
+          asset_path: ./archive/panda_py_${{ env.VERSION }}_libfranka_0.7.1.zip
+          asset_name: panda_py_${{ env.VERSION }}_libfranka_0.7.1.zip
+          asset_content_type: application/zip
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: actions/upload-release-asset@v1
+        with:
+          upload_url: ${{ github.event.release.upload_url }}
+          asset_path: ./archive/panda_py_${{ env.VERSION }}_libfranka_0.8.0.zip
+          asset_name: panda_py_${{ env.VERSION }}_libfranka_0.8.0.zip
+          asset_content_type: application/zip
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: actions/upload-release-asset@v1
+        with:
+          upload_url: ${{ github.event.release.upload_url }}
+          asset_path: ./archive/panda_py_${{ env.VERSION }}_libfranka_0.9.2.zip
+          asset_name: panda_py_${{ env.VERSION }}_libfranka_0.9.2.zip
+          asset_content_type: application/zip
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: actions/upload-release-asset@v1
+        with:
+          upload_url: ${{ github.event.release.upload_url }}
+          asset_path: ./archive/panda_py_${{ env.VERSION }}_libfranka_0.10.0.zip
+          asset_name: panda_py_${{ env.VERSION }}_libfranka_0.10.0.zip
+          asset_content_type: application/zip
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

panda-python-0.5.2/.github/workflows/test.yml

@@ -0,0 +1,15 @@
+name: Build and test
+
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install prerequisites
+        run: ./bin/before_install_ubuntu.sh
+      - name: Build wheel
+        run: pip install .

panda-python-0.5.2/.github/workflows/test_all.yml

@@ -0,0 +1,16 @@
+name: Build and test all variants
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Build all wheels with cibuildwheel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.12.0
+      - name: Build all wheels
+        run: ./bin/build_all.sh

{panda-python-0.5.0 → panda-python-0.5.2}/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15...3.25)
 project(
-  "${SKBUILD_PROJECT_NAME}"
+  "panda_py"
   LANGUAGES CXX)
 #  VERSION "${SKBUILD_PROJECT_VERSION}")
 
@@ -48,7 +48,7 @@ target_include_directories(_core SYSTEM PUBLIC
 #target_compile_definitions(_core
 #  PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
-install(TARGETS _core LIBRARY DESTINATION ${SKBUILD_PROJECT_NAME})
+install(TARGETS _core LIBRARY DESTINATION panda_py)
 
 ## libfranka module
 pybind11_add_module(libfranka
@@ -65,4 +65,4 @@ target_include_directories(libfranka SYSTEM PUBLIC
 #target_compile_definitions(libfranka
 #  PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
-install(TARGETS libfranka LIBRARY DESTINATION ${SKBUILD_PROJECT_NAME})
+install(TARGETS libfranka LIBRARY DESTINATION panda_py)

{panda-python-0.5.0 → panda-python-0.5.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: panda-python
-Version: 0.5.0
+Version: 0.5.2
 Summary: Python bindings for the Panda
 Keywords: python real-time control robot franka emika
 Author-Email: Jean Elsner <jean.elsner@tum.de>
@@ -223,21 +223,62 @@ Requires-Dist: matplotlib; extra == "examples"
 Requires-Dist: spatialmath; extra == "examples"
 Requires-Dist: ansitable; extra == "examples"
 Requires-Dist: qpsolvers; extra == "examples"
+Requires-Dist: furo; extra == "docs"
+Requires-Dist: sphinx-reredirects; extra == "docs"
+Requires-Dist: sphinx; extra == "docs"
 Provides-Extra: examples
+Provides-Extra: docs
 Description-Content-Type: text/markdown
 
 # panda-py
-![logo](logo.jpg)
+
+> **Info**
+>
+> Please consider this a work in progress. Documentation, continuous integration pipeline and a companion paper are currently being prepared.
+
+![logo](https://github.com/JeanElsner/panda-py/blob/main/logo.jpg?raw=true)
 
 [![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/build.yml)](https://github.com/JeanElsner/panda-py/actions/workflows/build.yml)
 [![GitHub](https://img.shields.io/github/license/JeanElsner/panda-py)](https://www.apache.org/licenses/LICENSE-2.0)
-[![PyPI](https://img.shields.io/pypi/v/panda-py)](https://pypi.org/project/panda-python/)
+[![PyPI](https://img.shields.io/pypi/v/panda-python)](https://pypi.org/project/panda-python/)
 ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/panda-python)
+[![Documentation](https://shields.io/badge/-Documentation-informational)](https://jeanelsner.github.io/panda-py/)
 
 Finally, Python bindings for the Panda. These will increase your productivity by 1000%, guaranteed[^1]!
 
-> **Info**
->
-> Please consider this a work in progress. Documentation, continuous integration pipeline and a companion paper are currently being prepared.
+## Getting started
+
+
+
+## Install
+
+```
+pip install panda-python
+```
+
+This will install panda-py and all its requirements. The pip version ships with libfranka 0.9.2, the newest version for the Franka Emika Robot. Please refer to the section below if you use an older system version or the more recent Franka Research 3 robot. 
+
+## libfranka Version
+
+There are currently two robot models available from Franka Emika: the Franka Emika Robot (FER, formerly known as Panda) and the Franka Research 3 (FR3). Depending on the installed firmware, the FER supports version <=0.9 while the FR3 requires version >=0.10. For details, refer to [this](https://frankaemika.github.io/docs/compatibility.html) compatibility matrix. If you need a libfranka version different from the default 0.9.2, download the respective zip archive from the [release page](https://github.com/JeanElsner/panda-py/releases). Extract the archive and install the wheel for your Python version with pip, e.g., run
+```
+pip install panda_python-*libfranka.0.7.1-cp310*.whl
+```
+to install the binary wheel for libfranka 0.7.1 and Python 3.10.
+
+# Citation
+
+If you use panda-py in published research, please consider citing the [companion paper](https://arxiv.org/abs/2307.07633).
+
+```
+@misc{elsner2023taming,
+      title={Taming the Panda with Python: A Powerful Duo for Seamless Robotics Programming and Integration}, 
+      author={Jean Elsner},
+      year={2023},
+      eprint={2307.07633},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
+}
+```
 
 [^1]: Not actually guaranteed. Based on a sample size of one.

panda-python-0.5.2/README.md

@@ -0,0 +1,52 @@
+# panda-py
+
+> **Info**
+>
+> Please consider this a work in progress. Documentation, continuous integration pipeline and a companion paper are currently being prepared.
+
+![logo](https://github.com/JeanElsner/panda-py/blob/main/logo.jpg?raw=true)
+
+[![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/build.yml)](https://github.com/JeanElsner/panda-py/actions/workflows/build.yml)
+[![GitHub](https://img.shields.io/github/license/JeanElsner/panda-py)](https://www.apache.org/licenses/LICENSE-2.0)
+[![PyPI](https://img.shields.io/pypi/v/panda-python)](https://pypi.org/project/panda-python/)
+![PyPI - Python Version](https://img.shields.io/pypi/pyversions/panda-python)
+[![Documentation](https://shields.io/badge/-Documentation-informational)](https://jeanelsner.github.io/panda-py/)
+
+Finally, Python bindings for the Panda. These will increase your productivity by 1000%, guaranteed[^1]!
+
+## Getting started
+
+
+
+## Install
+
+```
+pip install panda-python
+```
+
+This will install panda-py and all its requirements. The pip version ships with libfranka 0.9.2, the newest version for the Franka Emika Robot. Please refer to the section below if you use an older system version or the more recent Franka Research 3 robot. 
+
+## libfranka Version
+
+There are currently two robot models available from Franka Emika: the Franka Emika Robot (FER, formerly known as Panda) and the Franka Research 3 (FR3). Depending on the installed firmware, the FER supports version <=0.9 while the FR3 requires version >=0.10. For details, refer to [this](https://frankaemika.github.io/docs/compatibility.html) compatibility matrix. If you need a libfranka version different from the default 0.9.2, download the respective zip archive from the [release page](https://github.com/JeanElsner/panda-py/releases). Extract the archive and install the wheel for your Python version with pip, e.g., run
+```
+pip install panda_python-*libfranka.0.7.1-cp310*.whl
+```
+to install the binary wheel for libfranka 0.7.1 and Python 3.10.
+
+# Citation
+
+If you use panda-py in published research, please consider citing the [companion paper](https://arxiv.org/abs/2307.07633).
+
+```
+@misc{elsner2023taming,
+      title={Taming the Panda with Python: A Powerful Duo for Seamless Robotics Programming and Integration}, 
+      author={Jean Elsner},
+      year={2023},
+      eprint={2307.07633},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
+}
+```
+
+[^1]: Not actually guaranteed. Based on a sample size of one.

panda-python-0.5.2/bin/before_install_ubuntu.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+sudo apt install build-essential cmake git libpoco-dev libeigen3-dev
+
+# For legacy versions, use my patched repository
+repo="https://github.com/frankaemika/libfranka.git"
+if [[ "$LIBFRANKA_VER" == "0.7.1" || "$LIBFRANKA_VER" == "0.8.0" ]]; then
+  repo="https://github.com/JeanElsner/libfranka.git"
+fi
+
+sudo apt remove "*libfranka*"
+git clone --recursive $repo
+cd libfranka
+git checkout $LIBFRANKA_VER
+git submodule update
+mkdir build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
+cmake --build .
+cpack -G DEB
+sudo dpkg -i libfranka*.deb

{panda-python-0.5.0 → panda-python-0.5.2}/bin/build_all.sh

@@ -36,13 +36,17 @@ with open('$toml', 'w') as f:
 END
 }
 
+mkdir $root/archive
+
 # Build wheels for common libfranka versions
 libfranka=("0.7.1" "0.8.0" "0.9.2" "0.10.0")
 for value in "${libfranka[@]}"; do
   echo "Changing libfranka version in pyproject.toml to: $value"
   change_version "$version+libfranka-$value" "LIBFRANKA_VER=$value"
   export LIBFRANKA_VER=$value
-  python -m cibuildwheel --output-dir $root/wheelhouse $root
+  archive=panda_py_${version}_libfranka_${value}
+  python -m cibuildwheel --output-dir $root/$archive $root
+  zip -j $root/archive/$archive.zip $root/$archive/*.whl
 done
 
 # Change back to default version

{panda-python-0.5.0 → panda-python-0.5.2}/docs/conf.py

@@ -9,7 +9,7 @@
 project = 'panda-py'
 copyright = '2023, Jean Elsner'
 author = 'Jean Elsner'
-release = '0.5.0'
+release = '0.5.2'
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration

{panda-python-0.5.0 → panda-python-0.5.2}/pyproject.toml

@@ -7,7 +7,7 @@ name = "panda-python"
 description = "Python bindings for the Panda"
 requires-python = ">=3.7"
 dependencies = ["websockets>=11.0", "requests", "numpy"]
-version = "0.5.0"
+version = "0.5.2"
 authors = [
     { name = "Jean Elsner", email = "jean.elsner@tum.de" },
 ]
@@ -34,6 +34,11 @@ examples = [
     "ansitable",
     "qpsolvers",
 ]
+docs = [
+    "furo",
+    "sphinx-reredirects",
+    "sphinx",
+]
 
 [project.scripts]
 panda-lock = "panda_py.cli:lock"
@@ -47,11 +52,11 @@ skip = [ "pp*", "*musllinux*",]
 environment = "LIBFRANKA_VER=0.9.2"
 
 [tool.cibuildwheel.linux]
-before-all = [ "./bin/before_install.sh",]
+before-all = [ "./bin/before_install_centos.sh",]
 archs = [ "x86_64",]
 
 [tool.scikit-build.cmake]
 build-type = "Release"
 
-[tool.scikit-build.sdist]
-include = [ "src/**/*.pyi",]
+[tool.scikit-build.wheel]
+packages = ["src/panda_py"]

{panda-python-0.5.0 → panda-python-0.5.2}/src/panda_py/__init__.py

@@ -3,7 +3,7 @@ Introduction
 ------------
 
 panda-py is a Python library for the Franka Emika Robot System
-that allows you to program and control the robot in Python.
+that allows you to program and control the robot in real-time.
 
 
 """

{panda-python-0.5.0 → panda-python-0.5.2}/src/panda_py/_core/__init__.pyi

@@ -193,6 +193,11 @@ class Panda():
         """
         :type: str
         """
+    @property
+    def q(self) -> numpy.ndarray[numpy.float64, _Shape[7, 1]]:
+        """
+        :type: numpy.ndarray[numpy.float64, _Shape[7, 1]]
+        """
     pass
 class PandaContext():
     def __enter__(self) -> PandaContext: ...

panda-python-0.5.0/.github/workflows/build.yml

@@ -1,82 +0,0 @@
-name: build
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
-  release:
-    types: [published]
-
-jobs:
-  build_wheels:
-    name: Build wheels on ubuntu-latest
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - uses: actions/setup-python@v3
-      - name: Install cibuildwheel
-        run: python -m pip install cibuildwheel==2.12.0
-      - name: Build wheels
-        run: ./bin/build_all.sh
-      - uses: actions/upload-artifact@v3
-        with:
-          path: ./wheelhouse/*.whl
-          name: wheelhouse
-      - uses: actions/upload-artifact@v3
-        with:
-          path: ./dist/*.whl
-          name: dist
-
-  build_sdist:
-    name: Build source distribution
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - uses: actions/setup-python@v3
-      - name: Build sdist
-        run: pipx run build --sdist
-      - uses: actions/upload-artifact@v3
-        with:
-          path: dist/*.tar.gz
-          name: dist
-
-  upload_pypi:
-    needs: [build_wheels, build_sdist]
-    runs-on: ubuntu-latest
-    if: github.event_name == 'release' && github.event.action == 'published'
-    steps:
-      - uses: actions/download-artifact@v3
-        with:
-          name: dist
-          path: dist
-      - uses: pypa/gh-action-pypi-publish@v1.5.0
-        with:
-          user: __token__
-          password: ${{ secrets.PYPI_API_TOKEN }}
-
-
-      - uses: actions/download-artifact@v3
-        with:
-          name: wheelhouse
-          path: wheelhouse
-
-      - name: Upload assets
-        id: upload_assets
-        uses: actions/upload-release-asset@v1
-        with:
-          upload_url: ${{ github.event.release.upload_url }}
-          asset_path: ./wheelhouse/*.whl
-          asset_name: ${{ env.UPLOAD_FILE_NAME }}
-
-      - name: Set file name for each asset
-        id: set_file_name
-        run: |
-          echo "::set-env name=UPLOAD_FILE_NAME::$(basename ${{ steps.upload_assets.outputs.asset_path }})"
-
-      - name: List uploaded assets
-        run: |
-          echo "Uploaded assets: ${{ steps.upload_assets.outputs.asset_path }}"

panda-python-0.5.0/README.md

@@ -1,15 +0,0 @@
-# panda-py
-![logo](logo.jpg)
-
-[![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/build.yml)](https://github.com/JeanElsner/panda-py/actions/workflows/build.yml)
-[![GitHub](https://img.shields.io/github/license/JeanElsner/panda-py)](https://www.apache.org/licenses/LICENSE-2.0)
-[![PyPI](https://img.shields.io/pypi/v/panda-py)](https://pypi.org/project/panda-python/)
-![PyPI - Python Version](https://img.shields.io/pypi/pyversions/panda-python)
-
-Finally, Python bindings for the Panda. These will increase your productivity by 1000%, guaranteed[^1]!
-
-> **Info**
->
-> Please consider this a work in progress. Documentation, continuous integration pipeline and a companion paper are currently being prepared.
-
-[^1]: Not actually guaranteed. Based on a sample size of one.