panda-python 0.7.0__tar.gz → 0.7.1__tar.gz

panda_python-0.7.1/.github/workflows/main.yml

@@ -0,0 +1,49 @@
+name: Check commit
+
+permissions:
+  contents: write
+  id-token: write
+  pages: write
+
+on:
+  push:
+    branches: ["main"]
+
+jobs:
+  build_wheels:
+    name: Build wheels for libfranka ${{ matrix.libfranka-version }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.10.0", "0.11.0", "0.12.1", "0.13.2"]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.16.2
+      - name: Build using cibuildwheel
+        run: ./bin/build.sh "${{ matrix.libfranka-version }}"
+  documentation:
+    name: "Build and deploy documentation"
+    needs: [build_wheels]
+    runs-on: ubuntu-latest
+    env:
+      LIBFRANKA_VER: "0.9.2"
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install requirements
+        run: ./bin/before_install_ubuntu.sh
+      - name: Build package
+        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-0.7.1/.github/workflows/pull_request.yml

@@ -0,0 +1,19 @@
+name: Check pull request
+
+on:
+  pull_request:
+
+jobs:
+  build_wheels:
+    name: Build wheels for libfranka ${{ matrix.libfranka-version }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.10.0", "0.11.0", "0.12.1", "0.13.2"]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.16.2
+      - name: Build using cibuildwheel
+        run: ./bin/build.sh "${{ matrix.libfranka-version }}"

panda_python-0.7.1/.github/workflows/release.yml

@@ -0,0 +1,68 @@
+name: Release
+
+on:
+  release:
+    types: [published]
+
+env:
+  VERSION: 0.7.1
+
+permissions: write-all
+
+jobs:
+  build_wheels:
+    name: Build wheels for libfranka ${{ matrix.libfranka-version }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.10.0", "0.11.0", "0.12.1", "0.13.2"]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.16.2
+      - name: Build using cibuildwheel
+        run: ./bin/build.sh "${{ matrix.libfranka-version }}"
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./archive/panda_py_${{ env.VERSION }}_libfranka_${{ matrix.libfranka-version }}.zip
+          name: zip-${{ matrix.libfranka-version }}
+  upload_pypi:
+    name: "Upload wheels to pypi"
+    needs: [build_wheels]
+    runs-on: ubuntu-latest
+    env:
+      LIBFRANKA_VER: "0.9.2"
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Install requirements
+        run: |
+          ./bin/before_install_ubuntu.sh
+          python -m pip install build
+      - name: Build package
+        run: python -m build .
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+  upload_assets:
+    name: "Upload libfranka ${{ matrix.libfranka-version }} release assets"
+    needs: [build_wheels]
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        libfranka-version: ["0.7.1", "0.8.0", "0.9.2", "0.10.0", "0.11.0", "0.12.1", "0.13.2"]
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          name: zip-${{ matrix.libfranka-version }}
+          path: archive
+      - uses: actions/upload-release-asset@v1
+        with:
+          upload_url: ${{ github.event.release.upload_url }}
+          asset_path: ./archive/panda_py_${{ env.VERSION }}_libfranka_${{ matrix.libfranka-version }}.zip
+          asset_name: panda_py_${{ env.VERSION }}_libfranka_${{ matrix.libfranka-version }}.zip
+          asset_content_type: application/zip
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

{panda_python-0.7.0 → panda_python-0.7.1}/CMakeLists.txt

@@ -8,6 +8,11 @@ set (CMAKE_CXX_STANDARD 17)
 set(CMAKE_BUILD_TYPE "Release")
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 
+option(VACUUM_GRIPPER OFF)
+if (VACUUM_GRIPPER)
+  add_definitions(-DVACUUM_GRIPPER=${VACUUM_GRIPPER})
+endif()
+
 find_package(Eigen3 REQUIRED)
 find_package(Threads REQUIRED)
 find_package(Franka REQUIRED)

{panda_python-0.7.0 → panda_python-0.7.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: panda-python
-Version: 0.7.0
+Version: 0.7.1
 Summary: Python bindings for the Panda robot
 Keywords: python real-time control robot franka emika
 Author-Email: Jean Elsner <jean.elsner@tum.de>
@@ -235,7 +235,7 @@ Description-Content-Type: text/markdown
 <h1 align="center">panda-py</h1>
 
 <p align="center">
-  <a href="https://github.com/JeanElsner/panda-py/actions/workflows/test.yml"><img alt="Continuous Integration" src="https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/test.yml" /></a>
+  <a href="https://github.com/JeanElsner/panda-py/actions/workflows/main.yml"><img alt="Continuous Integration" src="https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/main.yml" /></a>
   <a href="https://github.com/JeanElsner/panda-py/blob/main/LICENSE"><img alt="Apache-2.0 License" src="https://img.shields.io/github/license/JeanElsner/panda-py" /></a>
   <a href="https://pypi.org/project/panda-python/"><img alt="PyPI - Published Version" src="https://img.shields.io/pypi/v/panda-python"></a>
   <img alt="PyPI - Python Version" src="https://img.shields.io/pypi/pyversions/panda-python">

{panda_python-0.7.0 → panda_python-0.7.1}/README.md

@@ -3,7 +3,7 @@
 <h1 align="center">panda-py</h1>
 
 <p align="center">
-  <a href="https://github.com/JeanElsner/panda-py/actions/workflows/test.yml"><img alt="Continuous Integration" src="https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/test.yml" /></a>
+  <a href="https://github.com/JeanElsner/panda-py/actions/workflows/main.yml"><img alt="Continuous Integration" src="https://img.shields.io/github/actions/workflow/status/JeanElsner/panda-py/main.yml" /></a>
   <a href="https://github.com/JeanElsner/panda-py/blob/main/LICENSE"><img alt="Apache-2.0 License" src="https://img.shields.io/github/license/JeanElsner/panda-py" /></a>
   <a href="https://pypi.org/project/panda-python/"><img alt="PyPI - Published Version" src="https://img.shields.io/pypi/v/panda-python"></a>
   <img alt="PyPI - Python Version" src="https://img.shields.io/pypi/pyversions/panda-python">

panda_python-0.7.1/bin/build.sh

@@ -0,0 +1,65 @@
+#!/bin/bash
+
+# Check if the libfranka version is provided as an argument
+if [ -z "$1" ]; then
+    echo "Usage: $0 <libfranka_version>"
+    exit 1
+fi
+
+# Install Python dependencies
+python -m pip install packaging toml cibuildwheel
+
+# Set pyproject.toml path
+root=$(dirname $0)/..
+toml="$root/pyproject.toml"
+
+# Store current version
+version=$(python <<END
+from packaging.version import parse
+import toml
+with open('$toml', 'r') as f:
+    data = toml.load(f)
+    version = parse(data['project']['version'])
+print(f'{version.major}.{version.minor}.{version.micro}')
+END
+)
+
+# Print the version
+echo "Current version is $version"
+
+change_version() {
+  local pandapy_version="$version+libfranka-$1"
+  local libfranka_version="LIBFRANKA_VER=$1"
+  local vacuum_gripper="ON"
+
+  if [[ "$1" == "0.7.1" ]]; then
+    vacuum_gripper="OFF"
+  fi
+  echo "VACUUM_GRIPPER: $vacuum_gripper"
+  python <<END
+import toml
+
+with open('$toml', 'r') as f:
+    data = toml.load(f)
+
+data['project']['version'] = '$pandapy_version'
+data['tool']['cibuildwheel']['environment'] = '$libfranka_version'
+data['tool']['scikit-build']['cmake']['define']['VACUUM_GRIPPER'] = '$vacuum_gripper'
+
+with open('$toml', 'w') as f:
+    toml.dump(data, f)
+END
+}
+
+mkdir $root/archive
+
+# Call the change_version function with the provided libfranka version
+libfranka_version="$1"
+echo "Changing libfranka version in pyproject.toml to: $libfranka_version"
+change_version "$libfranka_version"
+archive=panda_py_${version}_libfranka_${libfranka_version}
+python -m cibuildwheel --output-dir $root/archive/$archive $root
+zip -j $root/archive/$archive.zip $root/archive/$archive/*.whl
+
+# Change back to default version
+change_version $version

{panda_python-0.7.0 → panda_python-0.7.1}/docs/conf.py

@@ -9,7 +9,7 @@
 project = 'panda-py'
 copyright = '2023, Jean Elsner'
 author = 'Jean Elsner'
-release = '0.7.0'
+release = '0.7.1'
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration

panda_python-0.7.1/libfranka/.ci/Dockerfile.bionic

@@ -0,0 +1,18 @@
+FROM ubuntu:18.04
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    clang-6.0 \
+    clang-format-6.0 \
+    clang-tidy-6.0 \
+    cmake \
+    doxygen \
+    graphviz \
+    lcov \
+    libeigen3-dev \
+    libpoco-dev \
+    rename \
+    valgrind \
+    lsb-release \
+    dpkg \
+    git \
+    && rm -rf /var/lib/apt/lists/*

panda_python-0.7.1/libfranka/.ci/Dockerfile.focal

@@ -0,0 +1,19 @@
+FROM ubuntu:20.04
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    clang-6.0 \
+    clang-format-6.0 \
+    clang-tidy-6.0 \
+    cmake \
+    doxygen \
+    graphviz \
+    lcov \
+    libeigen3-dev \
+    libpoco-dev \
+    rename \
+    valgrind \
+    lsb-release \
+    dpkg \
+    git \
+    && rm -rf /var/lib/apt/lists/*

panda_python-0.7.1/libfranka/.ci/checkgithistory.sh

@@ -0,0 +1,35 @@
+#!/bin/sh
+# the script checks if the public repo and the local repo commit history are sync, otherwise it fails
+set -e
+
+PUBLIC_URL=$1
+BRANCH=${2:-master}   # if no second arg supplied, then "master" is used
+
+if [ $# -lt 1 ]; then
+    >&2 echo "Not enough argument supplied. Usage: checkgithistory.sh PUBLIC_URL [BRANCH]"
+    exit 1
+fi
+
+if [ ! -d ".git/" ] ; then
+    echo "Current directory `pwd` does not appear to be a Git repository. Change directory before calling this script"
+    exit 1
+fi
+
+public_remote_name=$(git remote -v | grep ${PUBLIC_URL} | head -n 1 | sed -e 's/\s.*$//')
+
+if [ -z "$public_remote_name" ]; then
+    public_remote_name="public"
+    git remote add $public_remote_name $PUBLIC_URL
+fi
+
+git fetch $public_remote_name
+
+local_commit_hash=$(git rev-parse origin/${BRANCH})
+public_commit_hash=$(git rev-parse ${public_remote_name}/${BRANCH})
+
+if [ "$local_commit_hash" != "$public_commit_hash" ]; then
+    >&2 echo "Local and public commit hashes do not match. Please update local to the latest public commit"
+    exit 1
+else
+    echo "Local and public commit hashes do match."
+fi

panda_python-0.7.1/libfranka/.ci/coverage.sh

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -rf build-coverage
+mkdir build-coverage
+cd build-coverage
+cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_COVERAGE=ON -DBUILD_DOCUMENTATION=OFF \
+      -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=ON ..
+cmake --build .
+cmake --build . --target coverage

panda_python-0.7.1/libfranka/.ci/debug.sh

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -rf build-debug
+mkdir build-debug
+cd build-debug
+cmake -DCMAKE_BUILD_TYPE=Debug -DSTRICT=ON -DBUILD_COVERAGE=OFF -DBUILD_DOCUMENTATION=OFF \
+      -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+cmake --build .
+ctest -V

panda_python-0.7.1/libfranka/.ci/libonly.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -rf build-libonly
+mkdir build-libonly
+cd build-libonly
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_COVERAGE=OFF -DBUILD_DOCUMENTATION=OFF \
+      -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF ..
+cmake --build .

panda_python-0.7.1/libfranka/.ci/lint.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -rf build-lint
+mkdir build-lint
+cd build-lint
+cmake -DBUILD_COVERAGE=OFF -DBUILD_DOCUMENTATION=OFF -DBUILD_EXAMPLES=ON -DBUILD_TESTS=OFF ..
+cmake --build . --target check-format
+cmake --build . --target check-tidy

panda_python-0.7.1/libfranka/.ci/release.sh

@@ -0,0 +1,20 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -rf build-release
+mkdir build-release
+cd build-release
+cmake -DCMAKE_BUILD_TYPE=Release -DSTRICT=ON -DBUILD_COVERAGE=OFF -DBUILD_DOCUMENTATION=ON \
+      -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+cmake --build .
+ctest -V
+cpack
+
+cd ..
+rm -rf build-examples
+mkdir build-examples
+cd build-examples
+cmake -DFranka_DIR:PATH=../build-release ../examples
+cmake --build .

panda_python-0.7.1/libfranka/.clang-format

@@ -0,0 +1,4 @@
+BasedOnStyle: Chromium
+Standard: Cpp11
+SortIncludes: true
+ColumnLimit: 100

panda_python-0.7.1/libfranka/.clang-tidy

@@ -0,0 +1,60 @@
+Checks: 'clang-diagnostic-*,clang-analyzer-*,-clang-analyzer-alpha*,google-*,misc-*,readability-*,modernize-*,performance-*,cppcoreguidelines-*,-cppcoreguidelines-pro-type-reinterpret-cast,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-cppcoreguidelines-pro-bounds-constant-array-index,-google-explicit-constructor,-google-runtime-references,-cppcoreguidelines-pro-type-member-init,-cppcoreguidelines-special-member-functions'
+HeaderFilterRegex: '^.*(src|include/franka).*$'
+CheckOptions:
+# Classes, structs, ...
+  - key:    readability-identifier-naming.NamespaceCase
+    value:  lower_case
+  - 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.UnionCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.TypedefCase
+    value:  CamelCase
+
+# Variables, member variables, ...
+  - key:    readability-identifier-naming.ParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.VariableCase
+    value:  lower_case
+  - key:    readability-identifier-naming.MemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PublicMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ProtectedMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PrivateMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PrivateMemberSuffix
+    value:  _
+
+# Functions, methods, ...
+  - key:    readability-identifier-naming.FunctionCase
+    value:  camelBack
+  - key:    readability-identifier-naming.MethodCase
+    value:  camelBack
+
+# Constants
+  - key:    readability-identifier-naming.ConstantPrefix
+    value:  k
+  - key:    readability-identifier-naming.ConstantCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.ConstantMemberPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstantParameterPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.LocalConstantParameterPrefix
+    value:  ''
+  - key:    readability-identifier-naming.LocalConstantCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstexprVariablePrefix
+    value:  k
+  - key:    readability-identifier-naming.ConstexprVariableCase
+    value:  CamelCase

panda_python-0.7.1/libfranka/.gitignore

@@ -0,0 +1,7 @@
+build*/
+cmake-build-*/
+/3rdparty/*
+.vs*/
+install*/
+*.user
+.cache

panda_python-0.7.1/libfranka/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "common"]
+	path = common
+	url = https://github.com/frankaemika/libfranka-common.git

panda_python-0.7.1/libfranka/.travis.yml

@@ -0,0 +1,48 @@
+sudo: required
+language: none
+
+services:
+  - docker
+
+matrix:
+  include:
+    - env: CI_DISTRO=bionic CI_TARGET=debug
+    - env: CI_DISTRO=focal CI_TARGET=debug
+
+    - env: CI_DISTRO=bionic CI_TARGET=release
+    - env: CI_DISTRO=focal CI_TARGET=release
+      after_success: touch build-release/doc/html/.nojekyll
+      deploy:
+        provider: pages
+        skip_cleanup: true
+        github_token: $GITHUB_TOKEN
+        local_dir: build-release/doc/html
+        on:
+          branch: master
+    - env: CI_DISTRO=focal CI_TARGET=release
+
+    - env: CI_DISTRO=focal CI_TARGET=coverage
+      after_success: bash <(curl -s https://codecov.io/bash) -g "*/test/*"
+
+    - env: CI_DISTRO=bionic CI_TARGET=lint
+    - env: CI_DISTRO=focal CI_TARGET=lint
+
+before_install:
+  - sudo apt-get update
+
+install:
+  - sudo apt-get install -y bash curl
+
+before_script:
+  - docker build
+    -t worker
+    -f $TRAVIS_BUILD_DIR/.ci/Dockerfile.$CI_DISTRO
+    $TRAVIS_BUILD_DIR/.ci
+
+script:
+  - docker run
+    --cap-add SYS_PTRACE
+    -u "$(id -u):$(id -g)"
+    -w /workspace
+    -v $TRAVIS_BUILD_DIR:/workspace
+    worker .ci/$CI_TARGET.sh