Merge pull request #157 from utn-mi/libranka-0.14.2-version-bump

Libfranka 0.14.2 version bump

Author: juelg

CMakeLists.txt

@@ -38,6 +38,8 @@ set(RL_BUILD_DEMOS OFF)
 set(RL_BUILD_RL_SG OFF)
 set(RL_BUILD_TESTS OFF)
 set(RL_BUILD_EXTRAS OFF)
+set(BUILD_PYTHON_INTERFACE OFF)
+set(BUILD_DOCUMENTATION OFF)
 
 option(INCLUDE_UTN_MODELS "Whether to include the private UTN models. Requires GITLAB_MODELS_TOKEN to be set to a valid token wit read_api permissions" OFF)
 
@@ -51,7 +53,7 @@ find_package(MuJoCo REQUIRED)
 FetchContent_Declare(
     libfranka
     GIT_REPOSITORY https://github.com/frankaemika/libfranka.git
-    GIT_TAG 0.13.3
+    GIT_TAG 0.14.2
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
 )

cmake/Findpinocchio.cmake

@@ -0,0 +1,45 @@
+if (NOT pinocchio_FOUND)
+    if (NOT Python3_FOUND)
+        set(pinocchio_FOUND FALSE)
+        if (pinocchio_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
+        endif()
+        return()
+    endif()
+
+    # Check if the include directory exists
+    cmake_path(APPEND Python3_SITELIB cmeel.prefix include OUTPUT_VARIABLE pinocchio_INCLUDE_DIRS)
+    if (NOT EXISTS ${pinocchio_INCLUDE_DIRS})
+        set(pinocchio_FOUND FALSE)
+        if (pinocchio_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
+        endif()
+        return()
+    endif()
+
+    # Check if the library file exists
+    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio.so OUTPUT_VARIABLE pinocchio_library_path)
+    if (NOT EXISTS ${pinocchio_library_path})
+        set(pinocchio_FOUND FALSE)
+        if (pinocchio_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
+        endif()
+        return()
+    endif()
+
+    # Extract version from the library filename
+    file(GLOB pinocchio_dist_info "${Python3_SITELIB}/pin-*.dist-info")
+    cmake_path(GET pinocchio_dist_info FILENAME pinocchio_library_filename)
+    string(REPLACE "pin-" "" pinocchio_VERSION "${pinocchio_library_filename}")
+    string(REPLACE ".dist-info" "" pinocchio_VERSION "${pinocchio_VERSION}")
+
+    # Create the imported target
+    add_library(pinocchio::pinocchio SHARED IMPORTED)
+    target_include_directories(pinocchio::pinocchio INTERFACE ${pinocchio_INCLUDE_DIRS})
+    set_target_properties(
+        pinocchio::pinocchio
+        PROPERTIES
+        IMPORTED_LOCATION "${pinocchio_library_path}"
+    )
+    set(pinocchio_FOUND TRUE)
+endif()

pyproject.toml

@@ -8,7 +8,7 @@ version = "0.3.1"
 description="Python Interface for libfranka to control the Franka Research 3 Robot"
 dependencies = ["websockets>=11.0",
     "requests~=2.31",
-    "numpy==2.0",
+    "numpy",
     "typer~=0.9",
     "pydantic~=2.6",
     "gymnasium~=0.29.1",
@@ -23,7 +23,9 @@ dependencies = ["websockets>=11.0",
     "python-dotenv==1.0.1",
     "opencv-python~=4.10.0.84",
     # NOTE: when changing the mujoco version, also change it in requirements_dev.txt
-    "mujoco==3.2.6"
+    "mujoco==3.2.6",
+    # NOTE: Same for pinocchio (pin)
+    "pin==2.7.0"
 ]
 readme = "README.md"
 maintainers = [

python/rcsss/control/vive.py

@@ -130,7 +130,7 @@ def run(self):
                             )
 
                             # Compute angle around z axis: https://stackoverflow.com/questions/21483999/using-atan2-to-find-angle-between-two-vectors
-                            rot_z = np.atan2(x_axis_rot.translation()[1], x_axis_rot.translation()[0]) - np.atan2(
+                            rot_z = np.arctan2(x_axis_rot.translation()[1], x_axis_rot.translation()[0]) - np.arctan2(
                                 x_axis.translation()[1], x_axis.translation()[0]
                             )
                             rot_z -= np.pi / 2

requirements_dev.txt

@@ -10,4 +10,5 @@ commitizen~=3.28.0
 scikit-build-core>=0.3.3
 pybind11
 mujoco==3.2.6
+pin==2.7.0
 wheel

src/pybind/CMakeLists.txt

@@ -6,4 +6,8 @@ set_target_properties(_core PROPERTIES
     INSTALL_RPATH "$ORIGIN;$ORIGIN/../mujoco"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
+set_target_properties(franka PROPERTIES
+    INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"
+    INTERPROCEDURAL_OPTIMIZATION TRUE
+)
 install(TARGETS _core franka DESTINATION rcsss COMPONENT python_package)