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Upgrade python bindings to nanobind #469

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@arntanguy arntanguy commented Apr 17, 2025 •
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This PR is a work-in-progress on rewriting the current cython bindings using nanobind.

Why?

  • With the increasing use of reinforcement learning, python has to become a first-class citizen. In this space many things are at-best hard to achieve without python, and at worst nigh to impossible (e.g IsaacSim integration, pytorch, etc).
  • Current python bindings are incomplete and very hard to maintain. They were originally implemented with cython as at the time this seemed to be the best and most efficient option. Nowadays pybind11/nanobind easily fill that gap and fit much better with our C++ code base. The philosophy shifts from wrapping c++ from python, to generating python bindings from C++.
  • Current bindings rely on old versions of numpy which greatly hinders usability with modern learning frameworks
  • No documentation, no intellisense

Added niceties:

  • Strong typing and stub generation for intellisense (yes we can have nice completion and documentation directly in vscode/any modern editor)
  • Readthedoc/sphynx integration
  • Bindings available as a pip package

Status:

My priority is on getting the minimal set of bindings required for IsaacSim integration.

  • mc_rtc
    • Configuration: in progress
  • mc_rbdyn: high priority
    • Robot
    • RobotModule
  • mc_control
    • MCGlobalController
    • MCController
  • mc_tasks (Thomas)

@arntanguy arntanguy mentioned this pull request May 12, 2025
Merged
@arntanguy arntanguy self-assigned this Oct 17, 2025
arntanguy and others added 27 commits November 18, 2025 10:15
@arntanguy
ci(doc): install documentation
4052ad7
@arntanguy
ci(doc): build doc from correct mc_rtc source folder
d6b6c7a
@arntanguy
ci(doc): build doc from correct mc_rtc source folder
ccfa4b1
@arntanguy
ci: Build correct remote branch of mc_rtc
5c8baf6
@arntanguy
ci: get the repository name in pull requests
112b006
@antodld @arntanguy
[RobotMsh] fix wrong vector conversion for tau, alpha, and alphaD
0be641f
@pre-commit-ci @arntanguy
[pre-commit.ci] auto fixes from pre-commit.com hooks
cbb6eab 
for more information, see https://pre-commit.ci
@ThomasDuvinage @arntanguy
[cmake] upgrade min cmake version to match cmake4.0.0 requirements
b2f4968
@arntanguy
Revert "[cmake] upgrade min cmake version to match cmake4.0.0 require…
660c765 
…ments"

This reverts commit 065c1d2.
@arntanguy
Reapply "[cmake] upgrade min cmake version to match cmake4.0.0 requir…
616ab55 
…ements"

This reverts commit a8ef33f.
@arntanguy
chore: Update mc_rtc_new_fsm_controller according to cmake 4.0 requir…
90004a4 
…ements
@arntanguy
doc(tutorial): Better description on starting controllers with python3
6716aea
@arntanguy
bindings: Set up packaging
d55dd6b
@arntanguy
bindings: wip integration of mc_rtc::Configuration
719df24
@arntanguy
bindings: Generate stubs file for intellisense
58212fd
@arntanguy
Working lsp completion and clang format
32fbb33
@arntanguy
wip: add add
584481a
@arntanguy
bindings: use typelist to bind Configuration::add for most types
d9d6bb1
@arntanguy
binding: Fix stub generation
2deed93
@arntanguy
binding(mc_rtc): Bind add and get with typelist_visitor
8928267
@arntanguy
bindings(wip): bind most elements
2ddbe45
@arntanguy
bindings(mc_rtc::Configuration): support vector types
1c79832 
What about vector<vector>
@arntanguy
binding(mc_rtc::Configuration): Near feature-parity with former tests
548d5cc 
Convert cython's test to the new bindings
Unhandled cases are left as comments, old api as well for easy
comparison. To be removed before merging.
@arntanguy
bindings(mc_rbdyn): Setup mc_rbdyn submodule
6e23f2e
@arntanguy
bindings: Refactor to only include python files in generated module
9f524b5
@arntanguy
bindings(sphinx): setup documentation
e77fc89 
Not fully working on ubuntu 22.04 because we need sphinx>=8.2 which
requires python > 3.10. Sphinx < 8.2 cannot use pyi stub files for
documentations
@arntanguy
bindings: working sphinx autoapi documentation and modularize python …
1d68dfe 
…package
arntanguy and others added 20 commits November 18, 2025 10:15
@arntanguy
bindings(mc_rbdyn): Bind most of RobotModule and RobotLoader
47a158c
@arntanguy
bindings(mc_rbdyn): Bind RobotModule::Gripper and Mimic
c260ac3
@arntanguy
bindings(mc_rbdyn): Bind Collision and Flexibility
050f062
@arntanguy
bindings: support importing and using sva types
84c7451
@arntanguy
bindings(packaging): Import symbols into mc_rtc parent module
8813409 
This avoids the use of mc_rtc._mc_rtc
@arntanguy
bindings(sphinx): Cross-reference sva doc
1da759b
@arntanguy
bindings(mc_rbdyn): bind ForceSensor and ForceSensorCalibData
dbb3070
@arntanguy
wip(bindings): Start binding Robots/Robot
eb9b022
@arntanguy
wip(bindings): Temporary binding of loadRobot
26d4cfd
@arntanguy
bindings(mc_rbdyn): bind all Devices
5ad39b5
@arntanguy
bindings(mc_rbdyn/mc_control): Bind Grippers
62d4837
@arntanguy
bindings(mc_rbdyn): bind RobotData
2e5206a 
Make RobotData non-copyable but moveable (std::unique_ptr is
non-copyable)

Bind all members, but some should probably require careful consideration
if used on robots that are already in the controller (the same holds for
c++). To be seen if these bindings should be kept alltogether
@arntanguy
build(bindings): Setup build targets
e4c3e21
@arntanguy
build(mc_rtc): Make version.h depend on build targets instead of files
5f17294
@arntanguy
bindings(mc_rbdyn): bind RobotFrame
2306600
@arntanguy
build(bindings): Build sphinx documentation
0449a7e
@pre-commit-ci @arntanguy
[pre-commit.ci] auto fixes from pre-commit.com hooks
70f6e52 
for more information, see https://pre-commit.ci
@arntanguy
wip(bindings): add Robot bindings, untested
e7348d1
@arntanguy
doc(bindings): fix paths to python-venv in doc
3ee1249
@arntanguy
wip(bindings): Disable ForceSensorData and RobotData bindings
f3fa95b
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3 participants

@arntanguy @antodld @ThomasDuvinage