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JafarAbdiJafarAbdi
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Initial pixi support (#32)
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‎.clangd‎

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CompileFlags:
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CompilationDatabase: build/roboplan/
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If:
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PathMatch:
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- roboplan/.*
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---
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CompileFlags:
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CompilationDatabase: build/roboplan_rrt/
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If:
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PathMatch:
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- roboplan_rrt/.*
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---
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CompileFlags:
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CompilationDatabase: build/roboplan_simple_ik/
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If:
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PathMatch:
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- roboplan_simple_ik/.*
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---
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CompileFlags:
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CompilationDatabase: build/roboplan_examples/
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If:
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PathMatch:
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- roboplan_examples/.*
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---
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CompileFlags:
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CompilationDatabase: build/roboplan_example_models/
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If:
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PathMatch:
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- roboplan_example_models/.*
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---
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CompileFlags:
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CompilationDatabase: build/bindings/
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If:
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PathMatch:
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- bindings/.*
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---

‎.gitattributes‎

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# SCM syntax highlighting & preventing 3-way merges
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pixi.lock merge=binary linguist-language=YAML linguist-generated=true

‎.github/workflows/build_and_test.yml‎

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docker run \
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roboplan_ros:${{ github.head_ref || github.ref_name }} \
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/bin/bash -c './src/roboplan/scripts/run_tests.bash'
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pixi_build_and_test:
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env:
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SCCACHE_DIR: ${{ github.workspace }}/.sccache
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strategy:
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fail-fast: false
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matrix:
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ubuntu_version: [22.04, 24.04]
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runs-on: ubuntu-${{ matrix.ubuntu_version }}
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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# Cache build directories and sccache
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- name: Cache build directories and sccache
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uses: actions/cache@v4
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with:
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path: |
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${{ env.SCCACHE_DIR }}
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key: ${{ runner.os }}-build-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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${{ runner.os }}-build-${{ github.sha }}
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${{ runner.os }}-build
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- uses: prefix-dev/setup-pixi@v0.8.3
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with:
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cache: true
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cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }}
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frozen: true
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manifest-path: pixi.toml
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- name: Build and test
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run: |
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pixi run install_all
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pixi run build_tests
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pixi run test_all

‎.gitignore‎

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**/install/
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.vscode
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# pixi environments
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.pixi
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*.egg-info

‎README.md‎

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```
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See the [bindings README](bindings/README.md) for instructions on building the Python bindings.
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## Development using pixi
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### Build instructions
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Make sure to install pixi from [here](https://pixi.sh/latest/#installation).
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```bash
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git clone https://github.com/sea-bass/roboplan.git
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cd roboplan
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# Build all packages
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pixi run build_all
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# Install all packages
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pixi run install_all
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# This will only build the package (You must have built the dependencies first)
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pixi run build PACKAGE_NAME
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# This will only install the package
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pixi run install PACKAGE_NAME
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```
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### Run tests
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```bash
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pixi run test_all
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# Test a specific package
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pixi run test PACKAGE_NAME
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```
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### Linting
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```bash
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pixi run lint
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```
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### Build with AddressSanitizer (ASan)
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```bash
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pixi run build_asan PACKAGE_NAME
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```
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### Build with compilation time report
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```bash
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pixi run build_timetrace PACKAGE_NAME
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```

‎pixi.lock‎

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‎pixi.toml‎

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[workspace]
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authors = ["JafarAbdi <jafar.uruc@gmail.com>"]
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channels = ["conda-forge"]
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name = "roboplan"
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platforms = ["linux-64", "linux-aarch64"]
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version = "0.0.0"
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[activation.env]
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CMAKE_INSTALL_MODE = "SYMLINK"
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CMAKE_INSTALL_PREFIX = "$CONDA_PREFIX"
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LD_LIBRARY_PATH = "$CONDA_PREFIX/lib"
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ASAN_OPTIONS = "symbolize=1:print_stacktrace=1"
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ASAN_SYMBOLIZER_PATH = "$CONDA_PREFIX/bin/llvm-symbolizer"
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[tasks]
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configure = { cmd = [
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"cmake",
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"-GNinja",
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"-DCMAKE_EXPORT_COMPILE_COMMANDS=ON",
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"-DCMAKE_BUILD_TYPE=RelWithDebInfo",
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"-DBUILD_TESTING=ON",
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# Use clang as the compiler
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"-DCMAKE_C_COMPILER=clang",
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"-DCMAKE_CXX_COMPILER=clang++",
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# Use mold as the linker
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"-DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=mold",
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"-DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=mold",
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"-DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=mold",
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# Use sccache to speed up compilation
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"-DCMAKE_C_COMPILER_LAUNCHER=sccache",
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"-DCMAKE_CXX_COMPILER_LAUNCHER=sccache",
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# Activate color output with Ninja
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"-DCMAKE_COLOR_DIAGNOSTICS=ON",
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# Compiler flags
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"{{ '-DCMAKE_CXX_FLAGS=' + cxx_flags if cxx_flags }}",
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"{{ '-DCMAKE_C_FLAGS=' + cxx_flags if cxx_flags }}",
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# Disable warnings about unused command line arguments
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"--no-warn-unused-cli",
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"-S",
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"{{ package_name }}",
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"-B",
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"build//{{ package_name }}",
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], args = [{ arg = "package_name" }, { arg = "cxx_flags", default = "" }] }
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build = { cmd = [
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"cmake",
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"--build",
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"build/{{ package_name }}",
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], depends-on = [
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{ task = "configure", args = [
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"{{ package_name }}",
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"{{ cxx_flags }}",
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] },
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], args = [
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{ arg = "package_name" },
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{ arg = "cxx_flags", default = "" },
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] }
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install = { cmd = [
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"cmake",
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"--install",
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"build/{{ package_name }}",
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"--prefix",
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"$CONDA_PREFIX",
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], depends-on = [
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{ task = "build", args = [
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"{{ package_name }}",
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"{{ cxx_flags }}",
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] },
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], args = [
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{ "arg" = "package_name" },
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{ arg = "cxx_flags", default = "" },
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] }
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build_bindings = "pip install -e bindings --no-build-isolation"
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build_all = { depends-on = [
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{ task = "install", args = [
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"roboplan_example_models",
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] },
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{ task = "install", args = [
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"roboplan",
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] },
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{ task = "install", args = [
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"roboplan_simple_ik",
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] },
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{ task = "install", args = [
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"roboplan_rrt",
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] },
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{ task = "build", args = [
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"roboplan_examples",
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] },
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"build_bindings"
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] }
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install_all = { depends-on = [
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{ task = "build_all" },
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{ task = "install", args = [
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"roboplan_examples",
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] },
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] }
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build_asan = { cmd = [
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"cmake",
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"--build",
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"build/{{ package_name }}",
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], depends-on = [
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{ task = "configure", args = [
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"{{ package_name }}",
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"-fsanitize=address",
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] },
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], args = [
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{ arg = "package_name" },
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] }
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# https://clang.llvm.org/docs/analyzer/developer-docs/PerformanceInvestigation.html#performance-analysis-using-ftime-trace
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build_timetrace = { depends-on = [
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{ task = "configure", args = [
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"{{ package_name }}",
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"-ftime-trace",
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] },
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{ task = "build", args = [
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"{{ package_name }}",
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] },
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], args = [
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{ arg = "package_name" },
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] }
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build_tests = { depends-on = [
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{ task = "install", args = [
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"roboplan_example_models",
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"{{ cxx_flags }}",
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"ON",
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] },
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{ task = "install", args = [
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"roboplan",
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"{{ cxx_flags }}",
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"ON",
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] },
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{ task = "install", args = [
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"roboplan_simple_ik",
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"{{ cxx_flags }}",
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"ON",
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] },
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{ task = "install", args = [
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"roboplan_rrt",
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"{{ cxx_flags }}",
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"ON",
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] },
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{ task = "build", args = [
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"roboplan_examples",
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"{{ cxx_flags }}",
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"ON",
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] },
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], args = [
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{ arg = "cxx_flags", "default" = "" },
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] }
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# Test related tasks
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test = { cmd = "ctest -V --test-dir build/{{ package_name }}", args = [
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{ arg = "package_name" },
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], env = { GTEST_COLOR = "YES" } }
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test_py = { cmd = "python3 -m pytest --capture=no", cwd = "bindings" }
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test_cpp = { depends-on = [{ task = "test", args = ["roboplan"] }, { task = "test", args = ["roboplan_rrt"] }] }
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test_all = { depends-on = ["test_py", "test_cpp"] }
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[dependencies]
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# Build dependencies
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cmake = ">=3.30.5,<4"
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ninja = ">=1.12.1,<2"
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clangxx = ">=19.1.7,<20"
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gxx = ">=11,<12"
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gcc = ">=11,<12"
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lld = ">=19.1.2,<20"
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libstdcxx = ">=15.1.0,<16"
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llvm-openmp = ">=19.1.7,<20"
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mold = ">=2.40.2,<3"
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sccache = ">=0.10.0,<0.11"
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# Core dependencies
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eigen = ">=3.4.0,<4"
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pinocchio = ">=3.7.0,<4"
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# Python binding dependencies
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python = ">=3.11,<3.12"
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nanobind = ">=2.8.0,<3"
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scikit-build-core = ">=0.11.5,<0.12"
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numpy = "*"
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viser = ">=1.0.0,<2"
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# We use pip as a workaround for pixi building the bindings before we build the core packages
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# In theory, it should be like this:
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# [pypi-dependencies]
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# roboplan = { path = "bindings", editable = true }
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#
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# [pypi-options]
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# no-build-isolation = ["roboplan"]
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pip = ">=25.1.1,<26"
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# Test dependencies
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gtest = ">=1.17.0,<2"
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# Sanitizer dependencies
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llvm-tools = ">=19.1.7,<20"
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compiler-rt = ">=19.1.7,<20"
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# Python test dependencies
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pytest = ">=6"
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[pypi-dependencies]
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pycollada = ">=0.9.2, <0.10"
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[feature.lint.dependencies]
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pre-commit = ">=4.1.0,<5"
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[feature.lint.tasks]
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lint = "pre-commit run --all-files"
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[environments]
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lint = { features = ["lint"], no-default-feature = true }

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