Source code for concepts.simulator.pybullet.ikfast.compile

import fnmatch
import importlib
import os
import shutil

from distutils.core import setup
from distutils.dir_util import copy_tree
from distutils.extension import Extension

# Build C++ extension by running: 'python setup.py build'
# see: https://docs.python.org/3/extending/building.html

# http://openrave.org/docs/0.8.2/openravepy/ikfast/
# https://github.com/rdiankov/openrave/blob/master/python/ikfast.py#L92
# http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution

# Yijiang
# https://github.com/yijiangh/ikfast_pybind
# https://github.com/yijiangh/conrob_pybullet/tree/master/utils/ikfast
# https://github.com/yijiangh/choreo/blob/bc777069b8eb7283c74af26e5461532aec3d9e8a/framefab_robot/abb/framefab_irb6600/framefab_irb6600_support/doc/ikfast_tutorial.rst


def compile_ikfast(module_name, cpp_filename, remove_build=False, link_lapack=False):
    ikfast_module = Extension(module_name, sources=[cpp_filename], extra_link_args=['-llapack'] if link_lapack else [])
    setup(
        name=module_name,
        version='1.0',
        description="ikfast module {}".format(module_name),
        ext_modules=[ikfast_module],
        script_args=['build'],
    )

    build_lib_path = None
    for root, dirnames, filenames in os.walk(os.getcwd()):
        if fnmatch.fnmatch(root, os.path.join(os.getcwd(), "*build", "lib*")):
            build_lib_path = root
            break

    assert build_lib_path is not None

    copy_tree(build_lib_path, os.getcwd())
    if remove_build:
        # TODO: error when compiling multiple arms for python2
        # error: unable to open output file 'build/temp.macosx-10.15-x86_64-2.7/movo_right_arm_ik.o': 'No such file or directory'
        shutil.rmtree(os.path.join(os.getcwd(), 'build'))

    try:
        importlib.import_module(module_name)
        print('\nikfast module {} imported successful'.format(module_name))
    except ImportError as e:
        print('\nikfast module {} imported failed'.format(module_name))
        raise e

    return True