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duburcqa / jiminy

Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
https://duburcqa.github.io/jiminy
MIT License
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[python] Stop bundling pinocchio, hppfcl, eigenpy in wheels. #638

Open duburcqa opened 1 year ago

duburcqa commented 1 year ago

Beware all deps must be pinned to a specific version. Note that boost version requirement is incompatible between the binaries provided by apt robotpkg repository and the one deployed by pip.

cmeel-boost==1.81.0
cmeel-assimp==5.2.5
cmeel-octomap==1.9.8.1
cmeel-urdfdom==3.1.0.2
cmeel-tinyxml==2.6.2.1
eigenpy==2.9.2
pin==2.6.14
hpp-fcl==2.2.0
duburcqa commented 1 year ago

Just add an extra requirement cmeel that install all these libs with the expected versions, so that the user has to opt-in a to get them. This way, building everything from source is not compromised and pre-compiled binaries can still be bundled with the wheel. A check at import of jiminy should be added to check the version number of libs pre-installed on the system and raise an exception if it does not match (suggesting to install jiminy_py[cmeel]). Note that support of robotpkg wheels will be compromise as it requires an older version of boost that is incompatible.