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| author | Matthew Elwin <elwin@northwestern.edu> | 2025-06-27 13:16:07 -0500 |
|---|---|---|
| committer | Sharlatan Hellseher <sharlatanus@gmail.com> | 2025-06-28 14:24:15 +0100 |
| commit | c912d63eaefeb6ff1064b2004671233a2e55af23 (patch) | |
| tree | 32609a388a2725fa8a64e882aab1ecc0ae78bda3 /gnu/packages/engineering.scm | |
| parent | 897f1f03e7fceec42a76442f00461965ad3b6bfd (diff) | |
gnu: Add python-orocos-kinematics-dynamics.
* gnu/packages/engineering.scm (python-orocos-kinematics-dynamics): New variable.
Change-Id: I257d63b61d8fab0fdfdf27dea59f1f89c8667f35
Reviewed-by: Cayetano Santos <csantosb@inventati.org>
Signed-off-by: Sharlatan Hellseher <sharlatanus@gmail.com>
Change-Id: I8cc0b705c81c191ede7624062bd1e62afe5e340b
Diffstat (limited to 'gnu/packages/engineering.scm')
| -rw-r--r-- | gnu/packages/engineering.scm | 47 |
1 files changed, 47 insertions, 0 deletions
diff --git a/gnu/packages/engineering.scm b/gnu/packages/engineering.scm index fc4aea72a9..6a7b4d2282 100644 --- a/gnu/packages/engineering.scm +++ b/gnu/packages/engineering.scm @@ -5597,3 +5597,50 @@ towards field theory.") and representations for kinematic structures and their inverse and forward kinematics solvers.") (license license:lgpl2.1+)))) + +(define-public python-orocos-kinematics-dynamics + (package + (inherit orocos-kinematics-dynamics) + (name "python-orocos-kinematics-dynamics") + (source + (origin + (inherit (package-source orocos-kinematics-dynamics)) + (snippet '(begin + (substitute* "python_orocos_kdl/CMakeLists.txt" + ;; Use the system pybind11 instead of the bundled version + (("add_subdirectory\\(pybind11\\)") + "find_package(pybind11)") + ;; change debian-specific python install directory + (("dist-packages") + "site-packages")) + ;; ROS 1 uses some dynamic attributes, which are + ;; disabled by default in pybind11. No harm in enabling them + ;; See "https://github.com/ros2/geometry2/issues/624 + ;; and https://pybind11.readthedocs.io/en/stable/classes.html + ;; #dynamic-attributes <Both accessed June 1 2025> + (substitute* "python_orocos_kdl/PyKDL/frames.cpp" + (("m, \"Vector\"") + "m, \"Vector\", py::dynamic_attr()") + (("m, \"Frame\"") + "m, \"Frame\", py::dynamic_attr()") + (("m, \"Twist\"") + "m, \"Twist\", py::dynamic_attr()") + (("m, \"Wrench\"") + "m, \"Wrench\", py::dynamic_attr()")))))) + (native-inputs (list python pybind11 python-psutil)) + (inputs (list orocos-kinematics-dynamics)) + (arguments + (list + #:phases + #~(modify-phases %standard-phases + (add-after 'unpack 'chdir + (lambda _ + (chdir "python_orocos_kdl"))) + (replace 'check + (lambda* (#:key tests? #:allow-other-keys) + (setenv "PYTHONPATH" "./") + (when tests? + (invoke "python3" + "../python_orocos_kdl/tests/PyKDLtest.py"))))))) + (synopsis "Python bindings for orocos-kinematics-dynamics") + (description "Python bindings for orocos-kinematics-dynamics."))) |