Release/v1.6

.github/workflows/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,38 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: "[BUG]"
+labels: bug
+assignees: pzhu-flexiv
+
+---
+
+## Version info
+
+- RDK: [e.g. v1.5]
+- Robot software: [e.g. v3.7]
+- OS: [e.g. Ubuntu 20.04, x86_64]
+
+## How urgent is this bug? Have you found any workarounds?
+
+On a scale of 1 to 10.
+
+## Describe the issue and expected behavior
+
+The issue is ...
+The correct behavior you expect is  ...
+
+## Steps to reproduce
+
+1. '....'
+2. '....'
+3. '....'
+4. See error
+
+## Screenshots
+
+If applicable, add screenshots to help explain your issue.
+
+## Additional context
+
+Add any other context about the issue.

.github/workflows/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,28 @@
+---
+name: Feature request
+about: Suggest a new feature
+title: "[FEATURE]"
+labels: enhancement
+assignees: pzhu-flexiv
+
+---
+
+## How urgent is this feature?
+
+On a scale of 1 to 10.
+
+## Is this feature request related to a problem?
+
+This new feature is needed so that ... can be solved.
+
+## Describe the solution you'd like
+
+What you want to happen.
+
+## Describe alternatives you've considered
+
+Any alternative solutions or workarounds you've considered.
+
+## Additional context
+
+Add any other context or screenshots about this feature.

.github/workflows/shared_steps/action.yml

@@ -27,7 +27,7 @@ runs:
         pwd
         cd example
         mkdir -p build && cd build
-        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
         cmake --build . --config Release -j 4
 
     # Find and link to flexiv_rdk library, then build all test programs.
@@ -37,5 +37,5 @@ runs:
         pwd
         cd test
         mkdir -p build && cd build
-        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
         cmake --build . --config Release -j 4

CMakeLists.txt

@@ -3,48 +3,34 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.5.1)
+project(flexiv_rdk VERSION 1.6.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
 endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo")
 
-# Configure Python RDK
-option(INSTALL_PYTHON_RDK "Install Python RDK (to user site packages path)" OFF)
-if(INSTALL_PYTHON_RDK)
-  if(NOT RDK_PYTHON_VERSION)
-    set(RDK_PYTHON_VERSION 3.10 CACHE STRING "Python version to install RDK for" FORCE)
-  endif()
-  set_property(CACHE RDK_PYTHON_VERSION PROPERTY STRINGS "3.10" "3.12")
-  find_package(Python3 ${RDK_PYTHON_VERSION} EXACT COMPONENTS Interpreter REQUIRED)
-endif()
-
-# Set C++ and Python library filename
-message("OS: ${CMAKE_SYSTEM_NAME}")
-message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+# Set static library according to platform
+message(STATUS "OS: ${CMAKE_SYSTEM_NAME}")
+message(STATUS "Processor: ${CMAKE_SYSTEM_PROCESSOR}")
 if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
-    set(RDK_CPP_LIB "libflexiv_rdk.x86_64-linux-gnu.a")
-    set(RDK_PY_LIB "flexivrdk.cpython-${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}-x86_64-linux-gnu.so")
+    set(RDK_STATIC_LIB "libflexiv_rdk.x86_64-linux-gnu.a")
   elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
-    set(RDK_CPP_LIB "libflexiv_rdk.aarch64-linux-gnu.a")
-    set(RDK_PY_LIB "flexivrdk.cpython-${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}-aarch64-linux-gnu.so")
+    set(RDK_STATIC_LIB "libflexiv_rdk.aarch64-linux-gnu.a")
   else()
     message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
-    set(RDK_CPP_LIB "libflexiv_rdk.arm64-darwin.a")
-    set(RDK_PY_LIB "flexivrdk.cpython-${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}-darwin.so")
+    set(RDK_STATIC_LIB "libflexiv_rdk.arm64-darwin.a")
   else()
     message(FATAL_ERROR "Mac with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "AMD64")
-    set(RDK_CPP_LIB "flexiv_rdk.win_amd64.lib")
-    set(RDK_PY_LIB "flexivrdk.cp${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}-win_amd64.pyd")
+    set(RDK_STATIC_LIB "flexiv_rdk.win_amd64.lib")
   else()
     message(FATAL_ERROR "Windows with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
@@ -79,7 +65,7 @@ if(fastrtps_FOUND)
 endif()
 
 # ===================================================================
-#      INSTALL C++ LIBRARY
+#      CREATE LIBRARY
 # ===================================================================
 # Create an INTERFACE library with no source file to compile
 add_library(${PROJECT_NAME} INTERFACE)
@@ -94,7 +80,7 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 )
 
 target_link_libraries(${PROJECT_NAME} INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/lib/${RDK_CPP_LIB}
+  ${CMAKE_CURRENT_SOURCE_DIR}/lib/${RDK_STATIC_LIB}
   Threads::Threads
   Eigen3::Eigen
   spdlog::spdlog
@@ -109,24 +95,5 @@ else()
 endif()
 
 # Install the INTERFACE library
-message(STATUS "C++ RDK library: ${RDK_CPP_LIB}")
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
 FlexivInstallLibrary()
-
-# ===================================================================
-#      INSTALL PYTHON LIBRARY
-# ===================================================================
-if(INSTALL_PYTHON_RDK)
-  # Get user site packages path
-  message(STATUS "Python executable: ${Python3_EXECUTABLE}")
-  execute_process(
-    COMMAND ${Python3_EXECUTABLE} -c "import site; print(site.getusersitepackages())"
-    OUTPUT_VARIABLE USER_SITE
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-  )
-  message(STATUS "Python site packages path: ${USER_SITE}")
-
-  # Install Python RDK to user site packages path
-  message(STATUS "Python RDK library: ${RDK_PY_LIB}")
-  install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/lib_py/${RDK_PY_LIB}" DESTINATION ${USER_SITE})
-endif()