diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000000000000000000000000000000000000..52b45d9f0966e59af82ec774a6669d62f0e71168
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,19 @@
+name: "CI - Nix"
+
+on:
+ push:
+
+jobs:
+ nix:
+ runs-on: "${{ matrix.os }}-latest"
+ strategy:
+ matrix:
+ os: [ubuntu, macos]
+ steps:
+ - uses: actions/checkout@v4
+ - uses: cachix/install-nix-action@v27
+ - uses: cachix/cachix-action@v15
+ with:
+ name: gepetto
+ authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+ - run: nix build -L
diff --git a/.mergify.yml b/.mergify.yml
new file mode 100644
index 0000000000000000000000000000000000000000..0e037adff9376be82c56b03a0419a0b55e5a98df
--- /dev/null
+++ b/.mergify.yml
@@ -0,0 +1,12 @@
+pull_request_rules:
+ - name: merge automatically when CI passes and PR is approved
+ conditions:
+ - check-success = "gitlab-ci"
+ - check-success = "nix (macos)"
+ - check-success = "nix (ubuntu)"
+ - check-success = "pre-commit.ci - pr"
+ - or:
+ - author = pre-commit-ci[bot]
+ - author = dependabot[bot]
+ actions:
+ merge:
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 263f1be0f4191473fce548b81eba202bcef49965..ae52b97ea34616a57193e40ef1a293e45a67fd45 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,7 +2,7 @@ ci:
autoupdate_branch: devel
repos:
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.5.5
+ rev: v0.6.9
hooks:
- id: ruff
args:
@@ -19,13 +19,13 @@ repos:
- id: toml-sort-fix
exclude: poetry.lock
- repo: https://github.com/pre-commit/mirrors-clang-format
- rev: v18.1.8
+ rev: v19.1.1
hooks:
- id: clang-format
args:
- --style=Google
- repo: https://github.com/pre-commit/pre-commit-hooks
- rev: v4.6.0
+ rev: v5.0.0
hooks:
- id: check-added-large-files
- id: check-ast
diff --git a/examples/notebooks/a-basics.ipynb b/examples/notebooks/a-basics.ipynb
index ee4585fe4d1812e719cf548693a6dd65d883a45c..8f91be62ae61209466b7b0e6420160cde9692e31 100644
--- a/examples/notebooks/a-basics.ipynb
+++ b/examples/notebooks/a-basics.ipynb
@@ -1,133 +1,106 @@
{
- "cells": [
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "# Launch the gui and create a window."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 6,
- "metadata": {},
- "outputs": [],
- "source": [
- "from gepetto.corbaserver import gui_client, start_server, Color\n",
- "\n",
- "start_server(args=[])\n",
- "gui = gui_client(window_name=\"tuto\")"
- ]
- },
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "# Add some visual entities\n",
- "\n",
- "They are called nodes and are organised as a tree.\n",
- "\n",
- "When you create a window, a group node (called *group* from now on) is created with the same name. Adding nodes to this group displays them in the window."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 20,
- "metadata": {},
- "outputs": [
+ "cells" : [
{
- "data": {
- "text/plain": [
- "True"
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : ["# Launch the gui and create a window."]
+ },
+ {
+ "cell_type" : "code",
+ "execution_count" : 6,
+ "metadata" : {},
+ "outputs" : [],
+ "source" : [
+ "from gepetto.corbaserver import Color, gui_client, start_server\n",
+ "\n", "start_server(args=[])\n",
+ "gui = gui_client(window_name=\"tuto\")"
]
- },
- "execution_count": 20,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "source": [
- "gui.addBox(\"box\", 0.1, 0.1, 0.1, Color.green)\n",
- "gui.addToGroup(\"box\", \"tuto\")\n",
- "gui.setCameraToBestFit(\"tuto\")"
- ]
- },
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "Add another node, directly in group *tuto*."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 15,
- "metadata": {},
- "outputs": [
+ },
{
- "data": {
- "text/plain": [
- "True"
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : [
+ "# Add some visual entities\n", "\n",
+ "They are called nodes and are organised as a tree.\n", "\n",
+ "When you create a window, a group node (called *group* from now on) ",
+ "is created with the same name. Adding nodes to this group displays ",
+ "them in the window."
]
- },
- "execution_count": 15,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "source": [
- "gui.addCylinder(\"tuto/cyl\", 0.01, 0.1, Color.red)"
- ]
- },
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "To move one node, you must use `applyConfiguration` and then `refresh`. All calls to `applyConfiguration` are applied at the next `refresh`."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 19,
- "metadata": {},
- "outputs": [
+ },
+ {
+ "cell_type" : "code",
+ "execution_count" : 20,
+ "metadata" : {},
+ "outputs" : [ {
+ "data" : {"text/plain" : ["True"]},
+ "execution_count" : 20,
+ "metadata" : {},
+ "output_type" : "execute_result"
+ } ],
+ "source" : [
+ "gui.addBox(\"box\", 0.1, 0.1, 0.1, Color.green)\n",
+ "gui.addToGroup(\"box\", \"tuto\")\n",
+ "gui.setCameraToBestFit(\"tuto\")"
+ ]
+ },
+ {
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : ["Add another node, directly in group *tuto*."]
+ },
{
- "data": {
- "text/plain": [
- "True"
+ "cell_type" : "code",
+ "execution_count" : 15,
+ "metadata" : {},
+ "outputs" : [ {
+ "data" : {"text/plain" : ["True"]},
+ "execution_count" : 15,
+ "metadata" : {},
+ "output_type" : "execute_result"
+ } ],
+ "source" : ["gui.addCylinder(\"tuto/cyl\", 0.01, 0.1, Color.red)"]
+ },
+ {
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : [
+ "To move one node, you must use `applyConfiguration` and ",
+ "then `refresh`. All calls to `applyConfiguration` are ",
+ "applied at the next `refresh`."
+ ]
+ },
+ {
+ "cell_type" : "code",
+ "execution_count" : 19,
+ "metadata" : {},
+ "outputs" : [ {
+ "data" : {"text/plain" : ["True"]},
+ "execution_count" : 19,
+ "metadata" : {},
+ "output_type" : "execute_result"
+ } ],
+ "source" : [
+ "gui.applyConfiguration(\"tuto/cyl\", [0, 0, 0.1, 0, 0, 0, 1])\n",
+ "gui.refresh()\n", "gui.setCameraToBestFit(\"tuto\")"
]
- },
- "execution_count": 19,
- "metadata": {},
- "output_type": "execute_result"
}
- ],
- "source": [
- "gui.applyConfiguration(\"tuto/cyl\", [0, 0, 0.1, 0, 0, 0, 1])\n",
- "gui.refresh()\n",
- "gui.setCameraToBestFit(\"tuto\")"
- ]
- }
- ],
- "metadata": {
- "kernelspec": {
- "display_name": "Python 3",
- "language": "python",
- "name": "python3"
+ ],
+ "metadata" : {
+ "kernelspec" : {
+ "display_name" : "Python 3",
+ "language" : "python",
+ "name" : "python3"
+ },
+ "language_info" : {
+ "codemirror_mode" : {"name" : "ipython", "version" : 3},
+ "file_extension" : ".py",
+ "mimetype" : "text/x-python",
+ "name" : "python",
+ "nbconvert_exporter" : "python",
+ "pygments_lexer" : "ipython3",
+ "version" : "3.6.9"
+ }
},
- "language_info": {
- "codemirror_mode": {
- "name": "ipython",
- "version": 3
- },
- "file_extension": ".py",
- "mimetype": "text/x-python",
- "name": "python",
- "nbconvert_exporter": "python",
- "pygments_lexer": "ipython3",
- "version": "3.6.9"
- }
- },
- "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat" : 4,
+ "nbformat_minor" : 2
}
diff --git a/examples/notebooks/b-display-force-or-velocities.ipynb b/examples/notebooks/b-display-force-or-velocities.ipynb
index 5186e41d9bfc76f4c1e1d0420d3b3bf7c4d4c6f5..f9d9b1e8001538703050450dcb84e8c09ee06095 100644
--- a/examples/notebooks/b-display-force-or-velocities.ipynb
+++ b/examples/notebooks/b-display-force-or-velocities.ipynb
@@ -1,102 +1,80 @@
{
- "cells": [
- {
- "cell_type": "code",
- "execution_count": 1,
- "metadata": {},
- "outputs": [],
- "source": [
- "from gepetto.corbaserver import gui_client, start_server, Color\n",
- "\n",
- "start_server(args=[])\n",
- "gui = gui_client(window_name=\"tuto\")\n",
- "\n",
- "gui.createGroup(\"frame\")\n",
- "gui.addToGroup(\"frame\", \"tuto\")\n",
- "gui.addLandmark(\"frame\", 0.01)\n",
- "gui.applyConfiguration(\"frame\", [0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 1.0])\n",
- "gui.refresh()"
- ]
+ "cells" : [
+ {
+ "cell_type" : "code",
+ "execution_count" : 1,
+ "metadata" : {},
+ "outputs" : [],
+ "source" : [
+ "from gepetto.corbaserver import Color, gui_client, start_server\n",
+ "\n", "start_server(args=[])\n",
+ "gui = gui_client(window_name=\"tuto\")\n", "\n",
+ "gui.createGroup(\"frame\")\n", "gui.addToGroup(\"frame\", \"tuto\")\n",
+ "gui.addLandmark(\"frame\", 0.01)\n",
+ "gui.applyConfiguration(\"frame\", [0.0, 0.5, 0.0, 0.0, 0.0, 0.0, ",
+ "1.0])\n", "gui.refresh()"
+ ]
+ },
+ {
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : [
+ "# Display a 3D vector as a linear or rotational arrow\n", "\n",
+ "The green and blue shape will represent the same vector."
+ ]
+ },
+ {
+ "cell_type" : "code",
+ "execution_count" : 2,
+ "metadata" : {},
+ "outputs" : [],
+ "source" : [
+ "from gepetto.corbaserver import tools\n", "\n",
+ "lin = tools.Linear(\"frame/lin_arrow\", color=Color.green)\n",
+ "lin.create(gui)\n", "\n",
+ "ang = tools.Angular(\"frame/ang_arrow\", color=Color.blue)\n",
+ "ang.create(gui)\n", "\n", "vel_in_local_frame = [\n", " 0.2,\n",
+ " 0.3,\n", " 0.5,\n", "]\n", "lin.set(gui, vel_in_local_frame)\n",
+ "ang.set(gui, vel_in_local_frame)\n", "\n",
+ "# This call is required.\n", "gui.refresh()"
+ ]
+ },
+ {
+ "cell_type" : "markdown",
+ "metadata" : {},
+ "source" : ["# Display a 6D vector"]
+ },
+ {
+ "cell_type" : "code",
+ "execution_count" : 3,
+ "metadata" : {},
+ "outputs" : [],
+ "source" : [
+ "from gepetto.corbaserver import tools\n", "\n",
+ "# angFactor is the maximum norm of the angular vector.\n",
+ "vector6 = tools.Vector6(\"frame\", angFactor=3.14)\n",
+ "vector6.create(gui)\n", "\n",
+ "vel_in_local_frame = [0.1, 0.0, 0.2, 0.3, 0.5, 0.0]\n",
+ "vector6.set(gui, vel_in_local_frame)\n", "gui.refresh()"
+ ]
+ }
+ ],
+ "metadata" : {
+ "kernelspec" : {
+ "display_name" : "Python 3",
+ "language" : "python",
+ "name" : "python3"
+ },
+ "language_info" : {
+ "codemirror_mode" : {"name" : "ipython", "version" : 3},
+ "file_extension" : ".py",
+ "mimetype" : "text/x-python",
+ "name" : "python",
+ "nbconvert_exporter" : "python",
+ "pygments_lexer" : "ipython3",
+ "version" : "3.6.9"
+ }
},
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "# Display a 3D vector as a linear or rotational arrow\n",
- "\n",
- "The green and blue shape will represent the same vector."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 2,
- "metadata": {},
- "outputs": [],
- "source": [
- "from gepetto.corbaserver import tools\n",
- "\n",
- "lin = tools.Linear(\"frame/lin_arrow\", color=Color.green)\n",
- "lin.create(gui)\n",
- "\n",
- "ang = tools.Angular(\"frame/ang_arrow\", color=Color.blue)\n",
- "ang.create(gui)\n",
- "\n",
- "vel_in_local_frame = [\n",
- " 0.2,\n",
- " 0.3,\n",
- " 0.5,\n",
- "]\n",
- "lin.set(gui, vel_in_local_frame)\n",
- "ang.set(gui, vel_in_local_frame)\n",
- "\n",
- "# This call is required.\n",
- "gui.refresh()"
- ]
- },
- {
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "# Display a 6D vector"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 3,
- "metadata": {},
- "outputs": [],
- "source": [
- "from gepetto.corbaserver import tools\n",
- "\n",
- "# angFactor is the maximum norm of the angular vector.\n",
- "vector6 = tools.Vector6(\"frame\", angFactor=3.14)\n",
- "vector6.create(gui)\n",
- "\n",
- "vel_in_local_frame = [0.1, 0.0, 0.2, 0.3, 0.5, 0.0]\n",
- "vector6.set(gui, vel_in_local_frame)\n",
- "gui.refresh()"
- ]
- }
- ],
- "metadata": {
- "kernelspec": {
- "display_name": "Python 3",
- "language": "python",
- "name": "python3"
- },
- "language_info": {
- "codemirror_mode": {
- "name": "ipython",
- "version": 3
- },
- "file_extension": ".py",
- "mimetype": "text/x-python",
- "name": "python",
- "nbconvert_exporter": "python",
- "pygments_lexer": "ipython3",
- "version": "3.6.9"
- }
- },
- "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat" : 4,
+ "nbformat_minor" : 2
}
diff --git a/examples/pyplugin/pythonwidget.py b/examples/pyplugin/pythonwidget.py
index c31fd5c2f9fed5a98be49afa54bc19c79e5d4c69..ec88c0528a113f5772f516b93f7152b3eabfee95 100644
--- a/examples/pyplugin/pythonwidget.py
+++ b/examples/pyplugin/pythonwidget.py
@@ -1,6 +1,7 @@
-from gepetto.corbaserver import Client
from PythonQt import Qt, QtGui
+from gepetto.corbaserver import Client
+
class _NodeCreator(QtGui.QWidget):
"""This class represents one special tab of the new QDockWidget."""
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000000000000000000000000000000000000..3fb6ced51fe6972e9b6d838e8fecb1082f4b7296
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,58 @@
+{
+ "nodes": {
+ "flake-parts": {
+ "inputs": {
+ "nixpkgs-lib": "nixpkgs-lib"
+ },
+ "locked": {
+ "lastModified": 1727826117,
+ "narHash": "sha256-K5ZLCyfO/Zj9mPFldf3iwS6oZStJcU4tSpiXTMYaaL0=",
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "rev": "3d04084d54bedc3d6b8b736c70ef449225c361b1",
+ "type": "github"
+ },
+ "original": {
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "type": "github"
+ }
+ },
+ "nixpkgs": {
+ "locked": {
+ "lastModified": 1728018373,
+ "narHash": "sha256-NOiTvBbRLIOe5F6RbHaAh6++BNjsb149fGZd1T4+KBg=",
+ "owner": "NixOS",
+ "repo": "nixpkgs",
+ "rev": "bc947f541ae55e999ffdb4013441347d83b00feb",
+ "type": "github"
+ },
+ "original": {
+ "owner": "NixOS",
+ "ref": "nixos-unstable",
+ "repo": "nixpkgs",
+ "type": "github"
+ }
+ },
+ "nixpkgs-lib": {
+ "locked": {
+ "lastModified": 1727825735,
+ "narHash": "sha256-0xHYkMkeLVQAMa7gvkddbPqpxph+hDzdu1XdGPJR+Os=",
+ "type": "tarball",
+ "url": "https://github.com/NixOS/nixpkgs/archive/fb192fec7cc7a4c26d51779e9bab07ce6fa5597a.tar.gz"
+ },
+ "original": {
+ "type": "tarball",
+ "url": "https://github.com/NixOS/nixpkgs/archive/fb192fec7cc7a4c26d51779e9bab07ce6fa5597a.tar.gz"
+ }
+ },
+ "root": {
+ "inputs": {
+ "flake-parts": "flake-parts",
+ "nixpkgs": "nixpkgs"
+ }
+ }
+ },
+ "root": "root",
+ "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000000000000000000000000000000000000..c4191bbfcbe26e32118119564d3e901a2bb38495
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,41 @@
+{
+ description = "An user-friendly Graphical Interface";
+
+ inputs = {
+ flake-parts.url = "github:hercules-ci/flake-parts";
+ nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+ };
+
+ outputs =
+ inputs:
+ inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+ systems = inputs.nixpkgs.lib.systems.flakeExposed;
+ perSystem =
+ { pkgs, self', ... }:
+ {
+ devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+ packages = {
+ default = self'.packages.gepetto-viewer-corba;
+ gepetto-viewer-corba = pkgs.python3Packages.gepetto-viewer-corba.overrideAttrs (_: {
+ # TODO: remove this after next release
+ postPatch = "";
+ src = pkgs.lib.fileset.toSource {
+ root = ./.;
+ fileset = pkgs.lib.fileset.unions [
+ ./blender
+ ./CMakeLists.txt
+ ./doc
+ ./examples
+ ./idl
+ ./include
+ ./package.xml
+ ./plugins
+ ./src
+ ./tests
+ ];
+ };
+ });
+ };
+ };
+ };
+}