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setup.py
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setup.py
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#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
import os
from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
from glob import glob
# monkey-patch for parallel compilation
import multiprocessing
import multiprocessing.pool
def parallelCCompile(self,
sources,
output_dir=None,
macros=None,
include_dirs=None,
debug=0,
extra_preargs=None,
extra_postargs=None,
depends=None):
# those lines are copied from distutils.ccompiler.CCompiler directly
macros, objects, extra_postargs, pp_opts, build = self._setup_compile(
output_dir, macros, include_dirs, sources, depends, extra_postargs)
cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
# parallel code
N = 2 * multiprocessing.cpu_count() # number of parallel compilations
try:
# On Unix-like platforms attempt to obtain the total memory in the
# machine and limit the number of parallel jobs to the number of Gbs
# of RAM (to avoid killing smaller platforms like the Pi)
mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE') # bytes
except (AttributeError, ValueError):
# Couldn't query RAM; don't limit parallelism (it's probably a well
# equipped Windows / Mac OS X box)
pass
else:
mem = max(1, int(round(mem / 1024 ** 3))) # convert to Gb
N = min(mem, N)
def _single_compile(obj):
try:
src, ext = build[obj]
except KeyError:
return
newcc_args = cc_args
if _platform == "darwin":
if src.endswith('.cpp') or src.endswith('.cc'):
newcc_args = cc_args + ["-mmacosx-version-min=10.7", "-std=c++17", "-stdlib=libc++"]
self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
# convert to list, imap is evaluated on-demand
pool = multiprocessing.pool.ThreadPool(N)
list(pool.imap(_single_compile, objects))
return objects
import distutils.ccompiler
distutils.ccompiler.CCompiler.compile = parallelCCompile
# see http://stackoverflow.com/a/8719066/295157
import os
platform = get_platform()
print(platform)
CXX_FLAGS = '-D__SUPPRESSANYOUTPUT__'
# libraries += [current_python]
libraries = []
include_dirs = [
'.',
'third_party/unitree_legged_sdk/pybind11/include',
'third_party/eigen3/include',
'third_party/osqp/include',
'third_party',
'third_party/osqp/lin_sys/direct/qdldl',
'third_party/osqp/lin_sys/direct/qdldl/qdldl_sources/include',
'third_party/osqp/lin_sys/direct/qdldl/amd/include',
'third_party/qpoases/include',
]
try:
import numpy
NP_DIRS = [numpy.get_include()]
except:
print("numpy is disabled. getCameraImage maybe slower.")
else:
print("numpy is enabled.")
CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
for d in NP_DIRS:
print("numpy_include_dirs = %s" % d)
include_dirs += NP_DIRS
sources = [
"mpc_controller/mpc_osqp.cc",
"third_party/osqp/src/auxil.c",
"third_party/osqp/src/cs.c",
"third_party/osqp/src/ctrlc.c",
"third_party/osqp/src/error.c",
"third_party/osqp/src/kkt.c",
"third_party/osqp/src/lin_alg.c",
"third_party/osqp/src/lin_sys.c",
"third_party/osqp/src/osqp.c",
"third_party/osqp/src/polish.c",
"third_party/osqp/src/proj.c",
"third_party/osqp/src/scaling.c",
"third_party/osqp/src/util.c",
"third_party/osqp/lin_sys/direct/qdldl/qdldl_interface.c",
"third_party/osqp/lin_sys/direct/qdldl/qdldl_sources/src/qdldl.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_1.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_2.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_aat.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_control.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_defaults.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_info.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_order.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_post_tree.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_postorder.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_preprocess.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/amd_valid.c",
"third_party/osqp/lin_sys/direct/qdldl/amd/src/SuiteSparse_config.c",
"third_party/qpoases/src/BLASReplacement.cpp",
"third_party/qpoases/src/Bounds.cpp",
"third_party/qpoases/src/Constraints.cpp",
"third_party/qpoases/src/Flipper.cpp",
"third_party/qpoases/src/Indexlist.cpp",
"third_party/qpoases/src/LAPACKReplacement.cpp",
"third_party/qpoases/src/Matrices.cpp",
"third_party/qpoases/src/MessageHandling.cpp",
"third_party/qpoases/src/Options.cpp",
"third_party/qpoases/src/OQPinterface.cpp",
"third_party/qpoases/src/QProblem.cpp",
"third_party/qpoases/src/QProblemB.cpp",
"third_party/qpoases/src/SolutionAnalysis.cpp",
"third_party/qpoases/src/SparseSolver.cpp",
"third_party/qpoases/src/SQProblem.cpp",
"third_party/qpoases/src/SQProblemSchur.cpp",
"third_party/qpoases/src/SubjectTo.cpp",
"third_party/qpoases/src/Utils.cpp",
]
if _platform == "linux" or _platform == "linux2":
print("linux")
include_dirs += ['third_party/osqp/include/linux']
CXX_FLAGS += '-fpermissive '
libraries = ['dl', 'pthread']
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once '
CXX_FLAGS += '-fvisibility=hidden '
CXX_FLAGS += '-fvisibility-inlines-hidden '
CXX_FLAGS += '-std=c++1z '
CXX_FLAGS += '-Wno-sign-compare '
CXX_FLAGS += '-Wno-reorder '
CXX_FLAGS += '-Wno-unused-local-typedefs '
CXX_FLAGS += '-Wno-unused-variable '
CXX_FLAGS += '-Wno-unused-but-set-variable '
elif _platform == "win32":
print("win32!")
include_dirs += ['third_party/osqp/include/windows']
print(include_dirs)
libraries = ['User32', 'kernel32']
#CXX_FLAGS += '-DIS_WINDOWS '
CXX_FLAGS += '-DWIN32 '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '/std:c++17 '
elif _platform == "darwin":
print("darwin!")
CXX_FLAGS += '-fpermissive '
include_dirs += ['third_party/osqp/include/macosx']
os.environ['LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.7 -stdlib=libc++ -framework OpenGL'
CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-D_DARWIN '
CXX_FLAGS += '-stdlib=libc++ '
CXX_FLAGS += '-mmacosx-version-min=10.7 '
# CXX_FLAGS += '-framework Cocoa '
else:
print("bsd!")
include_dirs += ['third_party/osqp/include/linux']
libraries = ['GL', 'GLEW', 'pthread']
os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
CXX_FLAGS += '-D_BSD '
CXX_FLAGS += '-I/usr/X11R6/include '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once'
setup_py_dir = os.path.dirname(os.path.realpath(__file__))
extensions = []
mpc_osqp_ext = Extension(
"mpc_osqp",
sources=sources,
libraries=libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs=include_dirs + ["."])
extensions.append(mpc_osqp_ext)
print(find_packages('.'))
setup(
name='motion_imitation',
version='0.0.6',
description=
'Motion Imitation and MPC with python bindings for MPC using the osqp solver',
long_description=
'Motion Imitation and MPC with python bindings for MPC using the PyBullet and the QPOASES and OSQP solver',
url='https://github.com/google-research/motion_imitation',
author='Erwin Coumans',
author_email='[email protected]',
license='mixed',
platforms='any',
keywords=[
'robotics','control', 'physics simulation'
],
install_requires=[
'numpy',
# 'pybullet',
],
ext_modules=extensions,
classifiers=[
'Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',
'Operating System :: Microsoft :: Windows', 'Operating System :: POSIX :: Linux',
'Operating System :: MacOS', 'Intended Audience :: Science/Research',
"Programming Language :: Python", 'Programming Language :: Python :: 2.7',
'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5',
'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.7',
'Programming Language :: Python :: 3.8', 'Topic :: Games/Entertainment :: Simulation',
'Topic :: Scientific/Engineering :: Artificial Intelligence',
'Framework :: Robot Framework'
],
packages=[x for x in find_packages('.')],
)