fix: refactored requirements_dev.txt in makefiles

Author: juelg

.github/workflows/py.yaml

@@ -21,7 +21,7 @@ jobs:
           python-version: "3.10"
           cache: "pip"
       - name: Install linting and formatting dependencies
-        run: python -m pip install -r requirements_dev.txt
+        run: python -m pip install -r requirements.txt
       - name: Check formatting
         run: make pycheckformat
 
@@ -43,7 +43,7 @@ jobs:
           python-version: "3.11"
           cache: "pip"
       - name: Install building dependencies
-        run: python -m pip install -r requirements_dev.txt
+        run: python -m pip install -r requirements.txt
       - name: Install wheel
         run: python -m pip install wheel
       - name: Install the package

Makefile

@@ -16,12 +16,10 @@ cpplint:
 # clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
 gcccompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 
 clangcompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 

README.md

@@ -2,6 +2,8 @@
 
 **Robot Control Stack (RCS)** is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.
 
+![rcs architecture diagram](docs/_static/rcs_architecture_small.svg)
+
 ## Installation
 
 We build and test RCS on the latest Debian and on the latest Ubuntu LTS.

docker/Dockerfile

@@ -75,7 +75,7 @@ RUN pip install --upgrade pip setuptools
 RUN pip config --site set global.no-build-isolation false
 
 # Install development dependencies
-RUN pip install -r requirements_dev.txt
+RUN pip install -r requirements.txt
 
 # Install the package in editable mode (CMake + pybind11 + scikit-build-core triggered)
 RUN pip install -e . --no-cache-dir --verbose --no-build-isolation

extensions/rcs_robotics_library/Makefile

@@ -16,12 +16,10 @@ cpplint:
 # clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
 gcccompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
 	cmake --build build --target _core
 
 clangcompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
 	cmake --build build --target _core
 

extensions/rcs_so101/Makefile

@@ -16,12 +16,10 @@ cpplint:
 # clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
 gcccompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
 	cmake --build build --target _core
 
 clangcompile: 
-	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
 	cmake --build build --target _core
 

pyproject.toml

@@ -19,7 +19,7 @@ dependencies = ["websockets>=11.0",
     "pillow~=10.3",
     "python-dotenv==1.0.1",
     "opencv-python~=4.10.0.84",
-    # NOTE: when changing the mujoco version, also change it in requirements_dev.txt
+    # NOTE: when changing the mujoco version, also change it in requirements.txt
     "mujoco==3.2.6",
     # NOTE: Same for pinocchio (pin)
     "pin==3.7.0",