bipedal-locomotion-framework/pixi.toml at master · gbionics/bipedal-locomotion-framework · GitHub

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[workspace]
name = "bipedal-locomotion-framework"
description = "Bipedal Locomotion Framework"
channels = ["conda-forge", "robostack-jazzy"]
platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64", "osx-arm64"]

[activation.env]
# This is a single place where CMAKE_BUILD_TYPE is defined, change its value here and
# delete .build  to change build type
CMAKE_BUILD_TYPE = "Release"
# ccache support
CMAKE_C_COMPILER_LAUNCHER="ccache"
CMAKE_CXX_COMPILER_LAUNCHER="ccache"

[target.win.activation.env]
CMAKE_INSTALL_PREFIX = "%CONDA_PREFIX%\\Library"
CCACHE_BASEDIR = "%PIXI_PROJECT_ROOT%"
BLF_PIXI_LINKER_CMAKE_OPTIONS = ""

[target.unix.activation.env]
CMAKE_INSTALL_PREFIX = "$CONDA_PREFIX"
CCACHE_BASEDIR = "$PIXI_PROJECT_ROOT"

[target.linux.activation.env]
BLF_PIXI_LINKER_CMAKE_OPTIONS = "-DCMAKE_LINKER_TYPE=MOLD"

[target.osx.activation.env]
BLF_PIXI_LINKER_CMAKE_OPTIONS = ""


[tasks]
configure = { cmd = [
    "cmake",
    "-G",
    "Ninja",
    "-DBUILD_TESTING:BOOL=ON",
    "-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON",
    "-DUSE_SYSTEM_Catch2:BOOL=ON",
    # Workaround for slow PCL find in BLF
    "-DCMAKE_DISABLE_FIND_PACKAGE_VTK:BOOL=ON",
    "$BLF_PIXI_LINKER_CMAKE_OPTIONS",
    "-S",
    ".",
    "-B",
    ".build",
] }
build = { cmd = ["cmake", "--build", ".build", "--config", "Release"], depends-on = ["configure"] }
test = { cmd = ["ctest", "--test-dir", ".build", "--output-on-failure", "--build-config", "Release"], depends-on = ["build"] }
test-skip-python = { cmd = ["ctest", "--test-dir", ".build", "--output-on-failure", "--build-config", "Release", "-E","Python"], depends-on = ["build"] }
install = { cmd = ["cmake", "--install", ".build", "--config", "Release"], depends-on = ["build"] }

[dependencies]
python = "*"
cmake = "*"
c-compiler = "*"
cxx-compiler = "*"
ninja = "*"
pkg-config = "*"
ccache = "*"
idyntree = ">=12.2.1"
yarp = ">=3.7.0"
libmatio = "*"
libmatio-cpp = "*"
librobometry = "*"
liblie-group-controllers = "*"
# Eigen is temporary pinned to 3.* until the eigen 5.* migration is completed
eigen = "3.*"
eigen-abi-devel = "3.*"
qhull = "*"
casadi = ">=3.5.5"
cppad = "*"
spdlog = ">=1.15.1"
nlohmann_json = "*"
manif = "*"
manifpy = "*"
pybind11 = "*"
pybind11-abi = "*"
numpy = "*"
pytest = "*"
scipy = "*"
libopencv = "*"
pcl = "*"
tomlplusplus = "*"
libunicycle-footstep-planner = "*"
icub-models = ">=1.23.4"
libtrintrin = "*"
ros2-distro-mutex = "*"
ros-jazzy-rclcpp = "*"
onnxruntime-cpp = "*"
libbayes-filters-lib = "*"
cmake-package-check = "*"
catch2 = "*"

[target.linux.dependencies]
libgl-devel = "*"
mold = "*"