build: moved build requirements into pyproject

Author: juelg

README.md

@@ -98,25 +98,28 @@ For common environment compositions factory functions such as `rcs.envs.creators
 This and other example can be found in the [examples](examples/) folder.
 
 ## Installation
+### From Source
 
-We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
+Make sure that common build tools i.e. `build-essential` and a C++ compiler like `gcc` or `clang` are installed on your system/conda/docker.
 
-1.  **System Dependencies**:
-    ```shell
-    sudo apt install $(cat debian_deps.txt)
-    ```
+RCS works best in python 3.11, all extensions have been tested to work in 3.11.
+- For python >3.11 the `rcs_realsense` extension wont work for the pyrealsense2 version that RCS is using.
+- For python >3.12 the ompl python module is not available on pypi as of now. If OMPL is not used, it's save to remove this dependency in the pyproject.toml.
 
-2.  **Python Environment**:
-    ```shell
-    conda create -n rcs python=3.11
-    conda activate rcs
-    pip install -r requirements.txt
-    ```
+```shell
+# setup environment
+conda create -n rcs python=3.11
+conda activate rcs
+conda install conda-forge::eigen conda-forge::glfw
+# or sudo apt install $(cat debian_deps.txt)
+pip install -r requirements.txt
+
+# install rcs
+pip install -ve .
+```
 
-3.  **Install RCS**:
-    ```shell
-    pip install -ve . --no-build-isolation
-    ```
+### Via PyPI/pip
+Coming soon...
 
 ## Hardware Extensions
 
@@ -125,7 +128,9 @@ RCS supports various hardware extensions (e.g., FR3, xArm7, RealSense). These ar
 To install an extension:
 
 ```shell
-pip install -ve extensions/rcs_fr3 --no-build-isolation
+# make sure to install system libraries before
+sudo apt install $(cat debian_deps.txt)
+pip install -ve extensions/rcs_fr3
 ```
 
 For a full list of extensions and detailed documentation, visit [robotcontrolstack.org/extensions](https://robotcontrolstack.org/extensions).

extensions/rcs_fr3/pyproject.toml

@@ -1,5 +1,14 @@
 [build-system]
-requires = []
+requires = [
+  "build",
+  "wheel",
+  "setuptools>=45",
+  "scikit-build-core>=0.3.3",
+  "pybind11",
+  "cmake",
+  "ninja",
+  "pin==3.7.0",
+]
 build-backend = "scikit_build_core.build"
 
 [project]

extensions/rcs_panda/pyproject.toml

@@ -1,5 +1,13 @@
 [build-system]
-requires = []
+requires = [
+  "build",
+  "wheel",
+  "setuptools>=45",
+  "scikit-build-core>=0.3.3",
+  "pybind11",
+  "cmake",
+  "ninja",
+]
 build-backend = "scikit_build_core.build"
 
 [project]

extensions/rcs_robotics_library/pyproject.toml

@@ -1,5 +1,13 @@
 [build-system]
-requires = []
+requires = [
+  "build",
+  "wheel",
+  "setuptools>=45",
+  "scikit-build-core>=0.3.3",
+  "pybind11",
+  "cmake",
+  "ninja",
+]
 build-backend = "scikit_build_core.build"
 
 [project]

extensions/rcs_so101/pyproject.toml

@@ -1,5 +1,13 @@
 [build-system]
-requires = []
+requires = [
+  "build",
+  "wheel",
+  "setuptools>=60",
+  "scikit-build-core>=0.3.3",
+  "pybind11",
+  "cmake",
+  "ninja",
+]
 build-backend = "scikit_build_core.build"
 
 [project]

pyproject.toml

@@ -1,5 +1,15 @@
 [build-system]
-requires = []
+requires = [
+  "build",
+  "wheel",
+  "setuptools>=45",
+  "scikit-build-core>=0.3.3",
+  "pybind11",
+  "cmake",
+  "ninja",
+  "mujoco==3.2.6",
+  "pin==3.7.0",
+]
 build-backend = "scikit_build_core.build"
 
 [project]
@@ -40,7 +50,8 @@ authors = [
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
 ]
 requires-python = ">=3.10"
-license = "AGPL-3.0-or-later"
+# license = "AGPL-3.0-or-later"
+license = { file = "LICENSE" }
 
 [project.optional-dependencies]
 dev = [

requirements.txt

@@ -1,9 +1,2 @@
-build
-wheel
-setuptools
-scikit-build-core>=0.3.3
-pybind11
-cmake
-ninja
 mujoco==3.2.6
 pin==3.7.0