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First workspace draft
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‎.gitattributes

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# GitHub syntax highlighting
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pixi.lock linguist-language=YAML linguist-generated=true

‎.gitignore

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# pixi environments
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.pixi
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*.egg-info
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cmake
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eigenpy
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hpp-fcl
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coal
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pinocchio
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pycppad
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example-robot-data
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proxsuite
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proxsuite-nlp
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aligator
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LoIK

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.12)
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project(root)
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include(CTest)
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set(PROJECT_WORKSPACE ON)
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set(PROJECT_PACKAGES_IN_WORKSPACE)
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set(PROJECT_PYTHON_PACKAGES_IN_WORKSPACE)
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macro(add_eigenpy)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE eigenpy)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/eigenpy/python)
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add_subdirectory(eigenpy)
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endmacro()
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macro(add_hpp_fcl)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE hpp-fcl)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/hpp-fcl/python)
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add_subdirectory(hpp-fcl)
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endmacro()
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macro(add_pinocchio)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pinocchio)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/pinocchio/bindings/python)
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add_subdirectory(pinocchio)
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endmacro()
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macro(add_pycppad)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pycppad)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/pycppad/python)
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add_subdirectory(pycppad)
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endmacro()
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macro(add_example_robot_data)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE example-robot-data)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/example-robot-data/python)
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add_subdirectory(example-robot-data)
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endmacro()
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macro(add_proxsuite)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/proxsuite/bindings/python)
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add_subdirectory(proxsuite)
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endmacro()
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macro(add_proxsuite_nlp)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite-nlp)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/proxsuite-nlp/bindings/python)
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add_subdirectory(proxsuite-nlp)
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endmacro()
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macro(add_aligator)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE aligator)
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list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
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${PROJECT_BINARY_DIR}/aligator/bindings/python)
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add_subdirectory(aligator)
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endmacro()
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macro(add_loik)
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list(APPEND PROJECT_PACKAGES_IN_WORKSPACE loik)
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add_subdirectory(LoIK)
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endmacro()
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# add_eigenpy()
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# add_hpp_fcl()
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# add_pinocchio()
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# add_pycppad()
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# add_example_robot_data()
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# add_proxsuite()
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# add_proxsuite_nlp()
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# add_aligator()
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# add_loik()

‎README.md

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# workspace
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This project aggregate scripts and files to work on multiple Simple-Robotics project at once
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# Simple-Robotics Workspace
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This project aggregate scripts and files to work on multiple Simple-Robotics project at once.
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## How to use it
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To setup a workspace you must do the following steps:
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1. Populate the workspace
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2. Configure CMakeLists.txt
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3. Configure pixi.toml
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4. Build the workspace
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Project inside a workspace are called **edited projects**.
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### Populate the workspace
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Use the following commands to clone projects you want to **edit**.
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- eigenpy: `git clone https://github.com/stack-of-tasks/eigenpy.git --recursive -b topic/workspace`
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- hpp-fcl: `git clone [email protected]:humanoid-path-planner/hpp-fcl.git --recursive -b topic/workspace`
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- pinocchio: `git clone [email protected]:stack-of-tasks/pinocchio.git --recursive -b topic/workspace`
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- pycppad: `git clone [email protected]:Simple-Robotics/pycppad.git --recursive -b topic/workspace`
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- example-robot-data: `git clone [email protected]:Gepetto/example-robot-data.git --recursive -b topic/workspace`
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- proxsuite: `git clone https://github.com/Simple-Robotics/proxsuite.git --recursive -b topic/workspace`
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- proxsuite-nlp: `git clone https://github.com/Simple-Robotics/proxsuite-nlp.git --recursive -b topic/workspace`
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- aligator: `git clone https://github.com/Simple-Robotics/aligator --recursive --recursive -b topic/workspace`
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### Configure CMakeLists.txt
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Uncomment the following lines corresponding to all **edited projects** in the [CMakeLists.txt](./CMakeLists.txt) file:
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- eigenpy: `add_eigenpy()`
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- hpp-fcl: `add_hpp_fcl()`
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- pinocchio: `add_pinocchio()`
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- pycppad: `add_pycppad()`
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- example-robot-data: `add_example_robot_data()`
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- proxsuite: `add_proxsuite()`
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- proxsuite-nlp: `add_proxsuite_nlp()`
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- aligator: `add_aligator()`
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### Configure pixi.toml
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This is the trickiest part.
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The [pixi.toml](./pixi.toml) file contains the following environments:
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- all: Allow to work on all projects at the same time
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- eigenpy-standalone: Allow to work only on eigenpy
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- hpp-fcl-standalone: Allow to work only on hpp-fcl
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- pinocchio-standalone: Allow to work only on pinocchio
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- pycppad-standalone: Allow to work only on pycppad
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- proxsuite-standalone: Allow to work only on proxsuite
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- proxsuite-nlp-standalone: Allow to work only on proxsuite-nlp
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- aligator-standalone: Allow to work only on aligator
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- loik-standalone: Allow to work only on loik
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It also contains the following features:
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- base: Dependencies used in a lot of projects
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- eigenpy: eigenpy dependencies
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- hpp-fcl: hpp-fcl dependencies without **editable projects**
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- hpp-fcl-standalone: hpp-fcl **editable projects** dependencies
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- pinocchio: pinocchio dependencies without **editable projects**
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- pinocchio-standalone: pinocchio **editable projects** dependencies
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- pycppad: pycppad dependencies without **editable projects**
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- pycppad-standalone: pycppad **editable projects** dependencies
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- proxsuite: proxsuite dependencies without **editable projects**
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- proxsuite-nlp: proxsuite-nlp dependencies without **editable projects**
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- proxsuite-nlp-standalone: proxsuite-nlp **editable projects** dependencies
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- aligator: aligator dependencies without **editable projects**
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- aligator-standalone: aligator **editable projects** dependencies
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- loik: loik dependencies without **editable projects**
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- loik-standalone: loik **editable projects** dependencies
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You have to create an environment with all **edited projects** dependencies but without **edited projects** inside.
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To achieve this, you can compose an environment with all defined features.
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As an example, if you want to work on hpp-fcl and pinocchio you will need:
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- All hpp-fcl dependencies: You can use the hpp-fcl and hpp-fcl-standalone feature
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- pinocchio dependencies without hpp-fcl: You can use the pinocchio feature
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You will have to add the following line in the [pixi.toml](./pixi.toml) environments section:
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```yaml
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my-env = { features = ["base", "hpp-fcl", "hpp-fcl-standalone", "pinocchio"] }
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```
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To help you build the right environment, here the **editable project** dependency graph:
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- eigenpy: nothing
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- hpp-fcl:
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- eigenpy
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- pinocchio:
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- eigenpy
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- hpp-fcl
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- pycppad:
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- eigenpy
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- proxsuite: nothing
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- proxsuite-nlp:
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- eigenpy
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- pinocchio
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- example-robot-data
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- proxsuite
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- aligator:
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- eigenpy
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- pinocchio
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- example-robot-data
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- proxsuite-nlp
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- loik:
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- pinocchio
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- example-robot-data
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### Build the workspace
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To build the workspace, open a pixi shell, then run CMake and make as usual:
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```bash
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pixi shell -e my-env
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mkdir build
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cd build
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cmake ..
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make
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```
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You can run all tests at once by running:
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```bash
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ctest
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```
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Or you can only select tests from a specific project:
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```bash
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ctest -R "pinocchio-.*"
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```
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>>>>>>> 38e9093 (First workspace draft)

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