ci: add xvfb for stubgen

Author: juelg

.github/workflows/ci.yaml

@@ -134,6 +134,8 @@ jobs:
           key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
           restore-keys: |
             ${{ runner.os }}-apt-
+      - name: Install virtual frame buffer tool
+        run: sudo apt install xvfb
       - name: Cache rcs build directory
         uses: actions/cache@v4
         with:
@@ -162,7 +164,7 @@ jobs:
           pip install -v --no-build-isolation '.[dev]'
           pip install -v --no-build-isolation extensions/${{ matrix.extension }}
       - name: Check that stub files are up-to-date
-        run: make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
+        run: xvfb-run make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
       - name: Clang build
         run: make -C extensions/${{ matrix.extension }} clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
       - name: Check clang format

extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi

@@ -57,19 +57,14 @@ class Franka(rcs._core.common.Robot):
     def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
-        self,
-        desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]],
+        self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
     ) -> None: ...
     def double_tap_robot_to_continue(self) -> None: ...
     def get_config(self) -> FrankaConfig: ...
     def get_state(self) -> FrankaState: ...
     def osc_set_cartesian_position(self, desired_pos_EE_in_base_frame: rcs._core.common.Pose) -> None: ...
     def set_cartesian_position_ik(
-        self,
-        pose: rcs._core.common.Pose,
-        max_time: float,
-        elbow: float | None,
-        max_force: float | None = 5,
+        self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
     def set_config(self, cfg: FrankaConfig) -> bool: ...

extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi

@@ -57,19 +57,14 @@ class Franka(rcs._core.common.Robot):
     def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
-        self,
-        desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]],
+        self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
     ) -> None: ...
     def double_tap_robot_to_continue(self) -> None: ...
     def get_config(self) -> FrankaConfig: ...
     def get_state(self) -> FrankaState: ...
     def osc_set_cartesian_position(self, desired_pos_EE_in_base_frame: rcs._core.common.Pose) -> None: ...
     def set_cartesian_position_ik(
-        self,
-        pose: rcs._core.common.Pose,
-        max_time: float,
-        elbow: float | None,
-        max_force: float | None = 5,
+        self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
     def set_config(self, cfg: FrankaConfig) -> bool: ...

extensions/rcs_robotics_library/CMakeLists.txt

@@ -25,6 +25,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)