Add pinocchio_python_parser target

CMakeLists.txt

@@ -134,9 +134,8 @@ cmake_dependent_option(
   BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT
   "Build the Python interface with Boost.Multiprecision MPFR support" OFF BUILD_PYTHON_INTERFACE
   OFF)
-cmake_dependent_option(
-  BUILD_WITH_LIBPYTHON "Link to libpython to embed an interpreter for the python_parser feature" ON
-  "BUILD_PYTHON_INTERFACE" OFF)
+cmake_dependent_option(BUILD_WITH_LIBPYTHON "Build the library with Python format support" ON
+                       "BUILD_PYTHON_INTERFACE" OFF)
 if(APPLE)
   option(BUILD_WITH_ACCELERATE_SUPPORT "Build Pinocchio with the Accelerate support" OFF)
 else(APPLE)
@@ -364,15 +363,6 @@ if(BUILD_WITH_EXTRA_SUPPORT)
        ${${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES})
 endif()
 
-# LibPython sources
-if(BUILD_WITH_LIBPYTHON)
-  list(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS})
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES})
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS})
-endif(BUILD_WITH_LIBPYTHON)
-
 # HPP-FCL sources
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   if(ENABLE_TEMPLATE_INSTANTIATION)

bindings/python/parsers/python/model.cpp

@@ -4,8 +4,6 @@
 
 #include "pinocchio/bindings/python/parsers/python.hpp"
 
-#include <iostream>
-#include <Python.h>
 #include <boost/version.hpp>
 #include <boost/algorithm/string/predicate.hpp>
 
@@ -28,11 +26,6 @@ namespace pinocchio
       // Get a dict for the global namespace to exec further python code with
       bp::dict globals = bp::extract<bp::dict>(main_module.attr("__dict__"));
 
-      // We need to link to the pinocchio PyWrap. We delegate the dynamic loading to the python
-      // interpreter.
-      bp::object cpp_module(
-        (bp::handle<>(bp::borrowed(PyImport_AddModule("libpinocchio_pywrap")))));
-
       // That's it, you can exec your python script, starting with a model you
       // can update as you want.
       try
@@ -67,10 +60,6 @@ namespace pinocchio
 
       // close the interpreter
       // cf. https://github.com/numpy/numpy/issues/8097
-#if PY_MAJOR_VERSION < 3
-      Py_Finalize();
-#else
-
       PyObject * poMainModule = PyImport_AddModule("__main__");
       PyObject * poAttrList = PyObject_Dir(poMainModule);
       PyObject * poAttrIter = PyObject_GetIter(poAttrList);
@@ -94,8 +83,6 @@ namespace pinocchio
       }
       Py_DecRef(poAttrIter);
       Py_DecRef(poAttrList);
-#endif
-
       return model;
     }
   } // namespace python

sources.cmake

@@ -369,6 +369,9 @@ set(${PROJECT_NAME}_SDF_PUBLIC_HEADERS
 set(${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS
     ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp)
 
+set(${PROJECT_NAME}_LIBPYTHON_SOURCES
+    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp)
+
 set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp)
 
 set(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS
@@ -594,12 +597,6 @@ set(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
     ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/geometry.cpp
     ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-extras.cpp)
 
-set(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/python.hpp)
-
 set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES
     ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase.cpp
     ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase-callbacks.cpp

src/CMakeLists.txt

@@ -325,6 +325,22 @@ if(BUILD_WITH_CASADI_SUPPORT)
   target_link_libraries(${PROJECT_NAME}_casadi ${CASADI_SCOPE} casadi)
 endif()
 
+if(BUILD_WITH_LIBPYTHON)
+  set(LIBPYTHON_LIB_NAME "${PROJECT_NAME}_python_parser")
+
+  pinocchio_target(
+    ${LIBPYTHON_LIB_NAME}
+    SCALAR default
+    SOURCES ${${PROJECT_NAME}_LIBPYTHON_SOURCES} ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS})
+  pinocchio_config(python_parser ${LIBPYTHON_LIB_NAME})
+
+  target_link_libraries(${LIBPYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python)
+  target_link_boost_python(${LIBPYTHON_LIB_NAME} PUBLIC)
+  if(WIN32)
+    target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
+  endif()
+endif()
+
 # Define main target (default, parsers, extra).
 add_library(${PROJECT_NAME} INTERFACE)
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

unittest/CMakeLists.txt

@@ -38,6 +38,7 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
       EXTRA
       COLLISION
       PARALLEL
+      PYTHON_PARSER
       PARSERS_OPTIONAL
       EXTRA_OPTIONAL
       COLLISION_OPTIONAL
@@ -93,6 +94,10 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
     target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_extra)
   endif()
 
+  if(unit_test_PYTHON_PARSER)
+    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_python_parser)
+  endif()
+
   modernize_target_link_libraries(
     ${TEST_NAME}
     SCOPE PRIVATE
@@ -223,23 +228,23 @@ if(BUILD_WITH_EXTRA_SUPPORT)
 endif()
 
 if(BUILD_WITH_LIBPYTHON)
-  add_pinocchio_unit_test(python_parser PACKAGES Python3::Python)
+  add_pinocchio_unit_test(python_parser PYTHON_PARSER)
   get_cpp_test_name(python_parser ${CMAKE_CURRENT_SOURCE_DIR} python_parser_target)
-  target_include_directories(${python_parser_target} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
 
-  target_link_libraries(${python_parser_target} PUBLIC ${PYWRAP}_default)
-  target_link_libraries(${python_parser_target} PUBLIC ${PYTHON_LIBRARIES})
   get_test_property(${python_parser_target} ENVIRONMENT ENV_VARIABLES)
   compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python")
   list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES})
   if(WIN32)
-    # This line is mandatory because of Github action. The test run well on Windowns + Conda. This
+    # This line is mandatory because of Github action. The test run well on Windows + Conda. This
     # hide something wrong. Maybe the test is linking against the wrong Python library or call the
     # wrong interpreter.
     get_filename_component(_PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     list(APPEND ENV_VARIABLES "PYTHONHOME=${_PYTHONHOME}")
   endif()
   set_tests_properties(${python_parser_target} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+endif()
+
+if(BUILD_PYTHON_INTERFACE)
   add_subdirectory(python)
 endif()