ci: fix leftover

- removed non existing zed extension
- cmake policy: allow cmake version smaller than 3.5
- update main.cpp
- fix cppsrc path in makefile of panda
- removed clang tidy

Author: juelg

.github/workflows/extensions.yaml

@@ -14,7 +14,6 @@ jobs:
           # - rcs_robotiq
           - rcs_tacto
           - rcs_usb_cam
-          - rcs_zed
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -74,8 +73,8 @@ jobs:
           pip install -r requirements.txt
       - name: Check clang format
         run: make -C extensions/${{ matrix.extension }} cppcheckformat
-      - name: Clang Tidy
-        run: make -C extensions/${{ matrix.extension }} cpplint
+      # - name: Clang Tidy
+      #   run: make -C extensions/${{ matrix.extension }} cpplint
       - name: Clang build
         run: make -C extensions/${{ matrix.extension }} clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
 

extensions/rcs_fr3/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)
 

extensions/rcs_fr3/src/hw/main.cpp

@@ -13,11 +13,11 @@
 using namespace std;
 
 const string ip = "192.168.101.1";
-const string urdf_path = "models/urdf/fr3.urdf";
+const string mjcf_path = "assets/fr3/mjcf/fr3_0.xml";
 
 int main() {
   try {
-    auto ik = make_shared<rcs::common::RL>(urdf_path);
+    auto ik = make_shared<rcs::common::Pin>(mjcf_path, "attachment_site_0", false);
     rcs::hw::Franka robot(ip, ik);
     robot.automatic_error_recovery();
     std::cout << "WARNING: This example will move the robot! "

extensions/rcs_panda/Makefile

@@ -1,5 +1,5 @@
 PYSRC = src/rcs_panda
-CPPSRC = src
+CPPSRC = src_fr3
 COMPILE_MODE = Release
 
 # CPP