From 21e5f25dd1b7c9d5263e240f8f256a25738d0091 Mon Sep 17 00:00:00 2001
From: Tobias Juelg <tobias.juelg@utn.de>
Date: Wed, 4 Feb 2026 11:09:09 +0100
Subject: [PATCH 1/2] feat(cmake): egl and eigen headers in cmake

---
 CMakeLists.txt           | 17 +++++++++++++++--
 include/rcs/Kinematics.h |  4 ++--
 include/rcs/Pose.h       |  4 ++--
 include/rcs/utils.h      |  2 +-
 src/sim/camera.cpp       |  2 +-
 src/sim/camera.h         |  2 +-
 src/sim/sim.cpp          |  1 -
 7 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b5c0ef2..83770a0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,7 +33,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 include(FetchContent)
 
-find_package(Eigen3 REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 find_package(MuJoCo REQUIRED)
 find_package(pinocchio REQUIRED)
@@ -45,8 +44,22 @@ FetchContent_Declare(pybind11
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
 )
+FetchContent_Declare(Eigen3
+    GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+    GIT_TAG 3.4.1
+    GIT_PROGRESS TRUE
+    EXCLUDE_FROM_ALL
+)
+FetchContent_Declare(
+    egl_headers
+    GIT_REPOSITORY https://github.com/KhronosGroup/EGL-Registry.git
+    GIT_TAG        main
+    GIT_SHALLOW    TRUE
+)
 
-FetchContent_MakeAvailable(pybind11)
+FetchContent_MakeAvailable(pybind11 Eigen3 egl_headers)
 include(compile_scenes)
+# egl headers
+include_directories(${egl_headers_SOURCE_DIR}/api)
 
 add_subdirectory(src)
diff --git a/include/rcs/Kinematics.h b/include/rcs/Kinematics.h
index 57d7973a..ce6b73cb 100644
--- a/include/rcs/Kinematics.h
+++ b/include/rcs/Kinematics.h
@@ -1,8 +1,8 @@
 #ifndef RCS_IK_H
 #define RCS_IK_H
 
-#include <eigen3/Eigen/Eigen>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
 #include <memory>
 #include <optional>
 #include <string>
diff --git a/include/rcs/Pose.h b/include/rcs/Pose.h
index e2697fb3..1f0a0e36 100644
--- a/include/rcs/Pose.h
+++ b/include/rcs/Pose.h
@@ -1,8 +1,8 @@
 #ifndef RCS_POSE_H
 #define RCS_POSE_H
 
-#include <eigen3/Eigen/Eigen>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
 #include <memory>
 
 #include "utils.h"
diff --git a/include/rcs/utils.h b/include/rcs/utils.h
index 472c54de..5ebc8cce 100644
--- a/include/rcs/utils.h
+++ b/include/rcs/utils.h
@@ -1,7 +1,7 @@
 #ifndef RCS_UTIL_H
 #define RCS_UTIL_H
 
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <memory>
 
 namespace rcs {
diff --git a/src/sim/camera.cpp b/src/sim/camera.cpp
index a70f8525..d9d8eef2 100644
--- a/src/sim/camera.cpp
+++ b/src/sim/camera.cpp
@@ -6,7 +6,7 @@
 #include <algorithm>
 #include <cstdlib>
 #include <cstring>
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <memory>
 #include <set>
 #include <stdexcept>
diff --git a/src/sim/camera.h b/src/sim/camera.h
index 095991e1..8b3daa25 100644
--- a/src/sim/camera.h
+++ b/src/sim/camera.h
@@ -4,7 +4,7 @@
 #include <rcs/Pose.h>
 #include <rcs/Robot.h>
 
-#include <eigen3/Eigen/Eigen>
+#include <Eigen/Eigen>
 #include <mutex>
 #include <optional>
 #include <set>
diff --git a/src/sim/sim.cpp b/src/sim/sim.cpp
index 8059921e..032c3f41 100644
--- a/src/sim/sim.cpp
+++ b/src/sim/sim.cpp
@@ -1,6 +1,5 @@
 #include "sim/sim.h"
 
-#include <GLFW/glfw3.h>
 #include <assert.h>
 
 #include <chrono>

From 4b1007d09946927530490fba74dce1a61080a54a Mon Sep 17 00:00:00 2001
From: Tobias Juelg <tobias.juelg@utn.de>
Date: Wed, 4 Feb 2026 11:13:55 +0100
Subject: [PATCH 2/2] build: moved build requirements into pyproject

---
 README.md        |  2 +-
 pyproject.toml   | 11 ++++++++++-
 requirements.txt |  6 ------
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/README.md b/README.md
index e5bf2b2b..909d83a7 100644
--- a/README.md
+++ b/README.md
@@ -110,11 +110,11 @@ We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
     ```shell
     conda create -n rcs python=3.11
     conda activate rcs
-    pip install -r requirements.txt
     ```
 
 3.  **Install RCS**:
     ```shell
+    pip install -r requirements.txt
     pip install -ve . --no-build-isolation
     ```
 
diff --git a/pyproject.toml b/pyproject.toml
index 4474fadf..5ccd3c38 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,14 @@
 [build-system]
-requires = []
+requires = [
+    "build",
+    "wheel",
+    "scikit-build-core>=0.3.3",
+    "pybind11",
+    "cmake",
+    "ninja",
+    "mujoco==3.2.6",
+    "pin==3.7.0",
+]
 build-backend = "scikit_build_core.build"
 
 [project]
diff --git a/requirements.txt b/requirements.txt
index 7474dbd7..24238735 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,8 +1,2 @@
-build
-wheel
-scikit-build-core>=0.3.3
-pybind11
-cmake
-ninja
 mujoco==3.2.6
 pin==3.7.0
\ No newline at end of file