Pybind11 manual bindings

[gilwoolee]

This PR contains minimal class definitions for exposing aikido classes needed for other repositories such as libherb and pr_tsr.

The python binding is built not part of aikido but as a separate project after aikido is built via catkin.

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Before creating a pull request

• Document new methods and classes
• Format code with make format

Before merging a pull request

• Set version target by selecting a milestone on the right side
• Summarize this change in CHANGELOG.md
• Add unit test(s) for this change

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[brianhou]

Please delete the .swp file committed in b0691c6

[brianhou]

Mostly left comments on the README. Can you also explain what the difference is between aikidopy.cpp and aikido_py.cpp?

[gilwoolee]

Mostly left comments on the README. Can you also explain what the difference is between aikidopy.cpp and aikido_py.cpp?

Hmm I was following @jslee02 's example code I got for herbpy so @jslee02 might have a better answer (or suggestions). My understanding is that aikidopy.cpp defines things (more like hpp files) and aikido_py.cpp actually implements them. @jslee02 could you clarify?

[jslee02]

I use <python_module_name>.cpp for the main module (aikidopy.cpp in this case), which contains PYBIND11_MODULE. For the actual bindings, I define them in separate files per namespace and classes for example (see: https://github.com/dartsim/dart/tree/pybind11/python/dartpy).

It seems aikido_py.cpp is (currently) a single file for all the bindings of AIKIDO. I think, if necessary, it could be split and renamed when more AIKIDO APIs are bound.

[jslee02]

The current CMake script seems to be meant to build aikidopy assuming AIKIDO is already installed. If that's the case, I suggest having adikiopy in a separate repo. Otherwise, please:

• remove find_package(DART ...), which is already called, and the variables (i.e., DART_INCLUDE_DIRS and DART_LIBRARIES)
• remove find_package(AIKIDO ...), and use the necessary targets (e.g., aikido-common, aikido-statespace, and so on).