jrl-umi3218 · arntanguy · Nov 25, 2025 · Nov 26, 2025 · Nov 26, 2025 · Nov 27, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -239,21 +239,41 @@ endmacro()
 find_description_package(mc_env_description)
 find_description_package(mc_int_obj_description)
 
+# -- Helper to set the components install prefix
+#
+# -- NOTE: Nix passes the CMAKE_INSTALL_LIBDIR and CMAKE_INSTALL_BINDIR as absolute
+# paths to the nix store. See: https://github.com/NixOS/nixpkgs/issues/144170
 macro(mc_rtc_set_prefix NAME FOLDER)
   set(MC_${NAME}_LIBRARY_INSTALL_PREFIX ${CMAKE_INSTALL_FULL_LIBDIR}/${FOLDER})
   if(WIN32)
     set(MC_${NAME}_RUNTIME_INSTALL_PREFIX ${CMAKE_INSTALL_FULL_BINDIR}/${FOLDER})
-    set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX
-        ${MC_RTC_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}/${FOLDER}
-    )
+    if(IS_ABSOLUTE "${CMAKE_INSTALL_BINDIR}")
+      set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX "${CMAKE_INSTALL_BINDIR}/${FOLDER}")
+    else()
+      set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX
+          "${MC_RTC_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}/${FOLDER}"
+      )
+    endif()
   else()
     set(MC_${NAME}_RUNTIME_INSTALL_PREFIX ${CMAKE_INSTALL_FULL_LIBDIR}/${FOLDER})
-    set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX
-        ${MC_RTC_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/${FOLDER}
-    )
+    if(IS_ABSOLUTE "${CMAKE_INSTALL_LIBDIR}")
+      set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX "${CMAKE_INSTALL_LIBDIR}/${FOLDER}")
+    else()
+      set(MC_${NAME}_RUNTIME_DESTINATION_PREFIX
+          "${MC_RTC_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/${FOLDER}"
+      )
+    endif()
   endif()
   # For backward compatibility
   set(MC_${NAME}_INSTALL_PREFIX "${MC_${NAME}_LIBRARY_INSTALL_PREFIX}")
+  message(STATUS "MC_${NAME}_INSTALL_PREFIX: ${MC_${NAME}_INSTALL_PREFIX}")
+  message(
+    STATUS "MC_${NAME}_RUNTIME_INSTALL_PREFIX: ${MC_${NAME}_RUNTIME_INSTALL_PREFIX}"
+  )
+  message(
+    STATUS
+      "MC_${NAME}_RUNTIME_DESTINATION_PREFIX: ${MC_${NAME}_RUNTIME_DESTINATION_PREFIX}"
+  )
 endmacro()
 
 mc_rtc_set_prefix(PLUGINS mc_plugins)
@@ -263,6 +283,7 @@ mc_rtc_set_prefix(CONTROLLER mc_controller)
 
 set(MC_RTC_BINDIR "${CMAKE_INSTALL_FULL_BINDIR}")
 set(MC_RTC_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
+set(MC_RTC_JSON_SCHEMA_PATH "${CMAKE_INSTALL_DOCDIR}/json/schemas")
 
 configure_file(
   ${PROJECT_SOURCE_DIR}/include/mc_rtc/config.h.cmake.in

diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
@@ -2,12 +2,11 @@
 # Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-set(JSON_DOC_INSTALL ${CMAKE_INSTALL_DOCDIR}/json)
 configure_file(_plugins/doxygen.rb.in "${CMAKE_CURRENT_SOURCE_DIR}/_plugins/doxygen.rb")
 
 install(
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/_data/schemas
-  DESTINATION ${JSON_DOC_INSTALL}
+  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/_data/schemas/
+  DESTINATION ${MC_RTC_JSON_SCHEMA_PATH}
   FILES_MATCHING
   PATTERN "*.json"
 )
diff --git a/include/mc_rtc/config.h.cmake.in b/include/mc_rtc/config.h.cmake.in
@@ -17,5 +17,6 @@ constexpr auto MC_CONTROLLER_INSTALL_PREFIX = "${MC_CONTROLLER_RUNTIME_DESTINATI
 constexpr auto MC_PLUGINS_INSTALL_PREFIX = "${MC_PLUGINS_RUNTIME_DESTINATION_PREFIX}";
 constexpr auto DATA_PATH = "${CMAKE_INSTALL_PREFIX}/share/mc_rtc/";
 constexpr auto CONF_PATH = "${CMAKE_INSTALL_PREFIX}/etc/mc_rtc.yaml";
+constexpr auto JSON_SCHEMA_PATH = "${MC_RTC_JSON_SCHEMA_PATH}/";
 
 }
diff --git a/include/mc_rtc/fmt_formatters.h b/include/mc_rtc/fmt_formatters.h
@@ -0,0 +1,79 @@
+#include <mc_rbdyn/rpy_utils.h>
+#include <mc_rtc/constants.h>
+#include <SpaceVecAlg/PTransform.h>
+#include <fmt/format.h>
+
+// fmt 9.0.0 removed automated operator<< discovery we use fmt::streamed instead when needed through a macro
+#if FMT_VERSION >= 9 * 10000
+#  define MC_FMT_STREAMED(X) fmt::streamed(X)
+#  include <boost/filesystem.hpp>
+#  include <Eigen/Core>
+#  include <fmt/ostream.h>
+#  include <fmt/ranges.h>
+#  include <type_traits>
+
+// Formatter for Eigen dense types (like Eigen::Matrix, Eigen::Array)
+template<typename T, typename Char>
+struct fmt::formatter<T,
+                      Char,
+                      std::enable_if_t<std::is_base_of_v<Eigen::DenseBase<T>, T>
+                                       && (fmt::range_format_kind<T, Char, void>::value == fmt::range_format::disabled)>>
+: fmt::ostream_formatter
+{
+};
+
+// Formatter for boost::filesystem::path
+template<>
+struct fmt::formatter<boost::filesystem::path> : fmt::formatter<std::string>
+{
+  template<typename FormatContext>
+  auto format(const boost::filesystem::path & p, FormatContext & ctx)
+  {
+    return fmt::formatter<std::string>::format(p.string(), ctx);
+  }
+};
+
+#else
+#  define MC_FMT_STREAMED(X) X
+#endif
+
+template<>
+struct fmt::formatter<sva::PTransform<double>> : fmt::formatter<std::string>
+{
+  int precision = 3; /// default precision
+
+  template<typename FormatContext>
+  auto format(const sva::PTransform<double> & pt, FormatContext & ctx) const
+  {
+    const auto & rotation_ft = pt.rotation();
+    auto rotation_std = pt.rotation().transpose();
+
+    auto rpy_ft = mc_rbdyn::rpyFromMat(rotation_ft);
+    auto rpy_ft_deg = rpy_ft * 180. / mc_rtc::constants::PI;
+
+    auto rpy_std = mc_rbdyn::rpyFromMat(rotation_std);
+    auto rpy_std_deg = rpy_std * 180. / mc_rtc::constants::PI;
+
+    // Format the translation as an example
+    return fmt::format_to(ctx.out(),
+                          R"(PTransform:
+  translation: [{0}]
+  rotation:
+    - matrix (Featherstone):
+        {1}
+    - matrix (standard):
+        {2}
+    - rpy (Featherstone): [{3:.{9}}] (rad), [{4:.{9}}] (deg)
+    - rpy (standard):     [{5:.{9}}] (rad), [{6:.{9}}] (deg)
+    )",
+                          pt.translation().transpose(), // {0}
+                          rotation_ft, // {1}
+                          rotation_std, // {2}
+                          rpy_ft, // {3}
+                          rpy_ft_deg, // {4}
+                          rpy_std, // {5}
+                          rpy_std_deg, // {6}
+                          precision // {9}
+    );
+  }
+};
diff --git a/include/mc_rtc/logging.h b/include/mc_rtc/logging.h
@@ -6,46 +6,12 @@
 
 #include <mc_rtc/utils_api.h>
 
-#include <iostream>
+#include <mc_rtc/fmt_formatters.h>
 
 #include <spdlog/fmt/fmt.h>
 #include <spdlog/fmt/ostr.h>
 #include <spdlog/logger.h>
 
-// fmt 9.0.0 removed automated operator<< discovery we use fmt::streamed instead when needed through a macro
-#if FMT_VERSION >= 9 * 10000
-#  define MC_FMT_STREAMED(X) fmt::streamed(X)
-#  include <boost/filesystem.hpp>
-#  include <Eigen/Core>
-#  include <fmt/ostream.h>
-#  include <fmt/ranges.h>
-#  include <type_traits>
-
-// Formatter for Eigen dense types (like Eigen::Matrix, Eigen::Array)
-template<typename T, typename Char>
-struct fmt::formatter<T,
-                      Char,
-                      std::enable_if_t<std::is_base_of_v<Eigen::DenseBase<T>, T>
-                                       && (fmt::range_format_kind<T, Char, void>::value == fmt::range_format::disabled)>>
-: fmt::ostream_formatter
-{
-};
-
-// Formatter for boost::filesystem::path
-template<>
-struct fmt::formatter<boost::filesystem::path> : fmt::formatter<std::string>
-{
-  template<typename FormatContext>
-  auto format(const boost::filesystem::path & p, FormatContext & ctx)
-  {
-    return fmt::formatter<std::string>::format(p.string(), ctx);
-  }
-};
-
-#else
-#  define MC_FMT_STREAMED(X) X
-#endif
-
 #define BOOST_STACKTRACE_LINK
 #include <boost/stacktrace.hpp>
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -127,6 +127,7 @@ set(mc_rtc_utils_HDR
     ../include/mc_rtc/ConfigurationHelpers.h
     ../include/mc_rtc/MessagePackBuilder.h
     ../include/mc_rtc/logging.h
+    ../include/mc_rtc/fmt_formatters.h
     ../include/mc_rtc/log/FlatLog.h
     ../include/mc_rtc/log/iterate_binary_log.h
     ../include/mc_rtc/log/Logger.h

diff --git a/src/mc_rtcMacros.in.cmake b/src/mc_rtcMacros.in.cmake
@@ -2,11 +2,6 @@ get_filename_component(
   PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/@mc_rtc_macros_RELATIVE_PATH@" ABSOLUTE
 )
 
-# -- Library install directory --
-set(MC_RTC_BINDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_BINDIR@")
-set(MC_RTC_DOCDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_DOCDIR@")
-set(MC_RTC_LIBDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@")
-
 # -- Library source directory --
 set(MC_RTC_SRCDIR "@MC_RTC_SOURCE_DIR@")
 
@@ -23,6 +18,32 @@ if(MC_RTC_HONOR_INSTALL_PREFIX)
   include(GNUInstallDirs)
 endif()
 
+# -- Library install directory --
+if(MC_RTC_HONOR_INSTALL_PREFIX)
+  set(MC_RTC_BINDIR "${CMAKE_INSTALL_FULL_BINDIR}")
+  set(MC_RTC_DOCDIR "${CMAKE_INSTALL_FULL_DOCDIR}")
+  set(MC_RTC_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
+else()
+  # nix sets CMAKE_INSTALL_*DIR to absolute paths
+  if(IS_ABSOLUTE "@CMAKE_INSTALL_BINDIR@")
+    set(MC_RTC_BINDIR "@CMAKE_INSTALL_BINDIR@")
+  else()
+    set(MC_RTC_BINDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_BINDIR@")
+  endif()
+
+  if(IS_ABSOLUTE "@CMAKE_INSTALL_DOCDIR@")
+    set(MC_RTC_DOCDIR "@CMAKE_INSTALL_DOCDIR@")
+  else()
+    set(MC_RTC_DOCDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_DOCDIR@")
+  endif()
+
+  if(IS_ABSOLUTE "@CMAKE_INSTALL_LIBDIR@")
+    set(MC_RTC_LIBDIR "@CMAKE_INSTALL_LIBDIR@")
+  else()
+    set(MC_RTC_LIBDIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@")
+  endif()
+endif()
+
 # -- Helper to set the components install prefix --
 macro(mc_rtc_set_prefix NAME FOLDER)
   if(MC_RTC_HONOR_INSTALL_PREFIX)
@@ -41,6 +62,12 @@ macro(mc_rtc_set_prefix NAME FOLDER)
   endif()
   # For backward compatibility
   set(MC_${NAME}_INSTALL_PREFIX "${MC_${NAME}_LIBRARY_INSTALL_PREFIX}")
+  message(
+    STATUS "MC_${NAME}_LIBRARY_INSTALL_PREFIX to ${MC_${NAME}_LIBRARY_INSTALL_PREFIX}"
+  )
+  message(
+    STATUS "MC_${NAME}_RUNTIME_INSTALL_PREFIX to ${MC_${NAME}_RUNTIME_INSTALL_PREFIX}"
+  )
 endmacro()
 
 # -- Controllers --