Merge pull request #70 from Simple-Robotics/install

Cleaned install procedure in readme (only use Pixi) and some cmake/pixi cleaning

Author: edantec

.github/workflows/macos-linux-pixi.yml

@@ -45,9 +45,9 @@ jobs:
         key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
         restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-
 
-    - uses: prefix-dev/setup-pixi@v0.8.1
+    - uses: prefix-dev/setup-pixi@v0.9.1
       with:
-        pixi-version: v0.39.2
+        pixi-version: v0.56.0
         cache: true
         environments: ${{ matrix.environment }}
 

.pre-commit-config.yaml

@@ -31,3 +31,9 @@ repos:
     hooks:
       - id: gersemi
         args: ["--print-config=verbose"]
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.1
+    hooks:
+      - id: ruff-check # Run the linter.
+        args: [ --fix ]
+      - id: ruff-format # Run the formatter.

CMakeLists.txt

@@ -110,7 +110,6 @@ target_link_libraries(
   PUBLIC
     pinocchio::pinocchio
     aligator::aligator
-    example-robot-data::example-robot-data
     ndcurves::ndcurves
     tsid::tsid
 )
@@ -123,7 +122,6 @@ set_target_properties(
 
 # Unit tests
 if(BUILD_TESTING)
-  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
   add_subdirectory(tests)
 endif()
 

README.md

@@ -15,72 +15,28 @@ The **Simple-mpc** library provides:
 ## Installation
 
 ### Build from source (devel)
+0. Install Pixi (from prefix.dev) : see https://pixi.sh/latest/installation/
 
 1. Clone repo.
 ```bash
-mkdir -p simple-mpc_ws/src
-cd simple-mpc_ws/src
 git clone [email protected]:Simple-Robotics/simple-mpc.git --recursive
+cd simple-mpc
 ```
 
-2. Create conda environment.
-(It is recommended to use `mamba` instead of `conda` for faster/better dependencies solving)
+2. Build
 ```bash
-mamba env create -f simple-mpc/environment-devel.yaml
-mamba activate simple-mpc-devel
-```
-
-3. Clone some dependencies
-(Some dependencies are not available on conda, or not with adequate versions)
-(vcs allow for cloning and managing multiple repo at once)
-```bash
-vcs import --recursive < simple-mpc/devel-git-deps.yaml
-```
-
-4. Build all dependencies of simple-mpc:
-(Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library)
-```bash
-export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number.
-cd ..
-colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \
--DCMAKE_BUILD_TYPE=Release             \
--DCMAKE_PREFIX_PATH=$CONDA_PREFIX      \
--DPYTHON_EXECUTABLE=$(which python)    \
--DCMAKE_CXX_COMPILER_LAUNCHER='ccache' \
--DBUILD_TESTING=OFF                    \
--DBUILD_DOCUMENTATION=OFF              \
--DBUILD_EXAMPLES=OFF                   \
--DBUILD_BENCHMARK=OFF                  \
--DBUILD_BENCHMARKS=OFF                 \
--DBUILD_WITH_COLLISION_SUPPORT=ON      \
--DGENERATE_PYTHON_STUBS=OFF            \
--DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
-```
-
-5. Source the environment and install simple-mpc:
-```bash
-source install/setup.bash
-colcon build --packages-select simple-mpc
-```
-
-6. Source the environment one more time
-(This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)
-```bash
-mamba activate simple-mpc-devel # If not already done
-source install/setup.bash
+pixi run build
 ```
 
 #### Dependencies
 
-* [proxsuite](https://github.com/Simple-Robotics/proxsuite.git)
-* [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
-* [Boost](https://www.boost.org) >= 1.71.0
-* OpenMP
-* [hpp-fcl](https://github.com/humanoid-path-planner/hpp-fcl)
+* [Aligator](https://github.com/edantec/aligator) | [conda](https://anaconda.org/conda-forge/aligator)
+* [proxsuite](https://github.com/Simple-Robotics/proxsuite.git) | [conda](https://anaconda.org/conda-forge/proxsuite)
 * [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
-* [Aligator](https://github.com/edantec/aligator) temporary_fix branch
-* [example-robot-data](https://github.com/Gepetto/example-robot-data)
+* [hpp-fcl (renamed coal)](https://github.com/humanoid-path-planner/hpp-fcl) | [conda](https://anaconda.org/conda-forge/coal)
+* [tsid](https://github.com/stack-of-tasks/tsid) >= 1.9.0 | [conda](https://anaconda.org/conda-forge/tsid)
 * [ndcurves](https://github.com/loco-3d/ndcurves)
-* [tsid](https://github.com/stack-of-tasks/tsid)
-* (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.9.0 (Python bindings)
-* (optional) [bullet](https://github.com/bulletphysics/bullet3) (Simulation examples)
+* [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
+* [eigenpy](https://github.com/stack-of-tasks/eigenpy) >=3.9.0 (Python bindings)
+* (optional) [example-robot-data](https://github.com/Gepetto/example-robot-data) (for tests, benchmarks and examples | [conda](https://anaconda.org/conda-forge/example-robot-data)
+* (optional) [pybullet](https://github.com/bulletphysics/bullet3) (Simulation examples) | [conda](https://anaconda.org/conda-forge/pybullet)

benchmark/CMakeLists.txt

@@ -1,19 +1,34 @@
 find_package(benchmark REQUIRED)
+find_package(example-robot-data 4.0.9 REQUIRED)
 
 # Add a benchmark.
-function(create_bench exfile)
-  get_filename_component(exname ${exfile} NAME_WE)
-  set(exname "bench-${exname}")
-  add_executable(${exname} ${exfile})
-  message(STATUS "Adding cpp example ${exname}")
-  set_target_properties(${exname} PROPERTIES LINKER_LANGUAGE CXX)
-  set_standard_output_directory(${exname})
-  target_include_directories(${exname} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+function(create_bench benchfile)
+  get_filename_component(benchname ${benchfile} NAME_WE)
+  set(benchname "bench-${benchname}")
+  add_executable(${benchname} ${benchfile})
+  message(STATUS "Adding cpp example ${benchname}")
+  set_target_properties(${benchname} PROPERTIES LINKER_LANGUAGE CXX)
+  target_include_directories(${benchname} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-  target_link_libraries(${exname} PUBLIC ${PROJECT_NAME})
-  target_link_libraries(${exname} PUBLIC example-robot-data::example-robot-data)
-  target_link_libraries(${exname} PUBLIC benchmark::benchmark)
+  target_link_libraries(${benchname} PUBLIC ${PROJECT_NAME})
+  target_link_libraries(${benchname} PUBLIC example-robot-data::example-robot-data)
+  target_link_libraries(${benchname} PUBLIC benchmark::benchmark)
+
+  # Add custom command to run this particular benchmark
+  add_custom_target(run-${benchname}
+      COMMAND ${benchname}
+      DEPENDS ${benchname}
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  )
+  # Add this benchmark in the dependencies to run all benchmarks
+  add_dependencies(run-benchmarks run-${benchname})
 endfunction()
 
+# Create a custom target to run all benchmarks
+add_custom_target(run-benchmarks
+    COMMAND ${CMAKE_COMMAND} -E echo "All benchmarks run."
+)
+
+# Add benchmarks
 create_bench("talos.cpp")
 create_bench("go2.cpp")

bindings/expose-interpolate.cpp

@@ -55,7 +55,7 @@ namespace simple_mpc
 
     void exposeInterpolator()
     {
-      bp::class_<Interpolator>("Interpolator", bp::init<const Model &>(bp::args("self", "model")))
+      bp::class_<Interpolator>("Interpolator", bp::init<const pinocchio::Model &>(bp::args("self", "model")))
         .def("interpolateConfiguration", &interpolateConfigurationProxy)
         .def("interpolateState", &interpolateStateProxy)
         .def("interpolateLinear", &interpolateLinearProxy)

dependencies.cmake

@@ -1,4 +1,3 @@
-find_package(example-robot-data 4.0.9 REQUIRED)
 ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
 ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)

devel-git-deps.yaml

@@ -52,9 +52,7 @@ def __init__(
                 3
             ]  # of the base link
 
-            self.localInertiaOrient = p.getDynamicsInfo(self.robotId, -1)[
-                4
-            ]
+            self.localInertiaOrient = p.getDynamicsInfo(self.robotId, -1)[4]
 
         # leg_left (45-50), leg_right (52-57), torso (0-1), arm_left (11-17),
         # gripper_left (21), arm_right (28-34), gripper_right (38), head (3,4).
@@ -124,7 +122,12 @@ def getFrictionCoefficients(self, link_id):
         return lat_fric, spin_fric
 
     def setFrictionCoefficients(self, link_id, lateral_friction, spin_friction):
-        p.changeDynamics(self.robotId, link_id, lateralFriction=lateral_friction, spinningFriction=spin_friction)
+        p.changeDynamics(
+            self.robotId,
+            link_id,
+            lateralFriction=lateral_friction,
+            spinningFriction=spin_friction,
+        )
 
     def resetState(self, q0Start):
         # Initialize position in pyBullet
@@ -451,7 +454,6 @@ def createStairs(self, pose_stairs, height_step):
         )
 
     def moveMarkers(self, LF_trans, RF_trans):
-
         p.resetBasePositionAndOrientation(
             self.sphereIdRight,
             posObj=[
@@ -472,7 +474,6 @@ def moveMarkers(self, LF_trans, RF_trans):
         )
 
     def moveQuadrupedFeet(self, FL_pose, FR_pose, RL_pose, RR_pose):
-
         p.resetBasePositionAndOrientation(
             self.sphereIdFL,
             posObj=[
@@ -515,5 +516,4 @@ def close(self):
 
 
 if __name__ == "__main__":
-
     print("BulletRobot")