diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..07fe41c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# GitHub syntax highlighting +pixi.lock linguist-language=YAML linguist-generated=true diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..64bbea6 --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +# pixi environments +.pixi +*.egg-info +cmake +eigenpy +hpp-fcl +coal +pinocchio +pycppad +example-robot-data +proxsuite +proxsuite-nlp +aligator +LoIK +Simple diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..b7c50f3 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,86 @@ +cmake_minimum_required(VERSION 3.12) +project(root) +include(CTest) + +set(PROJECT_WORKSPACE ON) +set(PROJECT_PACKAGES_IN_WORKSPACE) +set(PROJECT_PYTHON_PACKAGES_IN_WORKSPACE) + +macro(add_eigenpy) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE eigenpy) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/eigenpy/python) + add_subdirectory(eigenpy) +endmacro() +macro(add_coal) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE hpp-fcl coal) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/hpp-fcl/python ${PROJECT_BINARY_DIR}/coal/python) + add_subdirectory(coal) +endmacro() +macro(add_pinocchio) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pinocchio) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/pinocchio/bindings/python) + add_subdirectory(pinocchio) +endmacro() +macro(add_pycppad) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pycppad) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/pycppad/python) + add_subdirectory(pycppad) +endmacro() +macro(add_example_robot_data) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE example-robot-data) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/example-robot-data/python) + add_subdirectory(example-robot-data) +endmacro() +macro(add_proxsuite) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/proxsuite/bindings/python) + add_subdirectory(proxsuite) +endmacro() +macro(add_proxsuite_nlp) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite-nlp) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/proxsuite-nlp/bindings/python) + add_subdirectory(proxsuite-nlp) +endmacro() +macro(add_aligator) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE aligator) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/aligator/bindings/python) + add_subdirectory(aligator) +endmacro() +macro(add_loik) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE loik) + add_subdirectory(LoIK) +endmacro() +macro(add_simple) + list(APPEND PROJECT_PACKAGES_IN_WORKSPACE simple) + list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE + ${PROJECT_BINARY_DIR}/Simple/bindings/python) + add_subdirectory(Simple) +endmacro() + +# add_eigenpy() + +# add_coal() + +# add_pinocchio() + +# add_pycppad() + +# add_example_robot_data() + +# add_proxsuite() + +# add_proxsuite_nlp() + +# add_aligator() + +# add_loik() + +# add_simple() diff --git a/README.md b/README.md index 3e642f8..238349b 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,137 @@ -# workspace -This project aggregate scripts and files to work on multiple Simple-Robotics project at once +# Simple-Robotics Workspace + +This project aggregates scripts and files to work on multiple Simple-Robotics projects at once. + +## How to use it + +To setup a workspace, follow these steps: + +1. Populate the workspace +2. Configure CMakeLists.txt +3. Configure pixi.toml +4. Build the workspace + +Projects inside a workspace are called **edited projects**. + +### Populate the workspace + +Use the following commands to clone projects you want to **edit**. + +- eigenpy: `git clone git@github.com:stack-of-tasks/eigenpy.git --recursive -b devel` +- hpp-fcl: `git clone git@github.com:lmontaut/hpp-fcl.git --recursive -b topic/coal` +- pinocchio: `git clone git@github.com:stack-of-tasks/pinocchio.git --recursive -b devel` +- pycppad: `git clone git@github.com:Simple-Robotics/pycppad.git --recursive -b devel` +- example-robot-data: `git clone git@github.com:Gepetto/example-robot-data.git --recursive -b devel` +- proxsuite: `git clone git@github.com:Simple-Robotics/proxsuite.git --recursive -b devel` +- proxsuite-nlp: `git clone git@github.com:Simple-Robotics/proxsuite-nlp.git --recursive -b devel` +- aligator: `git clone git@github.com:Simple-Robotics/aligator --recursive --recursive -b devel` + +### Configure CMakeLists.txt + +Uncomment the following lines corresponding to all **edited projects** in the [CMakeLists.txt](./CMakeLists.txt) file: + +- eigenpy: `add_eigenpy()` +- hpp-fcl: `add_hpp_fcl()` +- pinocchio: `add_pinocchio()` +- pycppad: `add_pycppad()` +- example-robot-data: `add_example_robot_data()` +- proxsuite: `add_proxsuite()` +- proxsuite-nlp: `add_proxsuite_nlp()` +- aligator: `add_aligator()` + +### Configure pixi.toml + +This is the trickiest part. + +The [pixi.toml](./pixi.toml) file contains the following environments: + +- all: Allow to work on all projects at the same time +- eigenpy-standalone: Allow to work only on eigenpy +- hpp-fcl-standalone: Allow to work only on hpp-fcl +- pinocchio-standalone: Allow to work only on pinocchio +- pycppad-standalone: Allow to work only on pycppad +- proxsuite-standalone: Allow to work only on proxsuite +- proxsuite-nlp-standalone: Allow to work only on proxsuite-nlp +- aligator-standalone: Allow to work only on aligator +- loik-standalone: Allow to work only on loik + +It also contains the following features: + +- base: Dependencies used in a lot of projects +- eigenpy: eigenpy dependencies +- hpp-fcl: hpp-fcl dependencies without **editable projects** +- hpp-fcl-standalone: hpp-fcl **editable projects** dependencies +- pinocchio: pinocchio dependencies without **editable projects** +- pinocchio-standalone: pinocchio **editable projects** dependencies +- pycppad: pycppad dependencies without **editable projects** +- pycppad-standalone: pycppad **editable projects** dependencies +- proxsuite: proxsuite dependencies without **editable projects** +- proxsuite-nlp: proxsuite-nlp dependencies without **editable projects** +- proxsuite-nlp-standalone: proxsuite-nlp **editable projects** dependencies +- aligator: aligator dependencies without **editable projects** +- aligator-standalone: aligator **editable projects** dependencies +- loik: loik dependencies without **editable projects** +- loik-standalone: loik **editable projects** dependencies + +You have to create an environment with all **edited projects** dependencies but without **edited projects** inside. +To achieve this, you can compose an environment with all defined features. + +As an example, if you want to work on hpp-fcl and pinocchio you will need: + +- All hpp-fcl dependencies: You can use the hpp-fcl and hpp-fcl-standalone feature +- pinocchio dependencies without hpp-fcl: You can use the pinocchio feature + +You will have to add the following line in the [pixi.toml](./pixi.toml) environments section: + +```yaml +my-env = { features = ["base", "hpp-fcl", "hpp-fcl-standalone", "pinocchio"] } +``` + +To help you build the right environment, here the **editable project** dependency graph: + +- eigenpy: nothing +- hpp-fcl: + - eigenpy +- pinocchio: + - eigenpy + - hpp-fcl +- pycppad: + - eigenpy +- proxsuite: nothing +- proxsuite-nlp: + - eigenpy + - pinocchio + - example-robot-data + - proxsuite +- aligator: + - eigenpy + - pinocchio + - example-robot-data + - proxsuite-nlp +- loik: + - pinocchio + - example-robot-data + +### Build the workspace + +To build the workspace, open a pixi shell, then run CMake and make as usual: + +```bash +pixi shell -e my-env +mkdir build +cd build +cmake .. +make +``` + +You can run all tests at once by running: + +```bash +ctest +``` + +Or you can only select tests from a specific project: + +```bash +ctest -R "pinocchio-.*" +``` diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000..37a3da9 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,5847 @@ +version: 6 +environments: + aligator-standalone: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - 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