stack-of-tasks · nim65s · May 23, 2023 · May 23, 2023 · May 23, 2023 · Jun 28, 2023
diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -6,3 +6,9 @@ b2be1d0b5a2ef7a5de758bca053161fb652aba56
 
 # pre-commit run -a (Guilhem Saurel, 2022-09-05)
 1d932e2d389a6205e6d3a7490b5c826fe01fea47
+
+# ruff (Guilhem Saurel, 2024-08-26)
+1ae998e5aef7dacc13bad7aa457575a513d78864
+
+# pre-commit run -a (Guilhem Saurel, 2024-08-26)
+e928496128b53fb15b1aad3b04fedd844ee86500
diff --git a/.github/workflows/ci-linux-ros.yml b/.github/workflows/ci-linux-ros.yml
@@ -6,22 +6,25 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug}
-          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release}
+          #- {ROS_DISTRO: rolling} Unable to locate package ros-rolling-pinocchio
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache # Enable ccache
       UPSTREAM_WORKSPACE: dependencies.rosinstall
       CMAKE_ARGS: -DBUILD_WITH_OSQP=ON -DBUILD_WITH_PROXQP=ON -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF  # Simde is not available yet
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
+      # eiquadprog is not yet available in ROS2
+      - run: sed -i "/eiquadprog/d" package.xml
       # This step will fetch/store the directory used by ccache before/after the ci run
       - uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
+      - uses: 'ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b'
         env: ${{ matrix.env }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,31 +1,32 @@
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: check-json
-    -   id: check-symlinks
-    -   id: check-toml
-    -   id: check-yaml
--   repo: https://github.com/psf/black
-    rev: 23.3.0
-    hooks:
-    -   id: black
--   repo: https://github.com/PyCQA/isort
-    rev: 5.12.0
-    hooks:
-    -   id: isort
--   repo: https://github.com/cheshirekow/cmake-format-precommit
-    rev: v0.6.13
-    hooks:
-    - id: cmake-format
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.3
-    hooks:
-    -   id: clang-format
-        args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
--   repo: https://github.com/pappasam/toml-sort
-    rev: v0.23.1
-    hooks:
-    - id: toml-sort-fix
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.6.2
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+  - id: ruff-format
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.23.1
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v18.1.8
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false, WhitespaceSensitiveMacros: ["TSID_DISABLE_WARNING"]}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.6.0
+  hooks:
+  - id: check-json
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,185 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+- Fix a typo in ex_4_walking
+- check solver status, set eps_abs to 1e-6, fix seed
+- CMake: require >= 3.10
+- add changelog
+- setup ruff & fix isort pre-commit config
+- update ROS CI
+
+## [1.7.0] - 2023-05-13
+
+- expose SE3ToVector and vectorToSE3
+- remove warnings
+- Enhance Python target packaging
+- Add CI with GitHub Action for conda
+- Add support for proxqp and osqp solver
+- Clean and update contributors list
+- pre-commit autoupdate
+- Expose TaskJointPosVelAccBounds
+- Expose AddMotionTask for TaskJointPosVelAccBounds
+- Fix qpmad
+- Add clang-format Google style
+- Add Measured force as an external force task with moving objects
+- update CMake: fetch submodule, set default build type, fix RPATH
+- fix for eigenpy v3
+- np.matrix → np.array
+- tooling: setup black isort & toml-sort
+
+## [1.6.3] - 2022-11-02
+
+- Require C++17
+- fix tests in 18.04
+- update pinocchio use
+
+## [1.6.2] - 2022-09-05
+
+- update python tests for np array
+- add task actuation equality
+- use generated headers
+- Choose floating-base (or not) when creating a robot wrapper
+- Add optional support of qpmad solver
+- update packaging for eigenpy 2.7.12
+
+## [1.6.1] - 2021-10-19
+
+This new release is mostly a maintenance release, including fixes for the recent version of Eigen 3.4.
+
+## [1.6.0] - 2021-03-18
+
+- Add bindings for method Contact6d::getMotionTask
+- Add Center of Pressure Taks
+- fix warnings
+
+## [1.5.0] - 2021-03-03
+
+- [py] Add config variable to specify whether end-effector task should
+   be formulated in local frame or world frame.
+- [C++] Standardize names of methods to get and set mask in motion tasks.
+- [py] Add accessors masks in TaskCOM and TaskSE3Equality.
+- bugfixes
+
+## [1.4.2] - 2020-11-26
+
+- Add a mask to task-com-equality
+- Fix bug in Contact6d::setRegularizationTaskWeightVector
+- CMake: fix configure without tests
+
+## [1.4.1] - 2020-09-25
+
+- fix memory leaks thanks to shared_ptr
+- fix warnings
+- fix package.xml for ROS
+
+## [1.4.0] - 2020-09-09
+
+- add setGravity
+- stop using StdVec in python to make code more user friendly
+- add 6d contact with motion constraint at priority level 1 in python
+- use example-robot-data in notebooks
+
+## [1.3.1] - 2020-06-05
+
+- fix license
+- fix generated tsid.pc
+
+## [1.3.0] - 2020-05-26
+
+- reactive test
+- add package.xml
+- add CheatSheet
+- updates for numpy.array & python 3
+- updateRigidContactWeights: fix and add to python API
+- use eiquadprog
+- fix compatibility with pinocchio v2.4.5
+
+## [1.2.3] - 2020-03-30
+
+- renamed tests dir
+- fix python tests
+- CMake: export project and use exports from dependencies
+- CMake: keep minimal required instructions
+
+## [1.2.2] - 2020-03-01
+
+- add angular momentum equality task
+- update to pinocchio changes
+- Python 3 compatibility
+- add some documentation
+- fix python issue
+
+## [1.2.1] - 2019-09-19
+
+- fix compatibility with recent pinocchio versions
+
+## [1.2.0] - 2019-03-06
+
+- Pinocchio v2, fix #31
+- Fix demo_romeo for pinocchio v2
+- Pull request for use TSID in python.
+- Add missing includes, fix #18
+
+## [1.1.0] - 2018-10-10
+
+This release updates to non backward-compatibles changes in pinocchio v1.3.0
+
+## [1.0.2] - 2018-06-12
+
+This release is mostly a maintenance release.
+It fixes some bug with respect to **Pinocchio**.
+It also fixes some issues with respect to the packaging.
+
+## [1.0.1] - 2018-01-12
+
+- [joint-posture-task] Fix bug in computation of task matrix from mask
+- [task-se3-equality] Add method to get frame-id
+- [Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration
+- [Math] Fix bug related to Eigen undefined function set_is_malloc_allowed
+- [CMake] Correct minimal version of Eigen3
+- [inv-dyn-form-acc-force] Fix potential bug in removal of contact constraint
+- [task-se3-equality] Fix small bug in computaiton of acceleration (just used for debugging)
+- [contact-6d] Add methods to set reference force and weight vector
+- [inv-dyn-form-acc-force] Fix bug: weight of force regularization task was not updated
+- [robot-wrapper] Fix bug in mass matrix: copy upper triangular part to lower triangular part (before this it was set to zero)
+- [formulations] Remove debug prints
+- [formulations] Fix bug in update of task weights
+- [robot-wrapper] BUG FIX: compute center of mass acceleration in computeAllTerms (before it was not computed so we were introducing random number in the CoM task)
+- [tsid-formulations] Add method to change the weight of a task.
+- [eigquadprog-fast] In DEBUG, in case a constraint is not verified, set the status flag to ERROR (even if the solver said the problem has been solved)
+- [task-com-equality] Fix little bugs in methods to get pos/vel references and errors, and in method to get desired acceleration
+- [math-utils] Add function to check if matrix/vector contains NaN
+- [math-utils] Pass JacobiSVD by reference in function solveWithDampingFromSvd
+- [math-utils] Add function to solve linear system of equations from svd decomposition
+
+## [1.0.0] - 2017-06-16
+
+This is the first release of TSID.
+This release includes minimal features for the torque control of humanoid robots such as HRP-2.
+
+[unreleased]: https://github.com/stack-of-tasks/tsid/compare/v1.7.0...HEAD
+[1.7.0]: https://github.com/stack-of-tasks/tsid/compare/v1.6.3...v1.7.0
+[1.6.3]: https://github.com/stack-of-tasks/tsid/compare/v1.6.2...v1.6.3
+[1.6.2]: https://github.com/stack-of-tasks/tsid/compare/v1.6.1...v1.6.2
+[1.6.1]: https://github.com/stack-of-tasks/tsid/compare/v1.6.0...v1.6.1
+[1.6.0]: https://github.com/stack-of-tasks/tsid/compare/v1.5.0...v1.6.0
+[1.5.0]: https://github.com/stack-of-tasks/tsid/compare/v1.4.2...v1.5.0
+[1.4.2]: https://github.com/stack-of-tasks/tsid/compare/v1.4.1...v1.4.2
+[1.4.1]: https://github.com/stack-of-tasks/tsid/compare/v1.4.0...v1.4.1
+[1.4.0]: https://github.com/stack-of-tasks/tsid/compare/v1.3.1...v1.4.0
+[1.3.1]: https://github.com/stack-of-tasks/tsid/compare/v1.3.0...v1.3.1
+[1.3.0]: https://github.com/stack-of-tasks/tsid/compare/v1.2.3...v1.3.0
+[1.2.3]: https://github.com/stack-of-tasks/tsid/compare/v1.2.2...v1.2.3
+[1.2.2]: https://github.com/stack-of-tasks/tsid/compare/v1.2.1...v1.2.2
+[1.2.1]: https://github.com/stack-of-tasks/tsid/compare/v1.2.0...v1.2.1
+[1.2.0]: https://github.com/stack-of-tasks/tsid/compare/v1.1.0...v1.2.0
+[1.1.0]: https://github.com/stack-of-tasks/tsid/compare/v1.0.2...v1.1.0
+[1.0.2]: https://github.com/stack-of-tasks/tsid/compare/v1.0.1...v1.0.2
+[1.0.1]: https://github.com/stack-of-tasks/tsid/compare/v1.0.0...v1.0.1
+[1.0.0]: https://github.com/stack-of-tasks/tsid/releases/tag/v1.0.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,7 +11,7 @@
 # GNU Lesser General Public License along with tsid If not, see
 # <http://www.gnu.org/licenses/>.
 
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)
 
 # Project properties
 set(PROJECT_ORG stack-of-tasks)
@@ -52,13 +52,25 @@ set(CXX_DISABLE_WERROR TRUE)
 set(DOXYGEN_USE_MATHJAX YES)
 set(CMAKE_VERBOSE_MAKEFILE TRUE)
 
-# JRL-cmakemodule setup
+# Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
-if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
-  if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
     message(
       FATAL_ERROR
-        "\nPlease run the following command first:\ngit submodule update --init\n"
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
     )
   else()
     message(STATUS "JRL cmakemodules not found. Let's fetch it.")
@@ -217,20 +229,6 @@ set(${PROJECT_NAME}_FORMULATIONS_HEADERS
     include/tsid/formulations/inverse-dynamics-formulation-base.hpp
     include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp)
 
-file(
-  GLOB
-  ${PYWRAP}_HEADERS
-  include/tsid/bindings/python/fwd.hpp
-  include/tsid/bindings/python/constraint/*.hpp
-  include/tsid/bindings/python/contacts/*.hpp
-  include/tsid/bindings/python/formulations/*.hpp
-  include/tsid/bindings/python/robots/*.hpp
-  include/tsid/bindings/python/solvers/*.hpp
-  include/tsid/bindings/python/tasks/*.hpp
-  include/tsid/bindings/python/trajectories/*.hpp
-  include/tsid/bindings/python/utils/*.hpp
-  include/tsid/bindings/python/math/*.hpp)
-
 set(${PROJECT_NAME}_HEADERS
     include/tsid/macros.hpp
     include/tsid/utils/statistics.hpp
@@ -325,13 +323,14 @@ add_source_group(${PROJECT_NAME}_SOURCES)
 
 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
                                    ${${PROJECT_NAME}_HEADERS})
-target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio
                                              eiquadprog::eiquadprog)
 
 if(BUILD_WITH_PROXQP)
   target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_PROXSUITE)
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${proxsuite_INTERFACE})
+  target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite::proxsuite)
 endif()
 
 if(BUILD_WITH_OSQP)

diff --git a/README.md b/README.md
@@ -1,9 +1,11 @@
 # TSID - Task Space Inverse Dynamics
-[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
 [![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/tsid/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/tsid/commits/master)
 [![Coverage report](https://gitlab.laas.fr/stack-of-tasks/tsid/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/tsid/master/coverage/)
 [![PyPI version](https://badge.fury.io/py/tsid.svg)](https://badge.fury.io/py/tsid)
+
+[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
 
 TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library [Pinocchio](https://github.com/stack-of-tasks/pinocchio).