crocoddyl 2.0.2__tar.gz

crocoddyl-2.0.2/.cirrus.yml

@@ -0,0 +1,26 @@
+macos_arm64_task:
+  name: Build macOS arm64 wheels.
+  only_if: $CIRRUS_TAG =~ 'v.*' && $CIRRUS_REPO_OWNER == 'cmake-wheel'
+  environment:
+    TWINE_PASSWORD: ENCRYPTED[!56b7088276b3c2a2b559aa7f3a18b903286219a52149c978e3ae8d96edb5433ed6863e6eba1f37632afe3a9519689345!]
+  macos_instance:
+    image: ghcr.io/cirruslabs/macos-monterey-xcode
+  env:
+    CIRRUS_CLONE_SUBMODULES: true
+    CIBW_ENVIRONMENT: "CMEEL_RUN_TESTS=OFF CMEEL_LOG_LEVEL=DEBUG"
+    CIBW_REPAIR_WHEEL_COMMAND: ""
+    CIBW_BUILD: "cp3*"  # ignore pypy, as numpy wheel are not available
+    CIBW_SKIP: "cp38-*"
+    PATH: /opt/homebrew/opt/python@3.10/bin:$PATH
+  install_pre_requirements_script:
+    - brew install python@3.10
+    - ln -s python3 /opt/homebrew/opt/python@3.10/bin/python
+  install_cibuildwheel_script:
+    - python -m pip install -U pip
+    - python -m pip install cibuildwheel twine
+  run_cibuildwheel_script:
+    - cibuildwheel
+  publish_script:
+    - python -m twine upload -u __token__ wheelhouse/crocoddyl*.whl
+  wheels_artifacts:
+    path: "wheelhouse/*"

crocoddyl-2.0.2/.git-blame-ignore-revs

@@ -0,0 +1,2 @@
+795904c1d65999f19d4a00166430be727573e165
+547f26140f609b6e8a32a7e5c7900209cfd3312e

crocoddyl-2.0.2/.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,53 @@
+---
+name: "\U0001F41E Bug report"
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+## Bug description
+
+A clear and concise description of what the bug is.
+
+## Expected behavior
+
+A clear and concise description of what you expected to happen.
+
+## Reproduction steps
+
+Steps to reproduce the behavior:
+1. Load to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+### Docker image
+
+If this is an installation issue, a Docker image to reproduce it
+
+```dockerfile
+...
+```
+
+### Code
+
+If this is a runtime issue, provide some minimal code to reproduce it:
+
+```
+...
+```
+
+## Additional context
+
+Add any other context about the problem here.
+
+### Screenshots
+
+If applicable, add screenshots to help explain your problem.
+
+### System
+
+- OS: [e.g. Ubuntu]
+- Crocoddyl version: [e.g. 2.0.0]

crocoddyl-2.0.2/.github/ISSUE_TEMPLATE/feature-request.md

@@ -0,0 +1,20 @@
+---
+name: 💡 Feature request
+about: Suggest an idea for this project
+title: ''
+labels: feature proposal
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

crocoddyl-2.0.2/.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      interval: "weekly"

crocoddyl-2.0.2/.github/workflows/conda/conda-env.yml

@@ -0,0 +1,17 @@
+name: crocoddyl
+channels:
+  - conda-forge
+  - nodefaults
+dependencies:
+  - boost
+  - numpy
+  - scipy
+  - python
+  - eigen=3.4.0
+  - eigenpy
+  - hpp-fcl
+  - urdfdom
+  - cppad
+  - cppadcodegen
+  - pinocchio
+  - ipopt

crocoddyl-2.0.2/.github/workflows/conda-ci.yml

@@ -0,0 +1,112 @@
+name: CONDA
+
+on: [push, pull_request]
+
+jobs:
+  crocoddyl-conda:
+    name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }})
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # os: ["ubuntu-latest", "macos-latest"]
+        os: ["macos-latest"]
+        build_type: [Release, Debug]
+        compiler: [clang]
+
+        include:
+          # - os: ubuntu-latest
+          #   CCACHE_DIR: /home/runner/.ccache
+          - os: macos-latest
+            CCACHE_DIR: /Users/runner/.ccache
+
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v3
+      with:
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        activate-environment: crocoddyl
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/conda-env.yml
+
+    - name: Install conda dependencies
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        conda install cmake ccache -c conda-forge
+        conda install llvm-openmp libcxx -c conda-forge
+        conda list
+
+    - name: Install example-robot-data
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        mkdir third-party && cd third-party
+        git clone --recursive https://github.com/Gepetto/example-robot-data.git
+        cd example-robot-data && mkdir build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
+        make install
+
+    - name: Install compilers for macOS
+      shell: bash -l {0}
+      if: contains(matrix.os, 'macos-latest')
+      run: |
+        conda install compilers -c conda-forge
+
+    - name: Enable CppADCodeGen compilation
+      shell: bash -l {0}
+      if: contains(matrix.build_type, 'Release')
+      run: |
+        echo "codegen_support=ON" >> "$GITHUB_ENV"
+
+    - name: Disable CppADCodeGen compilation
+      shell: bash -l {0}
+      if: contains(matrix.build_type, 'Debug')
+      run: |
+        echo "codegen_support=OFF" >> "$GITHUB_ENV"
+
+    - name: Build Crocoddyl
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        echo $CONDA_PREFIX
+
+        mkdir build
+        cd build
+
+        cmake .. \
+          -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          -DBUILD_WITH_CODEGEN_SUPPORT=${{ env.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \
+          -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
+        make
+
+    - name: Run unit tests
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        cd build
+        export CTEST_OUTPUT_ON_FAILURE=1
+        make test
+
+    - name:  Install Crocoddyl
+      shell: bash -l {0}
+      run: |
+        cd build
+        make install
+
+    - name: Uninstall Crocoddyl
+      shell: bash -l {0}
+      run: |
+        cd build
+        make uninstall

crocoddyl-2.0.2/.github/workflows/macos-linux-pip.yml

@@ -0,0 +1,32 @@
+name: Build crocoddyl for Mac OS X/Linux via pip
+
+on: [push, pull_request]
+
+env:
+    CTEST_OUTPUT_ON_FAILURE: 1
+    CTEST_PARALLEL_LEVEL: 4
+
+jobs:
+  crocoddyl-pip:
+    name: "CI on ${{ matrix.os }} / python ${{ matrix.python-version }} with pip"
+    runs-on: "${{ matrix.os }}"
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: python -m pip install -U pip
+      - run: python -m pip install example-robot-data[build] scipy
+      - run: echo "CMAKE_PREFIX_PATH=$(python -m cmeel cmake)" >> $GITHUB_ENV
+      - run: echo "LD_LIBRARY_PATH=$(python -m cmeel lib)" >> $GITHUB_ENV
+      - run: cmake -B build -S .
+      - run: cmake --build build
+      - run: cmake --build build -t test

crocoddyl-2.0.2/.github/workflows/release.yml

@@ -0,0 +1,86 @@
+name: Release on PyPI
+
+on:
+  push:
+    tags:
+      - "v*"
+    branches:
+      - cmeel
+  pull_request_target:
+    branches:
+      - cmeel
+
+env:
+  CMEEL_LOG_LEVEL: DEBUG
+
+jobs:
+  wheel:
+    name: "${{ matrix.build }} ${{ matrix.os }} ${{ matrix.arch }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+        arch: ["x86_64", "aarch64"]
+        build: ["cp38-*", "cp39-*", "cp310-*", "cp311-*", "cp312-*"]
+        exclude:
+          - os: "macos-latest"
+            arch: "aarch64"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - name: Set up QEMU
+        if: matrix.arch == 'aarch64'
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      - run: pipx install cibuildwheel
+      - run: cibuildwheel --output-dir wh
+        env:
+          CIBW_BUILD: ${{ matrix.build }}
+          CIBW_ARCHS: ${{ matrix.arch }}
+          CIBW_SKIP: "*musllinux*"
+          CIBW_MANYLINUX_X86_64_IMAGE: "quay.io/pypa/manylinux_2_28_x86_64"
+          CIBW_MANYLINUX_AARCH64_IMAGE: "quay.io/pypa/manylinux_2_28_aarch64"
+          CIBW_REPAIR_WHEEL_COMMAND: ""
+          CIBW_ENVIRONMENT: CMEEL_LOG_LEVEL="DEBUG" CMEEL_JOBS="1" CMEEL_TEST_JOBS="1" CMEEL_RUN_TESTS="false"
+      - uses: actions/upload-artifact@v3
+        with:
+          path: wh
+
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.11
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install build cmeel[build] example-robot-data[build] scipy
+      - name: build sdist
+        run: python -m build -nso dist .
+      - uses: actions/upload-artifact@v3
+        with:
+          path: dist
+
+  release:
+    needs: ["wheel", "sdist"]
+    if: ${{ startsWith(github.ref, 'refs/tags/v') }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.ref_name }}
+      - run: curl https://github.com/nim65s.gpg | gpg --import
+      - name: validate signature
+        run: >
+          git verify-tag --raw ${{ github.ref_name }} 2>&1
+          | grep -q 'VALIDSIG 9B1A79065D2F2B806C8A5A1C7D2ACDAF4653CF28'
+      - uses: actions/download-artifact@v3
+      - run: pipx install twine
+      - run: twine upload -u __token__ -p "${{ secrets.PYPI_TOKEN }}" artifact/crocoddyl*.whl
+      - run: twine upload -u __token__ -p "${{ secrets.PYPI_TOKEN }}" artifact/crocoddyl*.tar.gz || true

crocoddyl-2.0.2/.github/workflows/ros1-ci.yaml

@@ -0,0 +1,47 @@
+name: ROS
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {name: "(noetic)", ROS_DISTRO: noetic}
+          - {name: "(noetic, clang)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++}
+          - {name: "(noetic, clang, multi-threading)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          - {name: "(noetic, clang, Debug)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          # Format check
+          #- {name: "Format check", ROS_DISTRO: noetic, CLANG_FORMAT_CHECK: file, CLANG_FORMAT_VERSION: "6.0", BEFORE_RUN_CLANG_FORMAT_CHECK: "wget https://raw.githubusercontent.com/Gepetto/linters/master/.clang-format-6.0 -O /tmp/clang_format_check/crocoddyl/.clang-format", ADDITIONAL_DEBS: wget}
+    name: ${{ matrix.env.name }}
+    env:
+      CCACHE_DIR: /github/home/.ccache             # Enable ccache
+      UPSTREAM_WORKSPACE: dependencies.rosinstall  # to build example-robot-data from source as it's not released via the ROS buildfarm
+      CTEST_OUTPUT_ON_FAILURE: 1
+      # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules:
+      #  - catkin_make_isolated has issues with Industrial-CI right now
+      #  - colcon cannot find example-robot-data's python bindings due to ROS1 workspace integration hooks
+      #  - catkin_tools correctly finds example-robot-data in the upstream_ws, but does not execute the 'run_tests' target
+      #    as catkin-tools performs tests as '--catkin-make-args' instead of '--make-args' as colcon and catkin_make_isolated
+      # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
+      # target after completion of the regular test target. The output of this step does affect the output of the CI process.
+      # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
+      BUILDER: catkin_tools
+      AFTER_RUN_TARGET_TEST: 'source /root/target_ws/install/setup.bash && cd /root/target_ws/build/crocoddyl && env && make test'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      # 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 - use fork until awaits https://github.com/ros-industrial/industrial_ci/issues/767 is resolved
+      - uses: 'wxmerkt/industrial_ci@topic/clang-format-check-in-deterministic-location'
+        env: ${{ matrix.env }}
+      # # Run industrial_ci
+      # - uses: 'ros-industrial/industrial_ci@master'
+      #   env: ${{ matrix.env }}

crocoddyl-2.0.2/.github/workflows/ros2-ci.yaml

@@ -0,0 +1,37 @@
+name: ROS
+
+# This determines when this workflow is run
+on: [push, pull_request]
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {name: "(humble, Release)", ROS_DISTRO: humble}
+          # - {name: "humble, multi-threading", ROS_DISTRO: humble, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          # - {name: "humble, Debug", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          - {name: "(rolling, Release)", ROS_DISTRO: rolling}
+          # - {name: "rolling, multi-threading", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          # - {name: "rolling, Debug", ROS_DISTRO: rolling, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+    name: ${{ matrix.env.name }}
+    env:
+      CCACHE_DIR: /github/home/.ccache             # Enable ccache
+      UPSTREAM_WORKSPACE: dependencies.rosinstall  # to build example-robot-data from source as it's not released via the ROS buildfarm
+      CTEST_OUTPUT_ON_FAILURE: 1
+      BUILDER: colcon
+      # This by-passes issues on importing example_robot_data module when running examples and unit tests.
+      # It seems target_ws is unable to properly overlay upstream_ws.
+      AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      # 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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}

crocoddyl-2.0.2/.github/workflows/wheel.yml

@@ -0,0 +1,64 @@
+name: Test Wheel packaging
+
+on: ["push", "pull_request"]
+
+env:
+  CMEEL_JOBS: 1
+  CMEEL_LOG_LEVEL: 'DEBUG'
+  CMEEL_TEST_JOBS: 1
+
+jobs:
+  build:
+    name: "Build python ${{ matrix.python-version }} on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        exclude:
+          - os: "macos-latest"
+            python-version: "3.8"
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install wheel
+      - name: build cmeel wheel
+        run: python -m pip wheel -vw wh .
+      - uses: actions/upload-artifact@v3
+        with:
+          path: wh
+
+  test:
+    needs: ["build"]
+    name: "Test ${{ matrix.python-version }} on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        exclude:
+          - os: "macos-latest"
+            python-version: "3.8"
+    steps:
+      - uses: actions/download-artifact@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install wheel simple503
+          python -m simple503 --sort --base-url "${{ github.workspace }}/artifact" artifact
+      - name: install wheel
+        run: python -m pip install -i "file:///${{ github.workspace }}/artifact" crocoddyl
+      - name: test
+        run: python -c "import crocoddyl"
+        env:
+          PYTHONWARNINGS: error

crocoddyl-2.0.2/.gitignore

@@ -0,0 +1,15 @@
+*.pyc
+*.pyd
+*.pyo
+*~
+*.orig
+*.ipynb_checkpoints
+build*/*
+_build*
+*.aux
+*.log
+*.pdf
+.clang-format
+.vscode/
+*#*#
+.cache/

crocoddyl-2.0.2/.gitlab-ci.yml

@@ -0,0 +1 @@
+include: http://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml

crocoddyl-2.0.2/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git

crocoddyl-2.0.2/.pre-commit-config.yaml

@@ -0,0 +1,56 @@
+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/PyCQA/isort
+  rev: 5.12.0
+  hooks:
+  - id: isort
+    args:
+    - --profile
+    - black
+    - --project
+    - crocoddyl
+    - --filter-files
+- 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: v17.0.6
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.5.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+- repo: https://github.com/psf/black
+  rev: 23.11.0
+  hooks:
+  - id: black
+- repo: https://github.com/pycqa/flake8
+  rev: 6.1.0
+  hooks:
+  - id: flake8
+    args:
+    - --max-line-length
+    - '88'

crocoddyl-2.0.2/.yapfignore

@@ -0,0 +1 @@
+cmake