Merge pull request #395 from havriutkin/fix-build

Fix build

Author: dellaert

.github/workflows/linux-ci.yml

@@ -54,7 +54,7 @@ jobs:
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
 
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev
 
           # Install CppUnitLite.
           git clone https://github.com/borglab/CppUnitLite.git

.github/workflows/macos-ci.yml

@@ -44,7 +44,7 @@ jobs:
         run: |
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat12
+          brew install sdformat15
           brew tap borglab/core
 
       - name: GTSAM

.github/workflows/python-ci.yml

@@ -54,7 +54,7 @@ jobs:
           sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev
 
       - name: Install System Dependencies (macOS)
         if: runner.os == 'macOS'
@@ -70,7 +70,7 @@ jobs:
           fi
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat12
+          brew install sdformat15
 
       - name: Python Dependencies (Linux)
         if: runner.os == 'Linux'

CMakeLists.txt

@@ -45,8 +45,8 @@ endif()
 # For Python wrapper.
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools")
 
-# For parsing urdf/sdf files.
-set(SDFormat_VERSION 12)
+# For parsing urdf/sdf files. # TODO: hardcoded sdformat version
+set(SDFormat_VERSION 15)
 find_package(sdformat${SDFormat_VERSION} REQUIRED)
 
 # ##############################################################################

README.md

@@ -13,7 +13,7 @@ GTDynamics is a library that allows the user to express the full kinodynamics co
 
 * [GTSAM4](https://github.com/borglab/gtsam)
 * [gtwrap](https://github.com/borglab/wrap)
-* [sdformat12](https://github.com/osrf/sdformat)
+* [sdformat15](https://github.com/osrf/sdformat)
 
 ## Installing SDFormat
 
@@ -26,9 +26,9 @@ Using Homebrew is the easiest way to get SDFormat installed and it also makes sw
 ```sh
 $ # Install homebrew.
 $ /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-$ # Set up the tap ind install sdformat12
+$ # Set up the tap and install sdformat15
 $ brew tap osrf/simulation
-$ brew install sdformat12
+$ brew install sdformat15
 ```
 
 ### Source
@@ -48,10 +48,10 @@ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 sudo apt-get update
 
 # Install SDFormat dependencies
-sudo apt-get install -y libtinyxml2-dev liburdfdom-dev libignition-cmake2-dev libignition-tools-dev libignition-math6-dev
+sudo apt-get install -y libtinyxml2-dev liburdfdom-dev libgz-cmake2-dev libgz-tools-dev libgz-math6-dev
 
 # Set the version to install
-export GTD_SDFormat_VERSION="10.5.0"
+export GTD_SDFormat_VERSION="15.0.0"
 
 # Download specific version of SDFormat
 wget http://osrf-distributions.s3.amazonaws.com/sdformat/releases/sdformat-${GTD_SDFormat_VERSION}.tar.bz2
@@ -72,9 +72,12 @@ $ git clone https://github.com/borglab/GTDynamics.git
 $ cd GTDynamics
 $ mkdir build; cd build
 # We can specify the install path with -DCMAKE_INSTALL_PREFIX
+# To compile with Python wrapper support, ensure that GTSAM was built with Python
+#   and use -DGTDYNAMICS_BUILD_PYTHON=ON
 $ cmake -DCMAKE_INSTALL_PREFIX=../install ..
 $ make
 $ sudo make install
+# Run make python-install for installation with Python
 ```
 
 ## Running Tests
@@ -91,11 +94,22 @@ We recommend going through the examples to get a better understanding of how to
 
 *NOTE* The examples are made to run within the GTDynamics source folder and are not standalone projects.
 
-Run these examples with
-```sh
-$ make example_XXX.run
-```
-where `XXX` corresponds to a folder name in `examples`.  For example, `make example_forward_dynamics.run`.
+1. Build GTDynamics and navigate to the `build` folder:
+    ```sh
+    $ cd build
+    ```
+
+2. Run the example using:
+    ```sh
+    $ make example_XXX.run
+    ```
+    where `XXX` corresponds to the example name. Example names align with folder names in `examples`, but some of them have added suffixes.  For example, `make example_forward_dynamics.run` or `make example_spider_walking_forward`.
+
+3. Run the simulation using:
+    ```sh
+    $ make example_XXX.sim
+    ```
+    where `XXX` corresponds to the folder name in `examples`. For example, `make example_quadruped_mp.sim` or `make example_spider_walking.sim`. Make sure you have `pybullet` and `matplotlib` installed in your Python environment. 
 
 ## Including GTDynamics With CMake
 

docker/Dockerfile

@@ -10,17 +10,17 @@ WORKDIR /usr/src/
 # Make sure we have latest packages
 RUN apt-get -y update
 
-# Install basic dependencies for sdfformat
+# Install basic dependencies for sdformat
 RUN apt-get install -y ruby-dev build-essential libboost-all-dev cmake pkg-config wget lsb-release
 
 # Get Gazebo packages
 RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 RUN apt-get update
-RUN apt-get install -y libtinyxml2-dev liburdfdom-dev libignition-cmake2-dev libignition-tools-dev libignition-math6-dev python3-psutil
+RUN apt-get install -y libtinyxml2-dev liburdfdom-dev libgz-cmake2-dev libgz-tools-dev libgz-math6-dev python3-psutil
 
 # Get sdfformat package
-ENV GTD_SDFormat_VERSION="10.5.0"
+ENV GTD_SDFormat_VERSION="15.0.0"
 RUN wget http://osrf-distributions.s3.amazonaws.com/sdformat/releases/sdformat-${GTD_SDFormat_VERSION}.tar.bz2
 RUN tar -xvjf sdformat-${GTD_SDFormat_VERSION}.tar.bz2
 RUN rm sdformat-${GTD_SDFormat_VERSION}.tar.bz2

examples/CMakeLists.txt

@@ -13,9 +13,30 @@ set(EXAMPLE_SUBDIRS
     example_quadruped_mp
     example_spider_walking
     example_constraint_manifold
+    # example_talos_walking # In progress
   )
 
 # Add each example subdirectory for compilation
 foreach(EXAMPLE ${EXAMPLE_SUBDIRS})
   add_subdirectory(${EXAMPLE})
 endforeach()
+
+# --- Process Python Animation Scripts ---
+# This automatically finds 'animate.py' scripts and creates .animate targets.
+message(STATUS "Searching for python animation scripts...")
+foreach(EXAMPLE_NAME ${EXAMPLE_SUBDIRS})
+  set(ANIMATION_SCRIPT "${CMAKE_CURRENT_SOURCE_DIR}/${EXAMPLE_NAME}/sim.py")
+
+  if(EXISTS ${ANIMATION_SCRIPT})
+    message(STATUS "  -- Found animation script for ${EXAMPLE_NAME}, creating '.sim' target")
+    add_custom_target(${EXAMPLE_NAME}.sim
+      COMMAND
+      python3 ${ANIMATION_SCRIPT}
+      WORKING_DIRECTORY
+      "${CMAKE_CURRENT_BINARY_DIR}"
+      COMMENT
+      "Running animation for ${EXAMPLE_NAME}..."
+      VERBATIM
+    )
+  endif()
+endforeach()

examples/README,md

@@ -0,0 +1,17 @@
+# Examples build status
+
+## GTD Examples Status
+
+| Name | Cpp Status | Animation Status |
+| :--- | :--- | :--- |
+| `quadruped_mp` | 🟢 Working | 🟢 Working |
+| `a1_walking_forward` | 🔴 Runtime Error | ⚫️ Not started |
+| `a1_walking_forward_combined` | 🔴 Runtime Error | ⚫️ Not started |
+| `cart_pole_trajectory_optimization` | 🟢 Working | 🟢 Working |
+| `forward_dynamics` | 🟢 Working | ⚫️ Not Implemented |
+| `full_kinodynamic_balancing` | 🟢 Working | 🟢 Working |
+| `full_kinodynamic_walking_walk_forward` | 🟢 Working | 🟡 Runs With Errors |
+| `full_kinodynamic_walking_rotate` | 🟢 Working | 🟡 Runs With Errors |
+| `inverted_pendulum_trajectory_optimization` | 🟢 Working | 🔴 Not Working |
+| `spider_walking_forward` | 🟢 Working | 🔴 Not Working |
+| `spider_walking_rotate` | 🟢 Working | 🔴 Not Working |

examples/cmake_project_example/CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(GTSAM REQUIRED)
 find_path(gtdynamics_include gtdynamics)
 find_library(gtdynamics_lib gtdynamics)
 # these next 3 lines are temporary until we create a proper cmake module for gtdynamics.
-set(SDFormat_VERSION 12)
+set(SDFormat_VERSION 15)
 find_package(sdformat${SDFormat_VERSION} REQUIRED)
 list(APPEND gtdynamics_lib ${SDFormat_LIBRARIES})
 

examples/example_a1_walking/sim.py

@@ -16,7 +16,7 @@
 print(pybullet_data.getDataPath())
 p.setGravity(0, 0, -9.8)
 p.setRealTimeSimulation(1)
-planeId = p.loadURDF("plane.urdf")
+planeId = p.loadURDF(gtd.URDF_PATH + "plane.urdf", useFixedBase=True)
 p.changeDynamics(planeId, -1, lateralFriction=0.4)
 robot = p.loadURDF(gtd.URDF_PATH + "/a1/a1.urdf",[0,0,0.45],[0,0,0,1.0])
 
@@ -30,7 +30,7 @@
         joint_to_jid_map[jinfo[1].decode("utf-8")] = jinfo[0]
 
 #Read walk forward trajectory file from build (after running the example)
-df = pd.read_csv(gtd.URDF_PATH + '/../../build/examples/example_a1_walking/a1_traj_DG_mass.csv')
+df = pd.read_csv('a1_traj_DG_mass.csv')
 
 pos, orn = p.getBasePositionAndOrientation(robot_id)