Merge tag 'v2.2.0' into ihmc-develop

Release of version 2.2.0.
ihmcrobotics · Feb 20, 2025 · 9a8290c · 9a8290c
2 parents 3a0369e + 78d4da3
commit 9a8290c
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diff --git a/.github/workflows/changelog.yaml b/.github/workflows/changelog.yaml
@@ -11,6 +11,6 @@ jobs:
     name: Check changelog action
     runs-on: ubuntu-latest
     steps:
-      - uses: tarides/changelog-check-action@v2
+      - uses: tarides/changelog-check-action@v3
         with:
           changelog: CHANGELOG.md
diff --git a/.github/workflows/nix-ci.yml b/.github/workflows/nix-ci.yml
@@ -0,0 +1,32 @@
+name: "NIX"
+
+# This determines when this workflow is run
+on:
+  push:
+    branches:
+      - master
+      - devel
+  pull_request:
+    branches:
+      - master
+      - devel
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    name: (${{ matrix.os }})
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v30
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
diff --git a/.github/workflows/ros1-ci.yaml b/.github/workflows/ros1-ci.yaml
@@ -30,6 +30,7 @@ concurrency:
 
 jobs:
   CI:
+    if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros'))
     strategy:
       fail-fast: false
       matrix:

diff --git a/.github/workflows/ros2-ci.yaml b/.github/workflows/ros2-ci.yaml
@@ -30,6 +30,7 @@ concurrency:
 
 jobs:
   CI:
+    if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros'))
     strategy:
       fail-fast: false
       matrix:
@@ -50,7 +51,7 @@ jobs:
       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 --break-system-packages'
+      AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data'
     runs-on: ubuntu-latest
     continue-on-error: true
     steps:

diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml
@@ -0,0 +1,20 @@
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 21 12 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          pr-title: "Update flake.lock"
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -2,31 +2,30 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.6
+  rev: v0.9.6
   hooks:
   - id: ruff
     args:
     - --fix
     - --exit-non-zero-on-fix
-    - --ignore
-    - UP036
   - id: ruff-format
 - repo: https://github.com/cheshirekow/cmake-format-precommit
   rev: v0.6.13
   hooks:
   - id: cmake-format
 - repo: https://github.com/pappasam/toml-sort
-  rev: v0.23.1
+  rev: v0.24.2
   hooks:
   - id: toml-sort-fix
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.5
+  rev: v19.1.7
   hooks:
   - id: clang-format
     args:
     - --style=Google
+    exclude: '^.*\.ipynb$'
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.6.0
+  rev: v5.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,23 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [2.2.0] - 1980-01-01
+
+* Changed return policy in std::vector of Eigen's vector and matrices to be compliant with Pinocchio in https://github.com/loco-3d/crocoddyl/pull/1338
+* Prevent users to improperly setting residual references in https://github.com/loco-3d/crocoddyl/pull/1332
+* Fixed the inequality constraints' feasibility computation by incorporating bounds into the calculation in https://github.com/loco-3d/crocoddyl/pull/1307
+* Improved the action factory used for unit testing in https://github.com/loco-3d/crocoddyl/pull/1300
+* Ignore ruff issues in ipython notebook files in https://github.com/loco-3d/crocoddyl/pull/1297
+* Improved efficiency for computing impulse-dynamics derivatives in https://github.com/loco-3d/crocoddyl/pull/1294
+* Fixed bug of wrench cone fields not being updated with setters in https://github.com/loco-3d/crocoddyl/pull/1274
+* Replaced parent by parentJoint (which was introduced in Pinocchio 3) in https://github.com/loco-3d/crocoddyl/pull/1271
+* Introduced the notion of terminal dimension, residuals and constraints in https://github.com/loco-3d/crocoddyl/pull/1269
+* General clean ups about std::size_t in https://github.com/loco-3d/crocoddyl/pull/1265
+* Fixed issues in LQR extensions in https://github.com/loco-3d/crocoddyl/pull/1263
+* Computed dynamic feasibility everytime in https://github.com/loco-3d/crocoddyl/pull/1262
+* Extend LQR actions in https://github.com/loco-3d/crocoddyl/pull/1261
+* Print log with grad absolute + updated logs with Pinocchio 3 in https://github.com/loco-3d/crocoddyl/pull/1260
+
 ## [2.1.0] - 2024-05-31
 
 * Updated black + isort + flake8 to ruff in https://github.com/loco-3d/crocoddyl/pull/1256
@@ -296,7 +313,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 Initial release
 
-[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...HEAD
+[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.2.0...HEAD
+[2.2.0]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...v2.2.0
 [2.1.0]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...v2.1.0
 [2.0.2]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...v2.0.2
 [2.0.1]: https://github.com/loco-3d/crocoddyl/compare/v2.0.0...v2.0.1

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -91,8 +91,8 @@ if(APPLE) # Use the handmade approach
   set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP
                         ${CMAKE_MODULE_PATH})
 elseif(UNIX)
-  if(${CMAKE_VERSION} VERSION_GREATER "3.20.0" OR ${CMAKE_VERSION}
-                                                  VERSION_EQUAL "3.20.0")
+  if(${CMAKE_VERSION} VERSION_GREATER "3.25.0" OR ${CMAKE_VERSION}
+                                                  VERSION_EQUAL "3.25.0")
     set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP
                           ${CMAKE_MODULE_PATH})
   endif()

diff --git a/README.md b/README.md
@@ -7,7 +7,10 @@
 <a href="https://gepettoweb.laas.fr/doc/loco-3d/crocoddyl/master/doxygen-html/"><img src="https://img.shields.io/badge/docs-online-brightgreen" alt="Documentation"/></a>
 <a href="https://gepgitlab.laas.fr/loco-3d/crocoddyl/pipelines?ref=devel"><img src="https://gepgitlab.laas.fr/loco-3d/crocoddyl/badges/devel/pipeline.svg">
 <a href="https://gepettoweb.laas.fr/doc/loco-3d/crocoddyl/devel/coverage/"><img src="https://gepgitlab.laas.fr/loco-3d/crocoddyl/badges/devel/coverage.svg">
+<a href="https://repology.org/project/crocoddyl/versions"><img src="https://repology.org/badge/version-for-repo/aur/crocoddyl.svg" alt="AUR package"></a>
 <a href="https://anaconda.org/conda-forge/crocoddyl"><img src="https://img.shields.io/conda/vn/conda-forge/crocoddyl.svg">
+<a href="https://repology.org/project/crocoddyl/versions"><img src="https://repology.org/badge/version-for-repo/nix_stable_24_05/crocoddyl.svg" alt="nixpkgs stable 24.05 package"></a>
+<a href="https://repology.org/project/crocoddyl/versions"><img src="https://repology.org/badge/version-for-repo/nix_unstable/crocoddyl.svg" alt="nixpkgs unstable package"></a>
 <a href="https://pypi.org/project/crocoddyl/"><img src="https://badge.fury.io/py/crocoddyl.svg">
 <a href="https://anaconda.org/conda-forge/crocoddyl"><img src="https://anaconda.org/conda-forge/crocoddyl/badges/downloads.svg">
 <a href="https://tldrlegal.com/license/bsd-3-clause-license-%28revised%29#fulltext"><img src="https://img.shields.io/badge/license-BSD--3--Clause-blue.svg?style=flat">
@@ -52,6 +55,13 @@ If you want to learn more about **Crocoddyl** and its solvers, we suggest readin
 
 **Crocoddyl** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl.
 
+### <img src="https://aur.archlinux.org/static/images/favicon.ico" height="18" /> On ArchLinux
+
+With your favorite AUR helper, eg. paru:
+```bash
+    paru -Syu crocoddyl
+```
+
 ### :dragon: From <img src="https://s3.amazonaws.com/conda-dev/conda_logo.svg" height="18">
 
 Just run the following command in the terminal:
@@ -60,6 +70,16 @@ Just run the following command in the terminal:
 ```
 Conda installation supports [![conda install](https://anaconda.org/conda-forge/crocoddyl/badges/platforms.svg)](https://anaconda.org/conda-forge/crocoddyl).
 
+### <img src="https://avatars.githubusercontent.com/u/487568" height="18" /> From Nix
+
+`crocoddyl` & `python3Packages.crocoddyl` are available in [nixpkgs](https://github.com/NixOS/nixpkgs/).
+
+This repository is also a flake, so you may:
+- run a python shell with crocoddyl: `nix run github:loco-3d/crocoddyl`
+- use it in your own flake: `crocoddyl.url = "github:loco-3d/crocoddyl";`
+
+The build cache use by CI and developers is [gepetto.cachix.org](https://app.cachix.org/cache/gepetto)
+
 ### :snake: From <img src="https://res.cloudinary.com/practicaldev/image/fetch/s--4-K6Sjm4--/c_imagga_scale,f_auto,fl_progressive,h_420,q_auto,w_1000/https://cdn-images-1.medium.com/max/1600/1%2A_Wkc-WkNu6GJAAQ26jXZOg.png" height="22">
 
 Just run the following command in the terminal:

diff --git a/bindings/python/crocoddyl/__init__.py b/bindings/python/crocoddyl/__init__.py
@@ -6,6 +6,7 @@
 
 import numpy as np
 import pinocchio
+from pinocchio.visualize import MeshcatVisualizer
 
 from .libcrocoddyl_pywrap import *  # noqa: F403
 from .libcrocoddyl_pywrap import __raw_version__, __version__  # noqa: F401
@@ -129,7 +130,10 @@ def init(self, solver):
                     thrusters.append(model.differential.actuation.thrusters)
         for n in frameNames:
             frameId = self.robot.model.getFrameId(n)
-            parentId = self.robot.model.frames[frameId].parent
+            if tuple(int(i) for i in pinocchio.__version__.split(".")) >= (3, 0, 0):
+                parentId = self.robot.model.frames[frameId].parentJoint
+            else:
+                parentId = self.robot.model.frames[frameId].parent
             self.activeContacts[str(parentId)] = True
             self.frictionMu[str(parentId)] = 0.7
             self.frameTrajNames.append(str(frameId))
@@ -339,7 +343,10 @@ def _getForceInformation(self, state, contact_model, contact_data, cost_model):
         fc = []
         for key, contact in contact_data.todict().items():
             if contact_model[key].active:
-                joint = state.pinocchio.frames[contact.frame].parent
+                if tuple(map(int, pinocchio.__version__.split("."))) >= (3, 0, 0):
+                    joint = state.pinocchio.frames[contact.frame].parentJoint
+                else:
+                    joint = state.pinocchio.frames[contact.frame].parent
                 oMf = contact.pinocchio.oMi[joint] * contact.jMf
                 fiMo = pinocchio.SE3(
                     contact.pinocchio.oMi[joint].rotation.T,
@@ -558,7 +565,7 @@ def __init__(
         if frameNames is not None:
             print("Deprecated. Do not pass frameNames")
         robot.setVisualizer(
-            pinocchio.visualize.MeshcatVisualizer(
+            MeshcatVisualizer(
                 model=self.robot.model,
                 collision_model=self.robot.collision_model,
                 visual_model=self.robot.visual_model,

diff --git a/bindings/python/crocoddyl/core/action-base.cpp b/bindings/python/crocoddyl/core/action-base.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          University of Oxford, Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -40,15 +40,18 @@ void exposeActionAbstract() {
       "and calcDiff(),\n"
       "respectively.",
       bp::init<boost::shared_ptr<StateAbstract>, std::size_t,
-               bp::optional<std::size_t, std::size_t, std::size_t> >(
-          bp::args("self", "state", "nu", "nr", "ng", "nh"),
+               bp::optional<std::size_t, std::size_t, std::size_t, std::size_t,
+                            std::size_t> >(
+          bp::args("self", "state", "nu", "nr", "ng", "nh", "ng_T", "nh_T"),
           "Initialize the action model.\n\n"
           "We can also describe autonomous systems by setting nu = 0.\n"
           ":param state: state description,\n"
           ":param nu: dimension of control vector,\n"
           ":param nr: dimension of the cost-residual vector (default 1)\n"
           ":param ng: number of inequality constraints (default 0)\n"
-          ":param nh: number of equality constraints (default 0)\n"))
+          ":param nh: number of equality constraints (default 0)\n"
+          ":param ng_T: number of inequality terminal constraints (default 0)\n"
+          ":param nh_T: number of equality terminal constraints (default 0)"))
       .def("calc", pure_virtual(&ActionModelAbstract_wrap::calc),
            bp::args("self", "data", "x", "u"),
            "Compute the next state and cost value.\n\n"
@@ -130,6 +133,16 @@ void exposeActionAbstract() {
                     bp::make_setter(&ActionModelAbstract_wrap::nh_,
                                     bp::return_internal_reference<>()),
                     "number of equality constraints")
+      .add_property("ng_T",
+                    bp::make_function(&ActionModelAbstract_wrap::get_ng_T),
+                    bp::make_setter(&ActionModelAbstract_wrap::ng_T_,
+                                    bp::return_internal_reference<>()),
+                    "number of inequality terminal constraints")
+      .add_property("nh_T",
+                    bp::make_function(&ActionModelAbstract_wrap::get_nh_T),
+                    bp::make_setter(&ActionModelAbstract_wrap::nh_T_,
+                                    bp::return_internal_reference<>()),
+                    "number of equality terminal constraints")
       .add_property(
           "state",
           bp::make_function(&ActionModelAbstract_wrap::get_state,

diff --git a/bindings/python/crocoddyl/core/action-base.hpp b/bindings/python/crocoddyl/core/action-base.hpp
@@ -22,14 +22,18 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
  public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   using ActionModelAbstract::ng_;
+  using ActionModelAbstract::ng_T_;
   using ActionModelAbstract::nh_;
+  using ActionModelAbstract::nh_T_;
   using ActionModelAbstract::nu_;
   using ActionModelAbstract::unone_;
 
   ActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state,
                            const std::size_t nu, const std::size_t nr = 1,
-                           const std::size_t ng = 0, const std::size_t nh = 0)
-      : ActionModelAbstract(state, nu, nr, ng, nh),
+                           const std::size_t ng = 0, const std::size_t nh = 0,
+                           const std::size_t ng_T = 0,
+                           const std::size_t nh_T = 0)
+      : ActionModelAbstract(state, nu, nr, ng, nh, ng_T, nh_T),
         bp::wrapper<ActionModelAbstract>() {
     unone_ = NAN * MathBase::VectorXs::Ones(nu);
   }
@@ -38,14 +42,14 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
             const Eigen::Ref<const Eigen::VectorXd>& x,
             const Eigen::Ref<const Eigen::VectorXd>& u) {
     if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
-      throw_pretty("Invalid argument: "
-                   << "x has wrong dimension (it should be " +
-                          std::to_string(state_->get_nx()) + ")");
+      throw_pretty(
+          "Invalid argument: " << "x has wrong dimension (it should be " +
+                                      std::to_string(state_->get_nx()) + ")");
     }
     if (static_cast<std::size_t>(u.size()) != nu_) {
-      throw_pretty("Invalid argument: "
-                   << "u has wrong dimension (it should be " +
-                          std::to_string(nu_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "u has wrong dimension (it should be " +
+                                      std::to_string(nu_) + ")");
     }
     if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
       return bp::call<void>(this->get_override("calc").ptr(), data,
@@ -60,14 +64,14 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
                 const Eigen::Ref<const Eigen::VectorXd>& x,
                 const Eigen::Ref<const Eigen::VectorXd>& u) {
     if (static_cast<std::size_t>(x.size()) != state_->get_nx()) {
-      throw_pretty("Invalid argument: "
-                   << "x has wrong dimension (it should be " +
-                          std::to_string(state_->get_nx()) + ")");
+      throw_pretty(
+          "Invalid argument: " << "x has wrong dimension (it should be " +
+                                      std::to_string(state_->get_nx()) + ")");
     }
     if (static_cast<std::size_t>(u.size()) != nu_) {
-      throw_pretty("Invalid argument: "
-                   << "u has wrong dimension (it should be " +
-                          std::to_string(nu_) + ")");
+      throw_pretty(
+          "Invalid argument: " << "u has wrong dimension (it should be " +
+                                      std::to_string(nu_) + ")");
     }
     if (std::isnan(u.lpNorm<Eigen::Infinity>())) {
       return bp::call<void>(this->get_override("calcDiff").ptr(), data,
@@ -99,9 +103,9 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
       u = bp::call<Eigen::VectorXd>(quasiStatic.ptr(), data, (Eigen::VectorXd)x,
                                     maxiter, tol);
       if (static_cast<std::size_t>(u.size()) != nu_) {
-        throw_pretty("Invalid argument: "
-                     << "u has wrong dimension (it should be " +
-                            std::to_string(nu_) + ")");
+        throw_pretty(
+            "Invalid argument: " << "u has wrong dimension (it should be " +
+                                        std::to_string(nu_) + ")");
       }
       return;
     }
-Original file line number
+Diff line change
@@ Expand Up / @@ -30,6 +30,7 @@ concurrency: @@
     jobs:
       CI:
+        if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros'))
         strategy:
           fail-fast: false
           matrix:
@@ Expand Down @@
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		include: http://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml
		include: https://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml