Devel

.gitignore

@@ -1,3 +1,5 @@
+.vscode/*
+build/*
 *.pyc
 *.aux
 *.glo

.gitlab-ci.yml

@@ -0,0 +1 @@
+include: https://rainboard.laas.fr/project/sl1m/.gitlab-ci.yml

.pre-commit-config.yaml

@@ -0,0 +1,8 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: check-json
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml

CMakeLists.txt

@@ -22,67 +22,72 @@ FINDPYTHON()
 SET(${PROJECT_NAME}_SOURCES
   __init__.py
   constants_and_tools.py
+  solver.py
+  generic_solver.py
   fix_sparsity.py
-  planner_l1.py
-  planner.py
+  problem_data.py
+  constraints.py
+  constraints_biped.py
+  planner_generic.py
+  planner_biped.py
   problem_definition.py
-  qp.py
   )
 
-SET(${PROJECT_NAME}_PLANNER_SCENARIOS_SOURCES
+SET(${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_SOURCES
   __init__.py
-  complex1.py
   complex.py
-  escaliers.py
-  flat_ground.py
-  lp_complex1.py
+  )
+SET(${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_PATH_SOURCES
   lp_complex_path.py
-  lp_complex.py
-  lp_stair_bauzil_10.py
-  lp_stair_bauzil_hrp2_path_10.py
   lp_stair_bauzil_hrp2_path.py
-  lp_stair_bauzil.py
-  stairs_10cm.py
+  lp_stair_bauzil_hrp2_path_10.py
   )
 
 SET(${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_SOURCES
   __init__.py
-
-  complex1.py
-  constraints.py
-  lp_complex1_path.py
-  lp_complex1.py
+  complex.py
+  stairs.py
+  rubbles.py
+  )
+SET(${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_PATH_SOURCES
+  lp_complex_path.py
   lp_ramp_path.py
   lp_rubbles_path.py
-  lp_slalom_debris_path.py
-  lp_slalom_debris.py
-  maze.py
-  ramp_noGuide.py
-  rubbles.py
-  rubble_stairs.py
-  slalom_debris.py
+  lp_stairs_path.py
   )
 
 SET(${PROJECT_NAME}_RBPRM_SOURCES
   __init__.py
+  narrow_convex_hull.py
   constants_and_tools.py
   surfaces_from_planning.py
   )
 
 SET(${PROJECT_NAME}_STANDALONE_SCENARIOS_SOURCES
   __init__.py
-  complex.py
-  constraints.py
-  escaliers.py
+  hrp2_complex.py
+  hrp2_stairs.py
+  talos_ramp.py
+  talos_rubble_stairs.py
+  problem_definition_talos.py
+  problem_definition_hrp2.py
   )
 
+  SET(${PROJECT_NAME}_STANDALONE_SURFACES_SOURCES
+  __init__.py
+  stair_surfaces.py
+  complex_surfaces.py
+  flat_ground.py
+  ramp_surfaces.py
+  inclined_surfaces.py
+  )
 SET(${PROJECT_NAME}_TOOLS_SOURCES
   __init__.py
   geom_utils.py
   obj_to_constraints.py
-  plot_plytopes.py
   plot_utils.py
-  polytope_conversion_utils.py
+  plot_tools.py
+  heightmap_tools.py
   transformations.py
   )
 
@@ -97,11 +102,26 @@ ENDFOREACH(src ${PROJECT_NAME}_PLANNER_SCENARIOS_SOURCES)
 FOREACH(src ${${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_SOURCES})
   PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/planner_scenarios/talos ${src})
 ENDFOREACH(src ${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_SOURCES)
+FOREACH(src ${${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_PATH_SOURCES})
+  PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/planner_scenarios/talos/path_files ${src})
+ENDFOREACH(src ${PROJECT_NAME}_PLANNER_SCENARIOS_TALOS_PATH_SOURCES)
+
+FOREACH(src ${${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_SOURCES})
+  PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/planner_scenarios/hrp2 ${src})
+ENDFOREACH(src ${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_SOURCES)
+
+FOREACH(src ${${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_PATH_SOURCES})
+  PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/planner_scenarios/hrp2/path_files/ ${src})
+ENDFOREACH(src ${PROJECT_NAME}_PLANNER_SCENARIOS_HRP2_PATH_SOURCES)
 
 FOREACH(src ${${PROJECT_NAME}_RBPRM_SOURCES})
   PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/rbprm ${src})
 ENDFOREACH(src ${PROJECT_NAME}_RBPRM_SOURCES)
 
+FOREACH(src ${${PROJECT_NAME}_STANDALONE_SURFACES_SOURCES})
+  PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/stand_alone_scenarios/surfaces ${src})
+ENDFOREACH(src ${PROJECT_NAME}_STANDALONE_SURFACES_SOURCES)
+
 FOREACH(src ${${PROJECT_NAME}_STANDALONE_SCENARIOS_SOURCES})
   PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/stand_alone_scenarios ${src})
 ENDFOREACH(src ${PROJECT_NAME}_STANDALONE_SCENARIOS_SOURCES)

README.md

@@ -1,9 +1,71 @@
-Python dependencies:
-	scipy
-	quadprog
-	matplotlib
-	pycddlib
-	cvxpy
+# sl1m
+
+[![Pipeline status](https://gitlab.laas.fr/$ORG/sl1m/badges/master/pipeline.svg)](https://gitlab.laas.fr/loco-3d/sl1m/commits/master)
+[![Coverage report](https://gitlab.laas.fr/loco-3d/sl1m/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/loco-3d/sl1m/master/coverage/)
+
+## Install
+
+> 📝 Upon installing via the `robotpkg` *ppa* please ensure the correct version of
+	 python is noted, e.g. `sudo apt install robotpkg-py38-quadprog` means you
+	 install the `quadprog` software with `Python3.8` as it's dependency.
+
+### Python dependencies:
+
+
+	python -m pip install scipy
+	sudo apt install robotpkg-py38-quadprog
+	python -m pip install matplotlib
+	python -m pip install pycddlib
+	python -m pip install cvxpy
 
 :warning: this package requires gurobi :warning:
 A free academic license can be obtained at https://www.gurobi.com
+
+### Demo dependencies:
+
+These are the dependencies for the robot and rbprm server.
+```
+sudo apt install -y robotpkg-py38-hpp-rbprm-corba
+```
+
+### Installation troubleshooting:
+
+- If you realize you a python package such as `rbprm`, `anymal_rbprm`,
+  `solo_rbprm`, or `talos_rbprm` Please so the following:
+
+  ```
+  sudo apt install -y robotpkg-py38-hpp-rbprm-corba \
+					robotpkg-py38-hpp-rbprm \
+					robotpkg-py38-anymal-rbprm \
+					robotpkg-py38-solo-rbprm \
+					robotpkg-py38-talos-rbprm
+  ```
+
+## Run demo:
+
+```
+# Source you install prefix.
+source ~/devel/workspace_sl1m/install/setup.bash
+# Locate where the Solo12 specific data are.
+export SOLO3D_ENV_DIR=/home/mnaveau/Documents/cloud_laas/Shared/Solo3D/
+# Point toward you HPP installation folder
+export INSTALL_HPP_DIR=/opt/openrobots/share
+# Add the data folder to the ROS environment for urdf parsing.
+export ROS_PACKAGE_PATH=/opt/openrobots/share/example-robot-data/robots:${SOLO3D_ENV_DIR}:$ROS_PACKAGE_PATH
+```
+
+Execute the scripts:
+
+```bash
+python sl1m/stand_alone_scenarios/anymal_stairs.py
+python sl1m/stand_alone_scenarios/anymal_trot.py
+python sl1m/stand_alone_scenarios/data.pickle
+python sl1m/stand_alone_scenarios/hrp2_complex.py
+python sl1m/stand_alone_scenarios/hrp2_stairs.py
+python sl1m/stand_alone_scenarios/problem_definition_hrp2.py
+python sl1m/stand_alone_scenarios/problem_definition_talos.py
+python sl1m/stand_alone_scenarios/solo_stairs.py
+python sl1m/stand_alone_scenarios/solo_trot.py
+python sl1m/stand_alone_scenarios/talos_ramp.py
+python sl1m/stand_alone_scenarios/talos_rubble_stairs.py
+```

package.xml

@@ -0,0 +1,27 @@
+<?xml version='1.0'?>
+<package format='3'>
+    <name>sl1m</name>
+    <version>0.1.1</version>
+    <description>Implementation of the sl1m solver for multi contact planning</description>
+
+    <maintainer email='[email protected]'>Guilhem Saurel</maintainer>
+    <license>BSD</license>
+
+    <author>Steve Tonneau</author>
+
+    <!-- The following tags are recommended by REP-136 -->
+    <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+    <buildtool_depend>cmake</buildtool_depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-matplotlib</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</depend>
+    <depend>python3-cvxpy-pip</depend>
+    <depend>python3-glpk-pip</depend>
+    <depend>python3-gurobipy-pip</depend>
+    <export>
+        <build_type>cmake</build_type>
+    </export>
+</package>