Documentation

.github/workflows/ci_linux.yml

@@ -6,9 +6,35 @@ on:
   push:
     branches:
       - "**"
+    paths:
+      - 'cmake/**'
+      - 'src/examples/**'
+      - 'src/python/**'
+      - 'src/robot_dart/**'
+      - 'src/tests/**'
+      - 'src/utheque/**'
+      - 'utheque/**'
+      - 'ci/**'
+      - 'waf_tools/**'
+      - 'wscript'
+      - 'waf'
+      - '.github/workflows/ci_linux.yml'
   pull_request:
     branches:
       - "**"
+    paths:
+      - 'cmake/**'
+      - 'src/examples/**'
+      - 'src/python/**'
+      - 'src/robot_dart/**'
+      - 'src/tests/**'
+      - 'src/utheque/**'
+      - 'utheque/**'
+      - 'ci/**'
+      - 'waf_tools/**'
+      - 'wscript'
+      - 'waf'
+      - '.github/workflows/ci_linux.yml'
 
 jobs:
   build:
@@ -34,12 +60,12 @@ jobs:
       CI_HOME: ${{github.workspace}}
       DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Ubuntu packages
         run: ${{github.workspace}}/ci/install_packages.sh
       - name: Cache DART
         id: cache-dart
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: ~/.dart_install
           key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}
@@ -86,6 +112,6 @@ jobs:
           if [ "$BUILD_PYTHON" = "ON" ]; then
           python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
           export PYTHONPATH=/home/runner/.dart_install/$python_dist_dir
-          python ${{github.workspace}}/src/python/ci.py
+          python ${{github.workspace}}/src/examples/python/ci.py
           fi
 

.github/workflows/ci_linux_dart.yml

@@ -18,7 +18,7 @@ jobs:
         build_type: [Release]
         build_python: [ON]
         compiler: [gcc, clang]
-        dart_tag: ["v6.12.1"]
+        dart_tag: ["v6.13.1"]
     env:
       COMPILER: ${{ matrix.compiler }}
       BUILD_TYPE: ${{ matrix.build_type }}
@@ -28,12 +28,12 @@ jobs:
       CI_HOME: ${{github.workspace}}
       DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Ubuntu packages
         run: ${{github.workspace}}/ci/install_packages.sh
       - name: Cache DART
         id: cache-dart
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: ~/.dart_install
           key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}

.github/workflows/ci_mac.yml

@@ -0,0 +1,109 @@
+# https://help.github.com/en/articles/workflow-syntax-for-github-actions
+
+name: CI MacOS
+
+on:
+  push:
+    branches:
+      - "**"
+    paths:
+      - 'cmake/**'
+      - 'src/examples/**'
+      - 'src/python/**'
+      - 'src/robot_dart/**'
+      - 'src/tests/**'
+      - 'src/utheque/**'
+      - 'utheque/**'
+      - 'ci/**'
+      - 'waf_tools/**'
+      - 'wscript'
+      - 'waf'
+      - '.github/workflows/ci_mac.yml'
+  pull_request:
+    branches:
+      - "**"
+    paths:
+      - 'cmake/**'
+      - 'src/examples/**'
+      - 'src/python/**'
+      - 'src/robot_dart/**'
+      - 'src/tests/**'
+      - 'src/utheque/**'
+      - 'utheque/**'
+      - 'ci/**'
+      - 'waf_tools/**'
+      - 'wscript'
+      - 'waf'
+      - '.github/workflows/ci_mac.yml'
+
+jobs:
+  build:
+    if: github.event_name != 'workflow_dispatch'
+    name: OS:${{ matrix.os }}-Magnum:${{ matrix.magnum_gui }}-Build:${{ matrix.build_type }}-Python:${{ matrix.build_python }}-Compiler:${{ matrix.compiler }}-DART:${{ matrix.dart_tag }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [macos-12]
+        build_type: [Release]
+        build_python: [OFF] # Let's remove python for now from Mac CI
+        compiler: [gcc, clang]
+        magnum_gui: [ON, OFF]
+    env:
+      COMPILER: ${{ matrix.compiler }}
+      BUILD_TYPE: ${{ matrix.build_type }}
+      BUILD_PYTHON: ${{ matrix.build_python }}
+      MAGNUM_GUI: ${{ matrix.magnum_gui }}
+      DART_TAG: ${{ matrix.dart_tag }}
+      CI_HOME: ${{github.workspace}}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install deps
+        run: brew install binutils pybind11
+      - name: Install numpy
+        run: python -m pip install --upgrade pip && pip3 install numpy
+      - name: Install DART
+        run: |
+          if [ "$BUILD_PYTHON" = "ON" ]; then
+            brew install dartsim --only-dependencies && pip3 install dartpy ;
+          else
+            brew install dartsim ;
+          fi
+      - name: Build Magnum
+        run: if [ "$MAGNUM_GUI" = "ON" ]; then brew install sdl2 glfw eigen glm bullet assimp devil faad2 freetype glslang harfbuzz libpng libspng jpeg openexr spirv-tools zstd webp && ${{github.workspace}}/ci/install_magnum.sh /usr/local ; fi
+      - name: Build robot_dart
+        run: |
+          if [ "$COMPILER" = "gcc" ]; then
+            export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
+          fi
+          if [ "$COMPILER" = "clang" ]; then
+            export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
+          fi
+          cd ${{github.workspace}}
+          if [ "$BUILD_PYTHON" = "ON" ]; then
+            ./waf configure --tests --python --prefix=/usr/local ;
+          else
+            ./waf configure --tests --prefix=/usr/local ;
+          fi
+          ./waf
+      - name: Run tests
+        run: ./waf --tests
+      - name: Build examples
+        run: ./waf examples
+      - name: Install
+        run: sudo ./waf install
+      - name: Run CMake
+        run: |
+          if [ "$COMPILER" = "gcc" ]; then
+          export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
+          fi
+          if [ "$COMPILER" = "clang" ]; then
+          export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
+          fi
+          cd ${{github.workspace}}/cmake/example && mkdir -p build && cd build && cmake .. && make -j4
+          cd ${{github.workspace}}/cmake/example_utheque && mkdir -p build && cd build && cmake .. && make -j4
+      - name: Run Python
+        run: |
+          if [ "$BUILD_PYTHON" = "ON" ]; then
+          python ${{github.workspace}}/src/examples/python/ci.py
+          fi

.gitignore

@@ -5,3 +5,6 @@ build
 *.pyc
 res/nao_meshes
 .vscode
+paper/*.crossref
+paper/*.pdf
+paper/*.tex

LICENSE

@@ -0,0 +1,30 @@
+BSD 2-Clause License
+
+Copyright (c) 2022-2024 Computational Intelligence Lab, University of Patras, Greece
+Copyright (c) 2023-2024 Laboratory of Automation and Robotics, University of Patras, Greece
+Copyright (c) 2017-2018 LARSEN Team, Inria, France
+Copyright (c) 2017-2024 Konstantinos Chatzilygeroudis
+Copyright (c) 2017-2024 Jean-Baptiste Mouret
+Copyright (c) 2023-2024 Dionis Totsila
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,23 +1,55 @@
-robot_dart [![Build Status](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml/badge.svg?branch=master)](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml)
+RobotDART [![Build Status](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml/badge.svg?branch=master)](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml)
 =====================================================================================================================================================================================================
 
-### CAUTION: The library is under-going a serious re-structure and development. Expect breaking of API/ABI, and out-of-date guides. We will soon provide a new release with many new features and a proper documentation.
+RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the [DART] physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).
 
-#### This repo contains a generic wrapper around the [DART] simulator.
+## Documentation
+
+Documentation is available at: [https://nosalro.github.io/robot_dart/](https://nosalro.github.io/robot_dart/)
 
 ## Authors
 
-- Author/Maintainer: Konstantinos Chatzilygeroudis
-- Active contributors: Jean-Baptiste Mouret
+- Author/Maintainer: Konstantinos Chatzilygeroudis (University of Patras)
+- Active contributors: Dionis Totsila (Inria and University of Patras), Jean-Baptiste Mouret (Inria)
 - Other contributors: Antoine Cully, Vassilis Vassiliades, Vaios Papaspyros
 
-### Using the code
+## Citing RobotDART
+
+If you use this code in a scientific publication, please use the following citation:
+
+```bibtex
+@article{chatzilygeroudis2024robot,
+        title={{RobotDART: a versatile robot simulator for robotics and machine learning researchers}},
+        author={Chatzilygeroudis, Konstantinos and Dionis, Totsila and Mouret, Jean-Baptiste},
+        year={2024},
+        booktitle={{Preprint (Submitted to JOSS)}}
+      }
+```
+
+## Acknowledgments
+
+This work was supported by the [Hellenic Foundation for Research and Innovation](https://www.elidek.gr/en/homepage/) (H.F.R.I.) under the "3rd Call for H.F.R.I. Research Projects to support Post-Doctoral Researchers" (Project Acronym: NOSALRO, Project Number: 7541).
+
+<p align="center">
+<img src="https://www.elidek.gr/wp-content/themes/elidek/images/elidek_logo_en.png" alt="logo_elidek"/>
+<p/>
+
+This work was conducted within the [Computational Intelligence Lab](http://cilab.math.upatras.gr/) (CILab), Department of Mathematics, University of Patras, Greece.
+
+<p align="center">
+<img src="https://nosalro.github.io/images/logo_cilab.jpg" alt="logo_cilab" width="50%"/>
+<img src="https://www.upatras.gr/wp-content/uploads/up_2017_logo_en.png" alt="logo_cilab" width="50%"/>
+</p>
+
+<!-- This work was partly supported by the ResiBots ERC Project (http://www.resibots.eu).
+
+<p align="center">
+<img src="http://resibots.eu/_static/resibots_logo_black_200px.png" alt="logo_resibots"/>
+</p> -->
 
-Please look at the [installation guide](docs/installation.md). You will find detailed guidelines on how to properly install all the dependencies, compile the code and run the examples. There is also a short [tutorial](docs/tutorial.md) where the basics of this small library are explained through coding a small example. Moreover, a small [guide](docs/guide.md) provides a brief overview of the main classes and functionality of the library. Finally, there exist python bindings of the library, located [here](src/python) (see the examples for usage).
 
-## LICENSE
+## License
 
-[CeCILL]
+[BSD 2-Clause "Simplified" License](https://opensource.org/license/bsd-2-clause/)
 
-[CeCILL]: http://www.cecill.info/index.en.html
 [DART]: http://dartsim.github.io/

ci/install_dart_latest.sh

@@ -1,9 +1,3 @@
-mkdir -p ~/.deps
-cd ~/.deps
-
-python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
-mkdir -p ~/.dart_install/$python_dist_dir
-
 # Select Compiler
 if [ "$COMPILER" = "gcc" ]; then
 export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
@@ -12,26 +6,58 @@ if [ "$COMPILER" = "clang" ]; then
 export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
 fi
 
+PREFIX=/usr
+DEPS_FOLDER=~/.deps
+DART_TAG=v6.13.1
+SUDOCMD=sudo
+
+PREFIX=${1:-$PREFIX}
+DEPS_FOLDER=${2:-$DEPS_FOLDER}
+DART_TAG=${3:-$DART_TAG}
+SUDOCMD=${4:-$SUDOCMD}
+
+python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
+${SUDOCMD} mkdir -p ${PREFIX}/$python_dist_dir
+
+mkdir -p ${DEPS_FOLDER}
+cd ${DEPS_FOLDER}
+
+if [ ! -d "dart" ]
+then
 git clone https://github.com/dartsim/dart.git
+fi
 cd dart
 git checkout $DART_TAG
-mkdir build
+git pull
+mkdir -p build
 cd build
 
 # Build DART
 if [ "$BUILD_PYTHON" = "ON" ]; then
-cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
+cmake -DDART_TREAT_WARNINGS_AS_ERRORS=OFF -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 else
-cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
+cmake -DDART_TREAT_WARNINGS_AS_ERRORS=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 fi
 make -j4
-sudo make install
+${SUDOCMD} make install
 
+# We are inside the CI
+if [ "$PREFIX" = "/home/runner/.dart_install" ]; then
 sudo ldconfig
 cd $CI_HOME
 
 # Hack for dartpy installation
 python_file=/usr/lib/python3/dist-packages/dartpy.cpython-310-x86_64-linux-gnu.so
 if [ -f "$python_file" ]; then
-cp $python_file ~/.dart_install/$python_dist_dir
+cp $python_file ${PREFIX}/$python_dist_dir
+fi
+
+else
+# Hack for dartpy installation
+python_dot_version=$(python -c "import sys; print('.'.join(str(s) for s in sys.version_info[:2]))")
+python_version=$(python -c "import sys; print(''.join(str(s) for s in sys.version_info[:2]))")
+python_global_install=/usr/lib/python${python_dot_version}/site-packages/dartpy.cpython-${python_version}-x86_64-linux-gnu.so
+if [ -f "$python_global_install" ]; then
+${SUDOCMD} mv $python_global_install ${PREFIX}/$python_dist_dir
+fi
 fi