Implement the time-varying dcm planner #61

GiulioRomualdi · 2020-07-06T12:15:12Z

This PR implements the time-varying DCM planner.

S-Dafarra

I am missing the TimeVaryingDCMPlanner.cpp file

src/Planners/CMakeLists.txt

src/Planners/include/BipedalLocomotion/Planners/DCMPlanner.h

src/Planners/include/BipedalLocomotion/Planners/TimeVaryingDCMPlanner.h

cmake/BipedalLocomotionFrameworkFindDependencies.cmake

S-Dafarra · 2020-07-07T11:59:28Z

I am not experiencing any memory leak on my setup with Ubuntu 20.04. What about 18.04?

GiulioRomualdi · 2020-07-07T12:01:04Z

I am not experiencing any memory leak on my setup with Ubuntu 20.04. What about 18.04?

Idem

…MPlanner class

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

GiulioRomualdi · 2020-07-08T16:45:39Z

The current status of the CI is a bit discouraging:

ubuntu: the Valgrind test is failing (however I'm not able to replicate the failure on my laptop and I think also @S-Dafarra cannot Implement the time-varying dcm planner #61 (comment))
macOS: The casADi compilation fails (there seems that casADi is not able to find ipopt)
windows: The same of macOS.

According to the website the maintainers strongly suggest using directly the binaries. However, I'm not able to find the c++ version of the binaries in the get page.

GiulioRomualdi · 2020-07-15T21:30:59Z

On Windows the convex hull test and the DCM planner test are failing. Actually that's very strange because the convex hull test is passing on master. The only think changed here is the vcpkg_ribotolgy version used. Tomorrow I try to replicate the problem on my PC.

GiulioRomualdi · 2020-07-17T10:31:02Z

I tried to install everything (superbuild and casadi + qhull) on my laptop and I noticed that the installation folders are structure as follows.

I installed casadi and qhull in a separate folder instead of ./robotology-superbuild/build/install

`./robotology-superbuild/build/install`	`./robot-install`

Folder PATH listing for volume OS
Volume serial number is D813-7936
C:\USERS\GROMUALDI\ROBOT-INSTALL
├───bin
├───casadi
│   ├───cmake
│   ├───include
│   │   └───casadi
│   │       └───core
│   │           └───runtime
│   └───pkgconfig
├───doc
├───include
│   ├───libqhull
│   ├───libqhullcpp
│   └───libqhull_r
├───lib
│   ├───cmake
│   │   └───Qhull
│   └───pkgconfig
└───man
    └───man1

@traversaro do you think this may be related to the issue that we have with CI on windows?

traversaro · 2020-07-17T10:39:37Z

@traversaro do you think this may be related to the issue that we have with CI on windows?

Sorry, I did not check the test output. If you check it, you can see that it is Exit code 0xc0000135 that typically means that a required dll is not found. Probably you just need to add the directory that contains the qhull and casadi dll (<install_prefix>/bin ?) to the PATH, or copy those dll in the test directory. For vcpkg dependencies this is not necessary because if I remember correctly the .dll are automatically copied by some logic contained in the vcpkg's CMAKE_TOOLCHAIN_FILE, but I may recall not correctly.

S-Dafarra · 2020-07-17T10:40:57Z

That's weird. On my laptop, casadi does not install a casadi folder in the install prefix 🤔

traversaro · 2020-07-17T10:44:18Z

I checked in the log, and casadi indeed installs the .dll in a strange directory:

2020-07-15T18:08:17.0921073Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_xmlfile_tinyxml.lib
2020-07-15T18:08:17.0921336Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_xmlfile_tinyxml.dll
2020-07-15T18:08:17.0921759Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_conic_nlpsol.lib
2020-07-15T18:08:17.0922014Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_conic_nlpsol.dll
2020-07-15T18:08:17.0922316Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_conic_qrqp.lib
2020-07-15T18:08:17.0922577Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_conic_qrqp.dll
2020-07-15T18:08:17.0922941Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_nlpsol_qrsqp.lib
2020-07-15T18:08:17.0923535Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_nlpsol_qrsqp.dll
2020-07-15T18:08:17.0923812Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_importer_shell.lib
2020-07-15T18:08:17.0924067Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_importer_shell.dll
2020-07-15T18:08:17.0924323Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_integrator_rk.lib
2020-07-15T18:08:17.0924662Z   -- Installing: D:/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/casadi/casadi_integrator_rk.dll

Probably the installation location depend on the operating system.

GiulioRomualdi · 2020-07-17T10:47:03Z

That's weird. On my laptop, casadi does not install a casadi folder in the install prefix

Actually also on my laptop (Linux) casadi is not installed in the casadi folder. Those are the cmake options

Commandline options:
-DMATLAB_PREFIX:PATH="casadi" -DINCLUDE_PREFIX:PATH="casadi/include" -DIpopt_DIR:PATH="C:/robotology/vcpkg/installed/x64-windows/share/Ipopt" -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release;MinSizeRel;RelWithDebInfo" -DCMAKE_INSTALL_PREFIX:PATH="C:/Users/gromualdi/robot-install" -DCMAKE_PREFIX:PATH="casadi/cmake" -DLIB_PREFIX:PATH="casadi" -DBIN_PREFIX:PATH="casadi" 


Cache file:
MATLAB_PREFIX:PATH=casadi
INCLUDE_PREFIX:PATH=casadi/include
Ipopt_DIR:PATH=C:/robotology/vcpkg/installed/x64-windows/share/Ipopt
CMAKE_CONFIGURATION_TYPES:STRING=Debug;Release;MinSizeRel;RelWithDebInfo
CMAKE_INSTALL_PREFIX:PATH=C:/Users/gromualdi/robot-install
CMAKE_PREFIX:PATH=casadi/cmake
LIB_PREFIX:PATH=casadi
BIN_PREFIX:PATH=casadi

traversaro · 2020-07-17T10:51:43Z

The key code is in https://github.com/casadi/casadi/blob/6f122ca22e2a869903628c5738f154c8ac0f7455/CMakeLists.txt#L317 . As in our case also on Windows we typically do "normal" installations, we should pass as LIB_PREFIX lib, BIN_PREFIX bin, etc etc.

GiulioRomualdi · 2020-07-17T10:52:50Z

The key code is in https://github.com/casadi/casadi/blob/6f122ca22e2a869903628c5738f154c8ac0f7455/CMakeLists.txt#L317 . As in our case also on Windows we typically do "normal" installations, we should pass as LIB_PREFIX lib, BIN_PREFIX bin, etc etc.

Exactly Indeed If I change the CMake options as

Commandline options:
-DMATLAB_PREFIX:PATH="" -DENABLE_EXPORT_ALL:BOOL="0" -DINCLUDE_PREFIX:PATH="include" -DIpopt_DIR:PATH="C:/robotology/vcpkg/installed/x64-windows/share/Ipopt" -DVCPKG_TARGET_TRIPLET:STRING="x64-windows" -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release;MinSizeRel;RelWithDebInfo" -DCMAKE_INSTALL_PREFIX:PATH="C:/Users/gromualdi/robot-install" -DCMAKE_PREFIX:PATH="lib/cmake/casadi" -DLIB_PREFIX:PATH="" -DBIN_PREFIX:PATH="" 


Cache file:
MATLAB_PREFIX:PATH=
ENABLE_EXPORT_ALL:BOOL=0
INCLUDE_PREFIX:PATH=include
Ipopt_DIR:PATH=C:/robotology/vcpkg/installed/x64-windows/share/Ipopt
VCPKG_TARGET_TRIPLET:STRING=x64-windows
CMAKE_CONFIGURATION_TYPES:STRING=Debug;Release;MinSizeRel;RelWithDebInfo
CMAKE_INSTALL_PREFIX:PATH=C:/Users/gromualdi/robot-install
CMAKE_PREFIX:PATH=lib/cmake/casadi
LIB_PREFIX:PATH=
BIN_PREFIX:PATH=

casadi is installed in a "normal" manner

.github/workflows/ci.yml

…ead of std::tuple<> in TimeVaryingDCMPlanner

…() function

GiulioRomualdi · 2020-07-17T12:38:25Z

422e857 fixes the compilation on Windows. Now we can use CasADi also there.

GiulioRomualdi · 2020-07-17T12:48:22Z

@traversaro @S-Dafarra let me know If I can merge the PR

traversaro

Ok for me!

S-Dafarra · 2020-07-17T14:00:05Z

BTW, very well done. This is also pretty important for future activities 🚀

GiulioRomualdi added 2 commits July 6, 2020 14:07

Design the skeleton for the DCMPlanner

4a846c8

Implement the first version of the TimeVaryingDCMPlanner class

72e42ba

GiulioRomualdi requested a review from S-Dafarra July 6, 2020 12:15

GiulioRomualdi self-assigned this Jul 6, 2020

GiulioRomualdi added 3 commits July 6, 2020 14:18

Implement a simple test for the time-varying DCM planner

bc4d2eb

Require casADi for compiling the planners component

9e03490

Enable the compilation of the time-varying dcm planner

5698dab

GiulioRomualdi force-pushed the feature/3d-dcm branch from 34888cf to 599f741 Compare July 6, 2020 12:18

GiulioRomualdi added this to the Iteration 47 - Hot restart milestone Jul 6, 2020

GiulioRomualdi added the enhancement New feature or request label Jul 6, 2020

GiulioRomualdi force-pushed the feature/3d-dcm branch 3 times, most recently from c447adf to 0da8305 Compare July 6, 2020 13:29

Enable to compilation of casADi in workflows/ci.yml

f5844ce

GiulioRomualdi force-pushed the feature/3d-dcm branch from 0da8305 to f5844ce Compare July 6, 2020 14:31

GiulioRomualdi mentioned this pull request Jul 6, 2020

Bipedal-locomotion-framework and iDynTree. A love that has come to an end #63

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S-Dafarra reviewed Jul 6, 2020

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S-Dafarra reviewed Jul 7, 2020

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S-Dafarra mentioned this pull request Jul 7, 2020

Use Eigen in ConvexHullHelper class #65

Merged

GiulioRomualdi and others added 6 commits July 8, 2020 15:36

Merge remote-tracking branch 'origin/master' into feature/3d-dcm

87f364f

Use Eigen instead iDynTree in the interface of DCMPlanners class

68f9b02

Store the ContactPhaseLists in a shared_ptr instead of weak_ptr in DC…

630d5c0

…MPlanner class

Remove outdated comment in TimeVaryingDCMPlanner documentation

98adeef

Use lowercase instead of cammelcase for finding casadi in cmake file

ec2c99c

Apply suggestions from code review

f57218e

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

GiulioRomualdi force-pushed the feature/3d-dcm branch from 4765e5b to f57218e Compare July 8, 2020 17:03

Use mumps as default solver for ipopt

5e1d4af

GiulioRomualdi force-pushed the feature/3d-dcm branch from 3cb1b8c to 1c05bb8 Compare July 15, 2020 17:01

Add CasADi in the GitHub Action cache

a97e6dc

GiulioRomualdi mentioned this pull request Jul 16, 2020

Investigate the possibility to use Automatic Differentiation in the Framework #74

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S-Dafarra modified the milestones: Iteration 47 - Hot restart, Iteration 48 - End or research increment Jul 17, 2020

traversaro reviewed Jul 17, 2020

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traversaro reviewed Jul 17, 2020

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GiulioRomualdi added 2 commits July 17, 2020 14:00

Fix the compilation on Windows CI [casadi]

422e857

Use the alias TimeVaryingDCMPlannerDynamics::StateDerivativeType inst…

995a925

…ead of std::tuple<> in TimeVaryingDCMPlanner

GiulioRomualdi force-pushed the feature/3d-dcm branch from ff6b65d to a4d14c1 Compare July 17, 2020 12:15

Use shared_ptr instead of weak_ptr in DCMPlanner::initialize() function

6fb1de6

GiulioRomualdi force-pushed the feature/3d-dcm branch from a4d14c1 to 6fb1de6 Compare July 17, 2020 12:22

Use shared_ptr instead of weak_ptr in DCMPlanner::setContactPhaseList…

7aaa1cb

…() function

traversaro approved these changes Jul 17, 2020

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S-Dafarra approved these changes Jul 17, 2020

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GiulioRomualdi merged commit ea886f7 into master Jul 17, 2020

GiulioRomualdi deleted the feature/3d-dcm branch July 17, 2020 13:59

traversaro mentioned this pull request Nov 3, 2020

CI: Enable tests on Ubuntu 20.04 robotology/idyntree#760

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GiulioRomualdi mentioned this pull request Nov 11, 2020

Keep the changelog up to date #139

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Implement the time-varying dcm planner #61

Implement the time-varying dcm planner #61

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Implement the time-varying dcm planner #61

Implement the time-varying dcm planner #61

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