.gitignore

+diffs

.pre-commit-config.yaml

+ci:
+  skip:
+    - treefmt
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+- repo: local
+  hooks:
+  - id: treefmt
+    name: treefmt
+    entry: treefmt
+    language: system
+    always_run: true

LICENSE

+BSD 2-Clause License
+
+Copyright (c) 2017, Guilhem Saurel
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* 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

-# Gepetto Packages Dashboard
+# Gepetto Utils
 
-## APIs
+This is a set of tools for the gepetto team.
 
-- github: https://api.github.com/orgs/stack-of-tasks/repos
-- gitlab: https://eur0c.laas.fr/api/v4/projects
-- redmine: https://redmine.laas.fr/projects.json
+## [Docker](docker)
 
-## RUN
+Some standard Dockerfile to build our projects in various configurations, especially to ease debugging.
 
-```
-rm db.sqlite3 ; and ./manage.py migrate; and ./manage.py runserver localhost:8001
-```
+## [Newcomers](newcomers)
+
+Automatically find new gepettists, and send them a greetings mail, with some useful informations
+
+## [Scripts](scripts)
+
+Set of little useful scripts

docker/all/Dockerfile

+ARG DIST=18.04
+FROM memmos.laas.fr:5000/gepetto/buildfarm/robotpkg-py3:$DIST as build
+
+RUN for dep in math/eiquadprog; do \
+    make install -C $dep; \
+    make clean -C $dep; \
+    done
+
+ARG DIST=18.04
+FROM memmos.laas.fr:5000/gepetto/buildfarm/robotpkg-py3:$DIST
+
+WORKDIR /src
+USER root
+
+ARG DIST=18.04
+RUN echo "DIST=${DIST}" > /dist
+
+ADD build.sh build.py /
+ADD dist/${DIST}.sh /dist.sh
+RUN bash /dist.sh
+
+ARG PARALLEL=1
+ENV CTEST_PARALLEL_LEVEL=${PARALLEL}
+
+ADD https://api.github.com/repos/nim65s/eigenpy/commits/topic/multipy /
+RUN /build.sh eigenpy
+
+ADD https://api.github.com/repos/nim65s/hpp-fcl/commits/topic/multipy /
+RUN /build.sh hpp-fcl
+
+ADD https://api.github.com/repos/nim65s/pinocchio/commits/topic/multipy /
+RUN /build.sh pinocchio
+
+ADD https://api.github.com/repos/nim65s/example-robot-data/commits/topic/multipy /
+RUN /build.sh example-robot-data
+
+ADD https://api.github.com/repos/nim65s/curves/commits/topic/multipy /
+RUN /build.sh curves
+
+ADD https://api.github.com/repos/nim65s/multicontact-api/commits/topic/multipy /
+RUN /build.sh multicontact-api
+
+COPY --from=build /opt/openrobots /opt/openrobots
+
+ADD https://api.github.com/repos/nim65s/tsid/commits/topic/multipy /
+RUN /build.sh tsid
+
+ADD https://api.github.com/repos/nim65s/crocoddyl/commits/topic/multipy /
+RUN /build.sh crocoddyl
+
+ADD run.sh run.py /
+CMD /run.sh

docker/all/README.md

+# All
+
+These Dockerfile are meant to test one script in many distrib / python / build type configurations / etc.
+configurations

docker/all/all.py

+#!/usr/bin/env python3
+"""
+Build all Dockerfiles and check the build result
+"""
+
+import asyncio
+import sys
+from asyncio.subprocess import DEVNULL, PIPE
+
+DISTRIBUTIONS = (
+    "16.04 18.04 20.04 fedora28 fedora31 archlinux stretch buster centos7".split()
+)
+
+
+async def build_run(dist, verbose=False, parallel=1):
+    """Build and run a dockerfile."""
+    cmd = f"docker build --build-arg DIST={dist} --build-arg PARALLEL={parallel} -t all/{dist} ."
+    if verbose:
+        print(f"+ {cmd}\r")
+    proc = await asyncio.create_subprocess_exec(
+        *cmd.split(), stdout=DEVNULL, stderr=DEVNULL
+    )
+    await proc.wait()
+    if proc.returncode != 0:
+        print(f"{dist:10} build failed\r")
+        return
+    cmd = f"docker run --rm -it all/{dist}"
+    if verbose:
+        print(f"+ {cmd}\r")
+    proc = await asyncio.create_subprocess_exec(
+        *cmd.split(), stdout=PIPE, stderr=DEVNULL
+    )
+    stdout, _ = await proc.communicate()
+    stdout = stdout.decode().replace("\r\n", " ")
+    if proc.returncode == 0:
+        print(f"{dist:10} {stdout}\r")
+    else:
+        print(f"{dist:10} run failed\r")
+
+
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    if len(sys.argv) > 1:
+        loop.run_until_complete(build_run(sys.argv[1], verbose=True, parallel=8))
+    else:
+        loop.run_until_complete(
+            asyncio.gather(*(build_run(dist) for dist in DISTRIBUTIONS))
+        )
+    loop.close()

docker/all/build.sh

+#!/bin/bash -eux
+
+source /dist
+
+export PROJECT=$1
+
+DO_TEST=true
+if [ "$PROJECT" = "hpp-fcl" ]
+then
+    if [[ "$DIST" = "fedora28" || "$DIST" = "fedora31" || "$DIST" = "buster" ]]
+    then DO_TEST=false
+    fi
+fi
+
+build() {
+    git clone --recursive --depth 1 --branch topic/multipy "https://github.com/nim65s/$PROJECT.git"
+    mkdir "$PROJECT"/build{,2,3}
+    cd "/src/$PROJECT/build" || exit 1
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=11 -DINSTALL_DOCUMENTATION=OFF \
+        -DCMAKE_INSTALL_PREFIX=/opt/openrobots -DCMAKE_INSTALL_LIBDIR=lib \
+        -DBUILD_PYTHON_INTERFACE=OFF ..
+    make -sj"$CTEST_PARALLEL_LEVEL"
+    DO_TEST && make test
+    make install
+
+    if [ "$DIST" != "20.04" ]
+    then
+        cd "../build2" || exit 1
+        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=11 -DINSTALL_DOCUMENTATION=OFF \
+            -DCMAKE_INSTALL_PREFIX=/opt/openrobots -DCMAKE_INSTALL_LIBDIR=lib \
+            -DPYTHON_EXECUTABLE="/usr/bin/python2" -DPYTHON_STANDARD_LAYOUT=ON -DINSTALL_PYTHON_INTERFACE_ONLY=ON ..
+        make -sj"$CTEST_PARALLEL_LEVEL"
+        DO_TEST && make test
+        make install
+    fi
+
+    cd "../build3" || exit 1
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=11 -DINSTALL_DOCUMENTATION=OFF \
+        -DCMAKE_INSTALL_PREFIX=/opt/openrobots -DCMAKE_INSTALL_LIBDIR=lib \
+        -DPYTHON_EXECUTABLE="/usr/bin/python3" -DPYTHON_STANDARD_LAYOUT=ON -DINSTALL_PYTHON_INTERFACE_ONLY=ON ..
+    make -sj"$CTEST_PARALLEL_LEVEL"
+    DO_TEST && make test
+    make install
+}
+
+if [ "$DIST" = "centos7" ]
+then export PATH=/usr/lib64/python2.7/site-packages/cmake/data/bin:$PATH
+fi
+
+build "$PROJECT"

docker/all/dist/archlinux.sh

+#!/bin/bash -eux
+
+pacman -Sy --noconfirm python2-numpy

docker/all/dist/centos7.sh

+#!/bin/bash -eux
+
+BOOST_VERSION="1_74_0"
+
+yum install -q -y which wget
+yum erase -q -y boost-libs boost-devel boost-python36-devel python2-numpy numpy
+
+wget -q https://dl.bintray.com/boostorg/release/${BOOST_VERSION//_/.}/source/boost_${BOOST_VERSION}.tar.bz2
+tar xf boost_${BOOST_VERSION}.tar.bz2
+cd boost_${BOOST_VERSION}
+./bootstrap.sh --prefix=/usr/local
+patch << 'EOF'
+--- project-config.jam  2020-08-20 11:38:06.896289775 +0000
++++ project-confi.jam  2020-08-20 11:37:48.052239309 +0000
+@@ -18,7 +18,8 @@
+ import python ;
+ if ! [ python.configured ]
+ {
+-    using python : 2.7 : "/usr" ;
++    using python : 2.7 : /usr/bin/python2 : /usr/include/python2.7 : /usr/lib ;
++    using python : 3.6 : /usr/bin/python3 : /usr/include/python3.6m : /usr/lib ;
+ }
+
+ # List of --with-<library> and --without-<library>
+EOF
+./b2 install link=shared python=2.7,3.6
+echo /opt/openrobots/lib/python2.7/site-packages/ > /usr/lib/python2.7/site-packages/robotpkg.pth
+
+python2 -m pip install -U numpy
+python3 -m pip install -U numpy
+
+make -C ~/robotpkg/graphics/urdfdom install
+
+rm -rf /src/boost_${BOOST_VERSION}

docker/all/run.py

+#!/usr/bin/env python
+
+import sys
+
+import crocoddyl
+import curves
+import eigenpy
+import example_robot_data
+import hppfcl
+import multicontact_api
+import numpy as np
+import pinocchio
+import tsid
+
+with open("/dist") as f:
+    dist = f.read()
+
+if "20.04" in dist:
+    print("*" * 74)
+print("{: <6s}".format(sys.version.split()[0]))
+print(eigenpy.Quaternion(1, 2, 3, 4).norm())
+print(hppfcl.Capsule(2, 3).computeVolume())
+print(pinocchio.SE3.Identity().inverse())
+print(example_robot_data.load("talos").model.nq)
+URDF = "/talos_data/robots/talos_left_arm.urdf"
+PATH = example_robot_data.robots_loader.getModelPath(URDF)
+print(tsid.RobotWrapper(PATH + URDF, [PATH], False).na)
+print(crocoddyl.ActionModelUnicycle().nr)
+print(
+    curves.bezier(
+        np.array([[1, 2, 3], [4, 5, 6], [4, 5, 6], [4, 5, 6], [4, 5, 6]]), 0.2, 1.5
+    ).dim()
+)
+print(multicontact_api.ContactModel().mu)

docker/all/run.sh

+#!/bin/bash -eu
+
+source /dist
+
+if [ "$DIST" = "archlinux" ]
+then echo /opt/openrobots/lib/python2.7/site-packages/ > /usr/lib/python2.7/site-packages/robotpkg.pth
+fi
+if [ "$DIST" = "centos7" ]
+then export LD_LIBRARY_PATH=/usr/local/lib:${LD_LIBRARY_PATH}
+fi
+
+if [ "$DIST" != "20.04" ]
+then python2 /run.py
+fi
+python3 /run.py