Add initial python binding utilized by Chimera and Boost.Python (#1237)

.azure-pipelines.yml

@@ -2,7 +2,7 @@
 # Ref: https://docs.microsoft.com/en-us/azure/devops/pipelines
 
 jobs:
-- job: ubuntu_xenial_gcc_debug
+- job: xenial_gcc_debug
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -14,7 +14,7 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/native.yml
 
-- job: ubuntu_xenial_gcc_release
+- job: xenial_gcc_release
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -26,7 +26,7 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/native.yml
 
-- job: ubuntu_xenial_32bit_gcc_release
+- job: xenial_32bit_gcc_release
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -38,7 +38,7 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: ubuntu_bionic_gcc_release
+- job: bionic_gcc_release
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -50,7 +50,21 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: ubuntu_cosmic_gcc_release
+- job: bionic_gcc_dartpy_release
+  pool:
+    vmImage: 'Ubuntu 16.04'
+  variables:
+    OS_NAME: linux
+    COMPILER: gcc
+    BUILD_TYPE: Release
+    BUILD_DARTPY: ON
+    BUILD_DIR: $(Build.SourcesDirectory)
+    DOCKERFILE: Dockerfile.ubuntu-bionic
+  steps:
+  - template: .ci/azure-pipelines/docker.yml
+  timeoutInMinutes: 0
+
+- job: cosmic_gcc_release
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -62,7 +76,7 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: ubuntu_disco_gcc_release
+- job: disco_gcc_release
   pool:
     vmImage: 'Ubuntu 16.04'
   variables:
@@ -74,7 +88,7 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: macos_high_seirra_clang_debug
+- job: high_seirra_clang_debug
   pool:
     vmImage: 'macOS 10.13'
   variables:
@@ -89,7 +103,7 @@ jobs:
       '.ci/script.sh'
     displayName: 'Script'
 
-- job: macos_high_seirra_clang_release
+- job: high_seirra_clang_release
   pool:
     vmImage: 'macOS 10.13'
   variables:

.ci/docker/env.list

@@ -6,5 +6,7 @@ BUILD_DIR
 COMPILER
 BUILD_NAME
 BUILD_TYPE
+BUILD_DARTPY
+BUILD_DOCS
 CODECOV
 SUDO

.ci/install_linux.sh

@@ -34,6 +34,7 @@ $SUDO apt-get -y install \
   libxi-dev \
   libxmu-dev \
   libbullet-dev \
+  liblz4-dev \
   libflann-dev \
   coinor-libipopt-dev \
   libtinyxml2-dev \
@@ -58,8 +59,18 @@ else
   exit 1
 fi
 
+if [ "$BUILD_DARTPY" = "ON" ]; then
+  sudo apt-add-repository -y ppa:personalrobotics
+  sudo apt-get -qq update
+  sudo apt-get -y install libboost-dev libboost-thread-dev libboost-python-dev
+  sudo apt-get -y install python3-dev python3-numpy
+  sudo apt-get -y install chimera python3-boost-numpy-eigen
+  sudo apt-get -y install python3-pip -y
+  sudo pip3 install pytest -U
+fi
+
 $SUDO apt-get -y install lcov
 
-if [ $BUILD_NAME = DOCS ]; then
+if [ $BUILD_DOCS = "ON" ]; then
   $SUDO apt-get -qq -y install doxygen
 fi

.ci/script.sh

@@ -1,9 +1,35 @@
 #!/usr/bin/env bash
 set -ex
 
-num_threads=4
+# Sanity checks for required environment variables.
+if [ -z "$BUILD_TYPE" ]; then
+  echo "Error: Environment variable BUILD_TYPE is unset."
+  exit 1
+fi
+
+if [ -z "$BUILD_DARTPY" ]; then
+  echo "Info: Environment variable BUILD_DARTPY is unset. Using OFF by default."
+  BUILD_DARTPY=OFF
+fi
+
+if [ -z "$BUILD_DOCS" ]; then
+  echo "Info: Environment variable BUILD_DOCS is unset. Using OFF by default."
+  BUILD_DOCS=OFF
+fi
+
+if [ -z "$CODECOV" ]; then
+  echo "Info: Environment variable CODECOV is unset. Using OFF by default."
+  CODECOV=OFF
+fi
 
-# https://unix.stackexchange.com/a/129401
+if [ -z "$OS_NAME" ]; then
+  echo "Error: Environment variable OS_NAME is unset."
+  exit 1
+fi
+
+# Set number of threads for parallel build
+# Ref: https://unix.stackexchange.com/a/129401
+num_threads=4
 while getopts ":j:" opt; do
   case $opt in
     j) num_threads="$OPTARG"
@@ -13,12 +39,15 @@ while getopts ":j:" opt; do
   esac
 done
 
+# Set compilers
 if [ "$COMPILER" = "gcc" ]; then
   export CC=gcc
   export CXX=g++
 elif [ "$COMPILER" = "clang" ]; then
   export CC=clang
   export CXX=clang++
+else
+  echo "Info: Compiler isn't specified. Using the system default."
 fi
 
 # Skip Xenial and Bionic in push builds
@@ -35,10 +64,20 @@ fi
 
 mkdir build && cd build
 
-if [ "$BUILD_NAME" = "BIONIC_DEBUG" ]; then
-  cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_BUILD_EXTRAS=ON -DDART_CODECOV=ON ..
-else
-  cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_BUILD_EXTRAS=ON -DDART_CODECOV=OFF ..
+cmake .. \
+  -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
+  -DDART_BUILD_DARTPY=$BUILD_DARTPY \
+  -DDART_VERBOSE=ON \
+  -DDART_TREAT_WARNINGS_AS_ERRORS=ON \
+  -DDART_BUILD_EXTRAS=ON \
+  -DDART_CODECOV=$CODECOV
+
+if [ "$BUILD_DARTPY" = "ON" ]; then
+  make -j$num_threads binding
+  make -j$num_threads dartpy
+
+  # Disabled for now
+  # make pytest
 fi
 
 if [ "$OS_NAME" = "linux" ]; then

.travis.yml

@@ -28,6 +28,7 @@ matrix:
         - BUILD_NAME=BIONIC_DEBUG
         - DOCKERFILE="Dockerfile.ubuntu-bionic"
         - BUILD_TYPE=Debug
+        - CODECOV: ON
         - COMPILER=GCC
       services: docker
     - os: linux
@@ -60,7 +61,7 @@ matrix:
     #     - COMPILER=CLANG
     - os: linux
       env:
-        - BUILD_NAME=DOCS
+        - BUILD_DOCS=ON
         - DOCKERFILE="Dockerfile.ubuntu-bionic"
         - BUILD_TYPE=Release
         - COMPILER=GCC
@@ -95,4 +96,4 @@ deploy:
   verbose: true
   on:
     branch: master
-    condition: $BUILD_NAME == DOCS && $TRAVIS_EVENT_TYPE != cron
+    condition: $BUILD_DOCS == ON && $TRAVIS_EVENT_TYPE != cron

CHANGELOG.md

@@ -16,7 +16,7 @@
 
   * Fixed linking error of FLANN by explicitly linking to lz4: [#1221](https://github.com/dartsim/dart/pull/1221)
 
-* Build system
+* Build System
 
   * Changed to use GNUInstallDirs for install paths: [#1241](https://github.com/dartsim/dart/pull/1241)
   * Fixed not failing for missing required dependencies: [#1250](https://github.com/dartsim/dart/pull/1250)
@@ -29,6 +29,10 @@
 
   * Fixed Skeleton::setState(): [#1245](https://github.com/dartsim/dart/pull/1245)
 
+* Python
+
+  * Added (experimental) Python binding: [#1237](https://github.com/dartsim/dart/pull/1237)
+
 #### Compilers Tested
 
 * Linux

CMakeLists.txt

@@ -92,6 +92,7 @@ option(DART_BUILD_EXTRAS "Build extra projects" OFF)
 option(DART_CODECOV "Turn on codecov support" OFF)
 option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
+option(DART_BUILD_DARTPY "Build dartpy (the python binding)" OFF)
 
 #===============================================================================
 # Print intro
@@ -311,6 +312,10 @@ if(TARGET dart)
 
 endif()
 
+if (DART_BUILD_DARTPY)
+  add_subdirectory(python)
+endif()
+
 if(DART_BUILD_EXTRAS)
   add_subdirectory(extras)
 endif()

cmake/DARTFindDependencies.cmake

@@ -29,9 +29,9 @@ if(ASSIMP_FOUND)
   include(CheckCXXSourceCompiles)
   set(CMAKE_REQUIRED_DEFINITIONS "")
   if (NOT ASSIMP_VERSION VERSION_LESS 3.3.0 AND NOT MSVC)
-    set(CMAKE_REQUIRED_FLAGS "-std=c++11")
+    set(CMAKE_REQUIRED_FLAGS "-std=c++11 -w")
   else()
-    set(CMAKE_REQUIRED_FLAGS "")
+    set(CMAKE_REQUIRED_FLAGS "-w")
   endif()
   set(CMAKE_REQUIRED_INCLUDES ${ASSIMP_INCLUDE_DIRS})
   set(CMAKE_REQUIRED_LIBRARIES ${ASSIMP_LIBRARIES})

dart/collision/bullet/CMakeLists.txt

@@ -10,7 +10,7 @@ if(BULLET_FOUND)
   # any Bullet headers. This is a workaround for the fact that Bullet does not
   # add the definition to BULLET_DEFINITIONS or generate a #cmakedefine header.
   include(CheckCXXSourceCompiles)
-  set(CMAKE_REQUIRED_FLAGS "")
+  set(CMAKE_REQUIRED_FLAGS "-w")
   set(CMAKE_REQUIRED_DEFINITIONS "-DBT_USE_DOUBLE_PRECISION")
   set(CMAKE_REQUIRED_INCLUDES "${BULLET_INCLUDE_DIRS}")
   set(CMAKE_REQUIRED_LIBRARIES "${BULLET_LIBRARIES}")

dart/math/detail/Random-impl.hpp

@@ -120,7 +120,7 @@ struct functor_has_linear_access<
 namespace dart {
 namespace math {
 
-namespace {
+namespace detail {
 
 //==============================================================================
 template <template <typename...> class C, typename... Ts>
@@ -406,13 +406,13 @@ struct NormalImpl<
   }
 };
 
-} // namespace
+} // detail namespace
 
 //==============================================================================
 template <typename S>
 S Random::uniform(S min, S max)
 {
-  return UniformImpl<S>::run(min, max);
+  return detail::UniformImpl<S>::run(min, max);
 }
 
 //==============================================================================
@@ -453,7 +453,7 @@ DynamicSizeMatrixT Random::uniform(
 template <typename S>
 S Random::normal(S min, S max)
 {
-  return NormalImpl<S>::run(min, max);
+  return detail::NormalImpl<S>::run(min, max);
 }
 
 } // namespace math

dart/optimizer/pagmo/CMakeLists.txt

@@ -1,4 +1,5 @@
 # Dependency checks
+dart_find_package(NLOPT)
 dart_find_package(pagmo)
 dart_check_optional_package(pagmo "dart-optimizer-pagmo" "pagmo" "2.8")
 if(pagmo_FOUND)
@@ -20,7 +21,7 @@ set(component_name optimizer-pagmo)
 
 # Add target
 dart_add_library(${target_name} ${hdrs} ${srcs})
-target_link_libraries(${target_name} PUBLIC dart Pagmo::pagmo)
+target_link_libraries(${target_name} PUBLIC dart Pagmo::pagmo NLOPT::nlopt)
 
 # Thread
 if(THREADS_HAVE_PTHREAD_ARG)
@@ -34,7 +35,7 @@ endif()
 add_component(${PROJECT_NAME} ${component_name})
 add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
 add_component_dependencies(${PROJECT_NAME} ${component_name} dart)
-add_component_dependency_packages(${PROJECT_NAME} ${component_name} pagmo)
+add_component_dependency_packages(${PROJECT_NAME} ${component_name} pagmo NLOPT)
 
 # Generate header for this namespace
 dart_get_filename_components(header_names "optimizer_pagmo headers" ${hdrs})