Release/8.0.0

.github/dependabot.yml

@@ -1,6 +1,6 @@
 version: 2
 updates:
-- package-ecosystem: "github-actions"
-  directory: "/"
-  schedule:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
       interval: "monthly"

.github/workflows/nix.yml

@@ -16,12 +16,13 @@ jobs:
   nix:
     runs-on: "${{ matrix.os }}-latest"
     strategy:
+      fail-fast: false
       matrix:
         os: [ubuntu]
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
       - uses: cachix/install-nix-action@v31
-      - uses: cachix/cachix-action@v16
+      - uses: cachix/cachix-action@v17
         with:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'

.github/workflows/update-flake-lock.yml

@@ -1,10 +1,8 @@
 name: update-flake-lock
-
 on:
   workflow_dispatch:
   schedule:
     - cron: '0 18 1 * *'
-
 jobs:
   update-flake-inputs:
     runs-on: ubuntu-slim
@@ -14,7 +12,7 @@ jobs:
     steps:
       - name: Generate GitHub App Token
         id: app-token
-        uses: actions/create-github-app-token@v2
+        uses: actions/create-github-app-token@v3
         with:
           app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
           private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}

.pre-commit-config.yaml

@@ -1,44 +1,40 @@
 ci:
   autoupdate_schedule: quarterly
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.15.5
-  hooks:
-  - id: ruff
-    args:
-    - --fix
-    - --exit-non-zero-on-fix
-  - id: ruff-format
-- repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: v0.6.13
-  hooks:
-  - id: cmake-format
-- repo: https://github.com/pappasam/toml-sort
-  rev: v0.24.3
-  hooks:
-  - id: toml-sort-fix
-    exclude: poetry.lock
-- repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v22.1.0
-  hooks:
-  - id: clang-format
-    args:
-    - --style=Google
-- repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v6.0.0
-  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: https://github.com/BlankSpruce/gersemi-pre-commit
+    rev: 0.27.1
+    hooks:
+      - id: gersemi
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.15.10
+    hooks:
+      - id: ruff-check
+      - id: ruff-format
+  - repo: https://github.com/pappasam/toml-sort
+    rev: v0.24.4
+    hooks:
+      - id: toml-sort-fix
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v22.1.3
+    hooks:
+      - id: clang-format
+        args:
+          - --style=Google
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    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

CMakeLists.txt

@@ -23,24 +23,32 @@ set(CXX_DISABLE_WERROR TRUE)
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
 if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
-  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+    message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
 else()
-  find_package(jrl-cmakemodules QUIET CONFIG)
-  if(jrl-cmakemodules_FOUND)
-    get_property(
-      JRL_CMAKE_MODULES
-      TARGET jrl-cmakemodules::jrl-cmakemodules
-      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
-    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
-  else()
-    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
-    include(FetchContent)
-    FetchContent_Declare(
-      "jrl-cmakemodules"
-      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
-    FetchContent_MakeAvailable("jrl-cmakemodules")
-    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
-  endif()
+    find_package(jrl-cmakemodules QUIET CONFIG)
+    if(jrl-cmakemodules_FOUND)
+        get_property(
+            JRL_CMAKE_MODULES
+            TARGET jrl-cmakemodules::jrl-cmakemodules
+            PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        )
+        message(
+            STATUS
+            "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}"
+        )
+    else()
+        message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+        include(FetchContent)
+        FetchContent_Declare(
+            "jrl-cmakemodules"
+            GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+        )
+        FetchContent_MakeAvailable("jrl-cmakemodules")
+        FetchContent_GetProperties(
+            "jrl-cmakemodules"
+            SOURCE_DIR JRL_CMAKE_MODULES
+        )
+    endif()
 endif()
 
 include("${JRL_CMAKE_MODULES}/hpp.cmake")
@@ -49,50 +57,30 @@ include("${JRL_CMAKE_MODULES}/python.cmake")
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
-add_project_dependency("hpp-manipulation-corba" REQUIRED)
+add_project_dependency("hpp-manipulation" REQUIRED)
 add_project_dependency("example-robot-data" REQUIRED)
 add_project_dependency("hpp-gepetto-viewer" REQUIRED)
 
 if(NOT FINDPYTHON_ALREADY_CALLED)
-  findpython()
+    findpython()
 endif()
 
-add_subdirectory(src)
-
 set(CATKIN_PACKAGE_SHARE_DESTINATION
-    ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
+    ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
+)
 
-install(
-  FILES urdf/box.urdf
-        urdf/cup.urdf
-        urdf/door.urdf
-        urdf/kitchen_area.urdf
-        urdf/kitchen_area_obstacle.urdf
-        urdf/box_color.urdf
-        urdf/rod.urdf
-        urdf/table.urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
-install(FILES srdf/box.srdf srdf/cup.srdf srdf/kitchen_area.srdf srdf/rod.srdf
-              srdf/door.srdf srdf/table.srdf
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf)
-install(FILES meshes/box.dae
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes)
-install(FILES src/hpp/corbaserver/pr2/robot.py
-              src/hpp/corbaserver/pr2/__init__.py
-        DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/pr2)
-install(FILES src/hpp/corbaserver/rod/robot.py
-              src/hpp/corbaserver/rod/__init__.py
-        DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rod)
-install(FILES src/hpp/corbaserver/manipulation/pr2/robot.py
-              src/hpp/corbaserver/manipulation/pr2/__init__.py
-        DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/pr2)
+install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY srdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(
-  FILES Media/models/meshes/glasses/__Color_A05_4.png
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/models/meshes/glasses)
+    FILES Media/models/meshes/glasses/__Color_A05_4.png
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/models/meshes/glasses
+)
 
 install(
-  FILES Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
+    FILES
+        Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
         Media/materials/textures/hinter_shopschraenken_an_saeule.png
         Media/materials/textures/wallpaper_ai_unihb.png
         Media/materials/textures/stove.png
@@ -104,23 +92,8 @@ install(
         Media/materials/textures/wallpaper.png
         Media/materials/textures/sink.png
         Media/materials/textures/mittig_neben_roboterplakat.png
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/materials/textures)
-
-# Installation for documentation
-if(INSTALL_DOCUMENTATION)
-  install(
-    FILES urdf/box.urdf
-    DESTINATION
-      ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/urdf)
-  install(
-    FILES script/tutorial_1.py script/tutorial_2.py script/tutorial_3.py
-          script/tutorial_4.py
-    DESTINATION
-      ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/script)
-endif(INSTALL_DOCUMENTATION)
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/materials/textures
+)
 
 add_library(${PROJECT_NAME} INTERFACE)
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${TARGETS_EXPORT_NAME}
-  DESTINATION lib)
+install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)

README.md

@@ -1,5 +1,15 @@
 # Tutorial for humanoid path planner platform.
 
+This package provides some tutorials to learn how to use [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc) software.
+The various tutorials are:
+
+1. [tutorial 1](./tutorial_1/README.md) How to install and run the software.
+2. [tutorial 2](./tutorial_2/README.md) How to define and solve a simple pick and place problem.
+3. [tutorial 3](./tutorial_3/README.md) How to use HPP in manufacturing.
+4. [tutorial 4](./tutorial_4/README.md) How to control the trajectory of a tool.
+5. [tutorial 5](./tutorial_5/README.md) How to optimize and time-parameterize paths.
+6. [tutorial 6](./tutorial_6/README.md) How to execute motions on a real robot.
+
 [![Pipeline status](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/badges/master/pipeline.svg)](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/commits/master)
 [![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/humanoid-path-planner/hpp_tutorial/master/coverage/)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)

doc/Doxyfile.extra.in

@@ -3,7 +3,7 @@ TAGFILES = @HPP_CORE_DOXYGENDOCDIR@/hpp-core.doxytag=@HPP_CORE_DOXYGENDOCDIR@ \
 @HPP_MANIPULATION_DOXYGENDOCDIR@/hpp-manipulation.doxytag=@HPP_MANIPULATION_DOXYGENDOCDIR@ \
 @HPP_MANIPULATION_CORBA_DOXYGENDOCDIR@/hpp-manipulation-corba.doxytag=@HPP_MANIPULATION_CORBA_DOXYGENDOCDIR@ \
 
-INPUT=@CMAKE_SOURCE_DIR@/include @CMAKE_SOURCE_DIR@/src/hpp/corbaserver/pr2/robot.py
+INPUT=@CMAKE_SOURCE_DIR@/include
 
 IMAGE_PATH     = @CMAKE_SOURCE_DIR@/doc/figures
 USE_MATHJAX= YES