Add support for running the simulation with pixi, optionally with the…

… ma97 linear solver (#1)

.gitattributes

@@ -0,0 +1,2 @@
+# SCM syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true

.gitignore

@@ -1,5 +1,7 @@
 # build folders
 build*
+.build*
+.pixi_install_prefix
 
 # emacs
 *~
@@ -159,3 +161,7 @@ cython_debug/
 scripts/plotting/animations/**
 scripts/plotting/figures/**
 scripts/generate_animation_meshcat/website/**
+
+# pixi environments
+.pixi
+*.egg-info

README.md

@@ -31,23 +31,28 @@ https://github.com/user-attachments/assets/404c9af8-528e-43c2-abd2-138a98adfc04
 
 ## Reproducing the Experiments
 
+You can reprocue the experiments in two ways: either with conda or pixi.
+
+### Conda
+
+
 To reproduce the experiments, we provide a conda environment for easy setup. Follow the steps below:
 
-### 1. Install the Environment
+#### 1. Install the Environment
 Run the following command to create the conda environment:
 
 ```bash
 conda env create -f environment.yml
 ```
 
-### 2. Activate the Environment
+#### 2. Activate the Environment
 Activate the newly created environment:
 
 ```bash
 conda activate dnn-mpc-env
 ```
 
-### 3. Run the Simulation
+#### 3. Run the Simulation
 Start the experiment with:
 
 ```bash
@@ -63,6 +68,44 @@ When prompted, type `y` and press `Enter` to start the simulation. The humanoid
 
 ⚠️ **Known Issue:** The Gazebo real-time factor is scaled by a factor of 10. This is due to the use of the MUMPS linear solver in the IPOPT docker image. Alternative solvers (e.g., MA27) are available but cannot be redistributed.
 
+
+### Pixi
+
+To run the experiments with pixi on Linux, just download the repo and run:
+
+~~~
+git clone https://github.com/ami-iit/paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking
+cd paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking
+pixi run -e default run_simulation
+~~~
+
+This command will install all the dependencies, compiled the code and run the simulation. At that point, when prompted, type `y` and press `Enter` to start the simulation. The humanoid robot will begin walking, and you can observe its behavior in the Gazebo simulator.
+
+⚠️ **Known Issue:** The Gazebo real-time factor is scaled by a factor of 10. This is due to the use of the MUMPS linear solver in the IPOPT docker image. If you have have access to a Coin-HSL license, you can use it following the instructions in the following, to reduce the Gazebo real-time factor scaling from 10 to 2.
+
+To run the simulation using the Coin-HSL's `ma97` solver, follow the following steps:
+
+1. Go to https://licences.stfc.ac.uk/product/coin-hsl, and:
+   - If you already have a license for Coin-HSL:
+     - Go to https://licences.stfc.ac.uk/account/orders and find the coin-hsl order.
+     - Download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder of this repository.
+   - If you do not have a license for Coin-HSL:
+     - If you are an academic, request a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - If you are not an academic, purchase a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - Once your order is approved, download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder.
+
+Once the `coinhsl-2023.11.17.zip` archive is in the './coinhsl_src' folder, just run:
+
+~~~
+pixi run -e coinhsl run_simulation
+~~~
+
+This will execute the same steps of running `pixi run -e default run_simulation`, but additionally it will:
+* compile `coinhsl` to be able to use the `ma97` linear solver,
+* it will modify the configuration files to use `ma97`
+* use a different Gazebo world model, to ensure a faster simulation.
+
+
 ---
 
 ## Maintainers

coinhsl_src/.gitignore

@@ -0,0 +1,3 @@
+# We do not want to accidentally push the non-distributable source files
+# to the repo, so we add it in the .gitignore
+coinhsl-2023.11.17.zip

run_simulation.sh

@@ -1,10 +1,23 @@
 #!/bin/bash
 
+env
+
 # Get the directory where this script is located
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 
 # Construct the full path to the 'world' file relative to the script's directory
-WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world"
+# based on DNNMPC_LINEAR_SOLVER environment variable
+if [ -z "${DNNMPC_LINEAR_SOLVER}" ] || [ "${DNNMPC_LINEAR_SOLVER}" = "default" ]; then
+    # Default case: if DNNMPC_LINEAR_SOLVER is not set or set to 'default', use the "slow"
+    # world file with RTF 0.1
+    WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_1"
+elif [ "${DNNMPC_LINEAR_SOLVER}" = "coinhsl" ]; then
+    # If DNNMPC_LINEAR_SOLVER is set to 'coinhsl', use the "fast" world file with RTF 0.5
+    WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5"
+else
+    echo "Error: DNNMPC_LINEAR_SOLVER is set to an invalid value ('${DNNMPC_LINEAR_SOLVER}'). Valid values are 'default' or 'coinhsl'."
+    exit 1
+fi
 
 # Start a new detached tmux session named 'dnn-mpc' with root directory '~/'
 tmux new-session -d -s dnn-mpc -c ~/

scripts/pixi/check_and_extract_coinhsl.py

@@ -0,0 +1,40 @@
+import os
+import zipfile
+import sys
+
+# Define file and directories
+file_path = './coinhsl_src/coinhsl-2023.11.17.zip'
+output_dir = './.build-coinhsl'
+
+def main():
+    if os.path.exists(file_path):
+        print(f"File '{file_path}' found. Proceeding to unzip...")
+
+        # Ensure the output directory exists
+        os.makedirs(output_dir, exist_ok=True)
+
+        # Unzipping the file
+        try:
+            with zipfile.ZipFile(file_path, 'r') as zip_ref:
+                zip_ref.extractall(output_dir)
+            print(f"File unzipped successfully to '{output_dir}'.")
+        except zipfile.BadZipFile:
+            print("Error: The file is not a valid ZIP archive.")
+            sys.exit(1)
+    else:
+        print(f"Error: File '{file_path}' does not exist.")
+        print("""
+Please follow these steps to resolve the issue:
+1. Go to https://licences.stfc.ac.uk/product/coin-hsl, and:
+   - If you already have a license for Coin-HSL:
+     - Go to https://licences.stfc.ac.uk/account/orders and find the coin-hsl order.
+     - Download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder of this repository.
+   - If you do not have a license for Coin-HSL:
+     - If you are an academic, request a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - If you are not an academic, purchase a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - Once your order is approved, download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder.
+""")
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()

scripts/pixi/replace_mumps_with_coinhsl.py

@@ -0,0 +1,31 @@
+import os
+
+def replace_mumps_with_ma97(file_path):
+    # Read the file
+    with open(file_path, 'r') as file:
+        content = file.read()
+
+    # Replace occurrences of 'mumps' with 'ma97'
+    updated_content = content.replace("mumps", "ma97")
+
+    # Write the updated content back to the file
+    with open(file_path, 'w') as file:
+        file.write(updated_content)
+
+    print(f"Replaced all occurrences of 'mumps' with 'ma97' in {file_path}")
+
+# Get the CONDA_PREFIX environment variable
+conda_prefix = os.getenv("CONDA_PREFIX")
+
+if conda_prefix:
+    # Construct the file path
+    file_path = os.path.join(conda_prefix, "share/dnn_mpc/robots/ergoCubGazeboV1_1/dnn-mpc/centroidal_mpc.ini")
+
+    if os.path.exists(file_path):
+        replace_mumps_with_ma97(file_path)
+    else:
+        print(f"File does not exist: {file_path}")
+        os.exit(1)
+else:
+    print("CONDA_PREFIX environment variable is not set.")
+    os.exit(1)

worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5

@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <physics type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0.5</real_time_factor>
+      <real_time_update_rate>500</real_time_update_rate>
+    </physics>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <!-- Light -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- Ground Plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <model name="ergoCub">
+
+      <plugin name='torso_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_torso'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.00120142 0.110569 -0.0368365</initialConfiguration>
+      </plugin>
+
+      <plugin name='larm_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_left_arm_no_hand'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.0475749     0.10829   -0.192063   0.0540067      0         0        0</initialConfiguration>
+      </plugin>
+
+      <plugin name='rarm_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_right_arm_no_hand'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.0482403    0.103451   -0.203865 -0.00818984        0         0        0</initialConfiguration>
+      </plugin>
+
+      <plugin name='lleg_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_left_leg'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>     0.111411   0.0242565    0.050721   -0.543941   -0.322059 -0.00373243</initialConfiguration>
+      </plugin>
+
+      <plugin name='rleg_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_right_leg'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>0.0926136   0.0570012   0.0752004    -0.52194   -0.314711  -0.0492877</initialConfiguration>
+      </plugin>
+
+      <plugin name='externalwrench' filename='libgazebo_yarp_externalwrench.so'>
+        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_robotname.ini</yarpConfigurationFile>
+      </plugin>
+
+      <include>
+        <uri>model://ergoCubGazeboV1_1</uri>
+        <pose>0.0 0.0 0.78 0.0 -0.1 0.0</pose>
+      </include>
+
+    </model>
+
+  </world>
+</sdf>