Updrake

.github/actions/bionic/action.yml → .github/actions/jammy/action.yml

@@ -4,5 +4,5 @@ description: 'runs tests.'
 
 runs:
   using: 'docker'
-  image: '../../../bionic.dockerfile'
+  image: '../../../jammy.dockerfile'
   entrypoint: './scripts/build_test.sh'

.github/workflows/ci.yml

@@ -8,23 +8,23 @@ on:
     - cron: "0 6 * * *"  # 6am everyday.
 
 jobs:
-  bionic:
+  focal:
     runs-on: ubuntu-latest
     steps:
       # To use this repository's private action,
       # you must check out the repository
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: build and test action step
-        uses: ./.github/actions/bionic
+        uses: ./.github/actions/focal
         id: build_test
-  focal:
+  jammy:
     runs-on: ubuntu-latest
     steps:
       # To use this repository's private action,
       # you must check out the repository
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: build and test action step
-        uses: ./.github/actions/focal
+        uses: ./.github/actions/jammy
         id: build_test

CMakeLists.txt

@@ -72,7 +72,7 @@ if(NOT APPLE)
     )
   endif()
 
-  if(NOT UNIX_DISTRIBUTION_CODENAME MATCHES "^(bionic|focal)$")
+  if(NOT UNIX_DISTRIBUTION_CODENAME MATCHES "^(focal|jammy)$")
     message(FATAL_ERROR
       "Release ${UNIX_DISTRIBUTION_CODENAME} is NOT supported. Please use "
       "Ubuntu 18.04 (Bionic) or 20.04 (Focal)."
@@ -82,13 +82,14 @@ endif()
 
 if(APPLE)
   set(FIND_PYTHON_EXECUTABLE_PATHS /usr/local/bin)
-  set(FIND_PYTHON_INTERP_VERSION 3.9)
-elseif(UNIX_DISTRIBUTION_CODENAME STREQUAL bionic)
+  set(FIND_PYTHON_INTERP_VERSION 3.11)
+elseif(UNIX_DISTRIBUTION_CODENAME STREQUAL focal)
   set(FIND_PYTHON_EXECUTABLE_PATHS /usr/bin)
-  set(FIND_PYTHON_INTERP_VERSION 3.6)
+  set(FIND_PYTHON_INTERP_VERSION 3.8)
 else()
+  # Jammy
   set(FIND_PYTHON_EXECUTABLE_PATHS /usr/bin)
-  set(FIND_PYTHON_INTERP_VERSION 3.8)
+  set(FIND_PYTHON_INTERP_VERSION 3.10)
 endif()
 find_program(PYTHON_EXECUTABLE NAMES python3
   PATHS "${FIND_PYTHON_EXECUTABLE_PATHS}"

README.md

@@ -32,6 +32,6 @@ An incomplete design documentation can be found [here](https://slides.com/pang/d
 
 ## Continuous Integration
 - CI is implemented by a custom Github Action that builds a docker image 
-  using `./bionic.dockerfile` and runs the entrypoint script `.
+  using `./jammy.dockerfile` and runs the entrypoint script `.
   /sciprts/buld_test.sh`.
 

focal.dockerfile

@@ -4,13 +4,14 @@ FROM ubuntu:20.04
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && yes "Y" \
       | apt-get install --no-install-recommends curl apt-transport-https sudo \
-      ca-certificates libgtest-dev libgflags-dev python3-dev\
+      ca-certificates libgtest-dev libgflags-dev python3.8-dev python-is-python3 \
+      libyaml-cpp-dev \
       && rm -rf /var/lib/apt/lists/* \
       && apt-get clean all
 
 # install drake.
-ENV DRAKE_URL=https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz
-RUN curl -o drake.tar.gz $DRAKE_URL
+ENV DRAKE_URL=https://github.com/RobotLocomotion/drake/releases/download/v1.19.0/drake-20230713-focal.tar.gz
+RUN curl -L -o drake.tar.gz $DRAKE_URL
 RUN tar -xzf drake.tar.gz -C /opt && rm drake.tar.gz
 RUN apt-get update \
   && yes "Y" | bash /opt/drake/share/drake/setup/install_prereqs \

bionic.dockerfile → jammy.dockerfile

@@ -1,15 +1,16 @@
-FROM ubuntu:18.04
+FROM ubuntu:22.04
 
 # Install curl and useful transport
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && yes "Y" \
       | apt-get install --no-install-recommends curl apt-transport-https sudo \
-      ca-certificates libgtest-dev libgflags-dev \
+      ca-certificates libgtest-dev libgflags-dev python3.10-dev python-is-python3 \
+      libyaml-cpp-dev \
       && rm -rf /var/lib/apt/lists/* \
       && apt-get clean all
 
 # install drake.
-ENV DRAKE_URL=https://github.com/RobotLocomotion/drake/releases/download/v1.1.0/drake-20220328-bionic.tar.gz
+ENV DRAKE_URL=https://github.com/RobotLocomotion/drake/releases/download/v1.19.0/drake-20230713-jammy.tar.gz
 RUN curl -L -o drake.tar.gz $DRAKE_URL
 RUN tar -xzf drake.tar.gz -C /opt && rm drake.tar.gz
 RUN apt-get update \
@@ -22,4 +23,4 @@ COPY scripts/install_cppzmq.sh /install_dependencies.sh
 RUN /bin/bash /install_dependencies.sh
 
 # put drake on the python path.
-ENV PYTHONPATH /opt/drake/lib/python3.6/site-packages:$PYTHONPATH
+ENV PYTHONPATH /opt/drake/lib/python3.10/site-packages:$PYTHONPATH

src/plans/task_space_trajectory_plan.cc

@@ -5,10 +5,10 @@
 using drake::MatrixX;
 using drake::Vector3;
 using drake::Vector6;
-using drake::manipulation::planner::ComputePoseDiffInCommonFrame;
-using drake::manipulation::planner::DifferentialInverseKinematicsResult;
-using drake::manipulation::planner::DifferentialInverseKinematicsStatus;
-using drake::manipulation::planner::internal::DoDifferentialInverseKinematics;
+using drake::multibody::ComputePoseDiffInCommonFrame;
+using drake::multibody::DifferentialInverseKinematicsResult;
+using drake::multibody::DifferentialInverseKinematicsStatus;
+using drake::multibody::DoDifferentialInverseKinematics;
 
 using std::cout;
 using std::endl;
@@ -29,16 +29,15 @@ void TaskSpaceTrajectoryPlan::Step(const State &state, double control_period,
 
   const Vector6<double> V_WT_desired =
       ComputePoseDiffInCommonFrame(X_WT, X_WT_desired) /
-      params_->get_timestep();
+      params_->get_time_step();
 
   MatrixX<double> J_WT(6, plant_->num_velocities());
   plant_->CalcJacobianSpatialVelocity(
       *plant_context_, drake::multibody::JacobianWrtVariable::kV, frame_E_,
       X_ET_.translation(), frame_W, frame_W, &J_WT);
 
   DifferentialInverseKinematicsResult result = DoDifferentialInverseKinematics(
-      state.q, state.v, X_WT, J_WT,
-      drake::multibody::SpatialVelocity<double>(V_WT_desired), *params_);
+      state.q, state.v, V_WT_desired, J_WT, *params_);
 
   // 3. Check for errors and integrate.
   if (result.status != DifferentialInverseKinematicsStatus::kSolutionFound) {

src/plans/task_space_trajectory_plan.h

@@ -4,7 +4,7 @@
 
 #include "drake/common/trajectories/piecewise_polynomial.h"
 #include "drake/common/trajectories/piecewise_quaternion.h"
-#include "drake/manipulation/planner/differential_inverse_kinematics_integrator.h"
+#include "drake/multibody/inverse_kinematics/differential_inverse_kinematics_integrator.h"
 #include "drake/math/rigid_transform.h"
 #include "drake/multibody/plant/multibody_plant.h"
 #include "drake/multibody/tree/multibody_tree.h"
@@ -26,9 +26,9 @@ class TaskSpaceTrajectoryPlan : public PlanBase {
         frame_E_(frame_E), nominal_joint_position_(nominal_joint_position) {
 
     params_ = std::make_unique<
-        drake::manipulation::planner::DifferentialInverseKinematicsParameters>(
+        drake::multibody::DifferentialInverseKinematicsParameters>(
         plant_->num_positions(), plant_->num_velocities());
-    params_->set_timestep(control_time_step);
+    params_->set_time_step(control_time_step);
     params_->set_nominal_joint_position(nominal_joint_position);
     plant_context_ = plant_->CreateDefaultContext();
   }
@@ -53,6 +53,6 @@ class TaskSpaceTrajectoryPlan : public PlanBase {
 
   std::unique_ptr<drake::systems::Context<double>> plant_context_;
   std::unique_ptr<
-      drake::manipulation::planner::DifferentialInverseKinematicsParameters>
+      drake::multibody::DifferentialInverseKinematicsParameters>
       params_;
 };