Merge pull request #1 from Gepetto/update

Update

.github/workflows/gepetuto_test.yml

@@ -1,14 +1,20 @@
 name: check with gepetuto
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+    - main
+  pull_request:
+    branches:
+    - main
 
 jobs:
   build:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v3
+    - uses: actions/setup-python@v5
       with:
-        python-version: "3.11"
+        python-version: "3.12"
     - run: pip install .
     - run: gepetuto -vvca all

Dockerfile

@@ -1,4 +1,4 @@
-FROM python:3.11
+FROM python:3.12
 
 RUN useradd -m user
 USER user

README.md

@@ -31,23 +31,32 @@ pip install .
 
 After that, you can start the server with `jupyter notebook`
 
+### uv
+
+Instead of using pip and venv, you can use this project directly with [uv](https://docs.astral.sh/uv/), which will
+setup everything for you, and you'll only need one command:
+
+```bash
+uv run jupyter lab
+```
+
 ### Docker
 
 If the default setup is not working for you, as a backup solution, a Docker image is provided, and can be started with:
 
 ```bash
-docker run --rm -p 7000:7000 -p 7001:7001 -p 7002:7002 -p 7003:7003 -p 7004:7004 -p 8888:8888 -v data:/home/user/tp -it gepetto/supaero2024
+docker run --rm -p 7000:7000 -p 7001:7001 -p 7002:7002 -p 7003:7003 -p 7004:7004 -p 8888:8888 -v data:/home/user/tp -it gepetto/supaero2025
 ```
 
 On Linux host systems, you may simply start the Docker with:
 
 ```bash
-docker run --rm --net host -v data:/home/user/tp -it gepetto/supaero
+docker run --rm --net host -v data:/home/user/tp -it gepetto/supaero2025
 ```
 
 In case of big update, you must update the docker:
 ```bash
-docker pull gepetto/supaero2024
+docker pull gepetto/supaero2025
 ```
 
 ## Use
@@ -61,7 +70,7 @@ On a native installation, just go in the folder containing the tutorials and exe
 
 With a docker, execute the following:
 ```bash
-docker run --rm -v data:/home/user/tp -it gepetto/supaero git pull --rebase origin main
+docker run --rm -v data:/home/user/tp -it gepetto/supaero2025 git pull --rebase origin main
 ```
 
 To avoid conflict when pulling a new version, you should better do your modifications in copy of the original files,
@@ -87,7 +96,7 @@ newgrp docker
 
 [\[Matrix\]](https://matrix.org/) is a distributed chat system that will be used during the class. Consider [creating
 an account](https://app.element.io/#/register) and join [the classroom
-channel](https://matrix.to/#/#supaero-robotics-2024:laas.fr).
+channel](https://matrix.to/#/#supaero-robotics-2025:laas.fr).
 
 ## Set up of the system ... for admin only
 
@@ -104,7 +113,7 @@ export DOCKER_BUILDKIT=1
 ```
 Then build:
 ```bash
-docker build -t gepetto/supaero2024 .
+docker build -t gepetto/supaero2025 .
 ```
 Log to Docker-hub using your credentials.
 ```bash
@@ -113,5 +122,5 @@ docker login
 Use the login corresponding to +https://hub.docker.com/+.
 And push it to the Gepetto repository of Docker-hub.
 ```bash
-docker push gepetto/supaero2024
+docker push gepetto/supaero2025
 ```

examples/display_robot.py

@@ -1,5 +1,4 @@
 import example_robot_data as robex
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 ROBOT_NAME = "solo12"

next/appendix/solution_slerp.py

@@ -4,7 +4,6 @@
 import numpy as np
 from numpy.linalg import norm
 from pinocchio import SE3, AngleAxis, Quaternion
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 viz = MeshcatVisualizer()

next/tp1/configuration_extended.py

@@ -9,7 +9,6 @@
 import numpy as np
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs, fmin_slsqp
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 from supaero2024.meshcat_viewer_wrapper.transformations import planar, translation2d
 

next/tp1/configuration_reduced.py

@@ -8,7 +8,6 @@
 
 import numpy as np
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 from supaero2024.meshcat_viewer_wrapper.transformations import planar, translation2d
 

next/tp2/floating.py

@@ -14,10 +14,8 @@
 
 import example_robot_data as robex
 import numpy as np
-import pinocchio as pin
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model
@@ -88,6 +86,7 @@ def callback(q):
     viz.display(q)
     time.sleep(1e-2)
 
+
 qopt = fmin_bfgs(cost, robot.q0, callback=callback)
 # %end_jupyter_snippet
 

next/tp2/invgeom3d.py

@@ -14,7 +14,6 @@
 import numpy as np
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model

next/tp2/invgeom6d.py

@@ -1,5 +1,5 @@
 """
-Stand-alone inverse geom in 6D (controlling the placement, ie translation and 
+Stand-alone inverse geom in 6D (controlling the placement, ie translation and
 orientation of the end effector).  Given a reference placement <Mtarget> ,
 it computes the configuration of the UR5 so that the end-effector placement (6D)
 matches the target. This is done using BFGS solver. While iterating to compute
@@ -16,7 +16,6 @@
 import pinocchio as pin
 from numpy.linalg import norm
 from scipy.optimize import fmin_bfgs
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
 
 # --- Load robot model

next/tp2/simple_pick_and_place.py

@@ -14,7 +14,6 @@
 import example_robot_data as robex
 import numpy as np
 import pinocchio as pin
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer, colors
 
 # %jupyter_snippet 1

next/tp3/control_head.py

@@ -12,9 +12,8 @@
 import numpy as np
 import pinocchio as pin
 from numpy.linalg import norm, pinv
-from tp3.tiago_loader import loadTiago
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
+from tp3.tiago_loader import loadTiago
 
 plt.ion()
 

next/tp3/inverse_kinematics.py

@@ -14,9 +14,8 @@
 # %jupyter_snippet import
 import pinocchio as pin
 from numpy.linalg import norm, pinv
-from tp3.tiago_loader import loadTiago
-
 from supaero2024.meshcat_viewer_wrapper import MeshcatVisualizer
+from tp3.tiago_loader import loadTiago
 
 # %end_jupyter_snippet
 

next/tp4/README.md

@@ -49,4 +49,4 @@ These classes are not available in 2x and are reimplemented in Python following
 *getConstraintsJacobian* are reimplemented.
 
 ### Z axis
-pin.ZAxis is not available in 2x and is reimplemented in Python.
+pin.ZAxis is not available in 2x and is reimplemented in Python.