Merge pull request #4 from ferrolho/main

Changes for TORA `v0.2.0`

Artifacts.toml

@@ -0,0 +1,23 @@
+[iiwa_stack]
+git-tree-sha1 = "3ab656596cd7375f65a49b169c006715a6b29dd2"
+lazy = true
+
+    [[iiwa_stack.download]]
+    sha256 = "b951157ecb49e1e3cfcf1d0960fa981650b8996f07ab19acde17e913a9c69a5a"
+    url = "https://github.com/IFL-CAMP/iiwa_stack/archive/a4f132ad093d276e63040ddbbac6b2cd1facbdcc.tar.gz"
+
+[kinova-ros]
+git-tree-sha1 = "4610abcd3ab8c76d8b743d38498b177d1712f040"
+lazy = true
+
+    [[kinova-ros.download]]
+    sha256 = "c0ec422140589930750370c3e1631a407f15680be8c786b0051978dfa7df9b2e"
+    url = "https://github.com/Kinovarobotics/kinova-ros/archive/93f66822ec073827eac5de59ebc2a3c5f06bf17f.tar.gz"
+
+[ros_kortex]
+git-tree-sha1 = "ae7d8eefc6d1656498490530a1e0a025283714a5"
+lazy = true
+
+    [[ros_kortex.download]]
+    sha256 = "6bfb78e81e26a0ed9b3b8084b1b6cc2e5928ad506acef9470aabf7141fb4efcb"
+    url = "https://github.com/Kinovarobotics/ros_kortex/archive/7ba75b3e6293fe4af9fe64f35e877d1ff2613360.tar.gz"

CITATION.cff

@@ -0,0 +1,11 @@
+cff-version: 1.1.0
+message: If you use this software in your work, please cite it as below.
+authors:
+  - family-names: Ferrolho
+    given-names: Henrique
+    # affiliation: "The University of Edinburgh"
+    email: "[email protected]"
+title: TORA.jl
+url: https://github.com/JuliaRobotics/TORA.jl
+version: 0.2.0
+date-released: 2020

Project.toml

@@ -1,7 +1,7 @@
 name = "TORA"
 uuid = "a6da6c0f-f153-4ec6-bf42-6dc0ab733f84"
 authors = ["Henrique Ferrolho <[email protected]>"]
-version = "0.1.0"
+version = "0.2.0"
 
 [deps]
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
@@ -13,26 +13,29 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
 NPZ = "15e1cf62-19b3-5cfa-8e77-841668bca605"
+Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"
 RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
 Colors = "0.12"
 DiffEqCallbacks = "2"
 ForwardDiff = "0.10"
-GeometryBasics = "0.3"
-Ipopt = "0.6"
-MeshCat = "0.13"
+GeometryBasics = "0.4"
+Ipopt = "1"
+MeshCat = "0.14"
 MeshCatMechanisms = "0.8"
 NPZ = "0.4"
 Plots = "1"
 Requires = "1"
 Revise = "3"
 RigidBodyDynamics = "2"
 SparseDiffTools = "1"
+StaticArrays = "1"
 julia = "1.6"

README.md

@@ -22,8 +22,8 @@ julia> import Pkg; Pkg.add("https://github.com/JuliaRobotics/TORA.jl")
 
 ## Documentation
 
-- [**STABLE**][docs-stable-url] — **documentation of the most recently tagged version.**
-- [**DEVEL**][docs-dev-url] — *documentation of the in-development version.*
+- [**Stable**][docs-stable-url] — **documentation of the most recently tagged version.**
+- [**Devel**][docs-dev-url] — *documentation of the in-development version.*
 
 ## Contributions and Questions
 

dev/artifacts.jl

@@ -0,0 +1,18 @@
+using Pkg.Artifacts
+
+const ARTIFACTS = Dict(
+    "iiwa_stack" => (
+        base_url="https://github.com/IFL-CAMP/iiwa_stack",
+        commit_hash="a4f132ad093d276e63040ddbbac6b2cd1facbdcc",
+    ),
+    "kinova-ros" => (
+        base_url="https://github.com/Kinovarobotics/kinova-ros",
+        commit_hash="93f66822ec073827eac5de59ebc2a3c5f06bf17f",
+    ),
+    "ros_kortex" => (
+        base_url="https://github.com/Kinovarobotics/ros_kortex",
+        commit_hash="7ba75b3e6293fe4af9fe64f35e877d1ff2613360",
+    ),
+)
+
+artifact_commit_hash(name::String) = ARTIFACTS[name].commit_hash

dev/generate_artifacts.jl

@@ -0,0 +1,58 @@
+using Pkg
+Pkg.activate(temp=true)
+Pkg.add("Inflate")
+
+using Downloads
+using Pkg.PlatformEngines
+using SHA
+
+include("./artifacts.jl")
+
+function generate_artifact(name::String, base_url::String, commit_hash::String, artifacts_toml::String)
+    # Query the `Artifacts.toml` file for the hash bound to the name `name`
+    # (returns `nothing` if no such binding exists)
+    hash = artifact_hash(name, artifacts_toml)
+    tarball_url = nothing
+    tarball_hash = nothing
+
+    # If the name was not bound, or the hash it was bound to does not exist, create it!
+    if isnothing(hash) || !artifact_exists(hash)
+        # create_artifact() returns the content-hash of the artifact directory once we're finished creating it
+        hash = create_artifact() do artifact_dir
+
+            # Download the tarball (`.tar.gz` archive)
+            tarball_url = "$(base_url)/archive/$(commit_hash).tar.gz"
+            tarball_path = Downloads.download(tarball_url)
+            # @show tarball_path
+
+            try
+                # Compute the tarball hash, and unpack the tarball
+                tarball_hash = bytes2hex(open(SHA.sha256, tarball_path))
+                unpack(tarball_path, artifact_dir)
+            finally
+                rm(tarball_path)
+            end
+        end
+
+        # Now bind that hash within our `Artifacts.toml`.  `force = true` means that if it already exists,
+        # just overwrite with the new content-hash.  Unless the source files change, we do not expect
+        # the content hash to change, so this should not cause unnecessary version control churn.
+        bind_artifact!(artifacts_toml, name, hash; download_info=[(tarball_url, tarball_hash)], lazy=true, force=true)
+    end
+
+    # Get the path of the name dataset, either newly created or previously generated.
+    # this should be something like `~/.julia/artifacts/dbd04e28be047a54fbe9bf67e934be5b5e0d357a`
+    path = artifact_path(hash)
+    println("Path for `$(name)`: $(path)")
+end
+
+function main()
+    # This is the path to the Artifacts.toml we will manipulate
+    artifacts_toml = joinpath(@__DIR__, "..", "Artifacts.toml")
+
+    for (name, (base_url, commit_hash)) in ARTIFACTS
+        generate_artifact(name, base_url, commit_hash, artifacts_toml)
+    end
+end
+
+main()