Consider merge of sampling_based_c3_public into main

.bazeliskrc

@@ -0,0 +1,6 @@
+# Keep this version number in sync with the Ubuntu deb installed by
+# drake/setup/ubuntu/source_distribution/install_bazel.sh.
+#
+# These files should also be updated:
+# drake/tools/workspace/drake_visualizer/image/provision.sh
+USE_BAZEL_VERSION=8.2.1

.bazelrc

@@ -39,8 +39,8 @@ test --test_output=errors
 test --test_summary=terse
 
 # Use C++14.
-build --cxxopt=-std=c++17
-build --host_cxxopt=-std=c++17
+build --cxxopt=-std=c++20
+build --host_cxxopt=-std=c++20
 
 # https://github.com/bazelbuild/bazel/issues/1164
 build --action_env=CCACHE_DISABLE=1
@@ -52,7 +52,14 @@ build --action_env=LD_LIBRARY_PATH=
 # customizations somehow.
 
 # build with snopt
-build --define=WITH_SNOPT=ON
+build --define=WITH_GUROBI=ON
+build --define=NO_CLARABEL=ON
+
+build:omp --copt=-DEIGEN_DONT_PARALLELIZE
+build:omp --copt=-fopenmp
+build:omp --linkopt=-fopenmp
 
 # use python3 by default
 build --python_path=python3
+
+common --enable_bzlmod

.cirrus.yml

@@ -1,91 +1,58 @@
+registry_config: ENCRYPTED[!88cf0d757d2f8b93dca9e57dc166b65ddedef6378e7ac12a91a022ab3fb28dd47b10d452dc5c53a68e144e6bdbae999b!]
 build_jammy_task:
   timeout_in: 120m
   container:
-    dockerfile: install/jammy/Dockerfile
+    image: ghcr.io/dairlab/docker-dair/jammy-dair-base:v1.42
     cpu: 8
-    memory: 24
+    memory: 24G
   test_script:
-    - export CC=clang-12
-    - export CXX=clang++-12
     - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
+      --local_resources=memory=24000
+      --local_resources=cpu=8
       --jobs=8 
+      --remote_http_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
     - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
+      --local_resources=memory=24000
+      --local_resources=cpu=8
+      --remote_http_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
-build_focal_task:
+
+build_noble_task:
   timeout_in: 120m
   container:
-    dockerfile: install/focal/Dockerfile
+    image: ghcr.io/dairlab/docker-dair/noble-dair-base:v1.42
     cpu: 8
-    memory: 24
+    memory: 24G
   test_script:
-    - export CC=clang-12
-    - export CXX=clang++-12
     - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
+      --local_resources=memory=24000
+      --local_resources=cpu=8
       --jobs=8 
+      --remote_http_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
     - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      //...
-build_with_ros_task:
-  timeout_in: 120m
-  container:
-    dockerfile: install/focal/ros/Dockerfile
-    cpu: 8
-    memory: 24
-  env:
-    DAIRLIB_WITH_ROS: ON
-  test_script:
-    - cd tools/workspace/ros
-    - ./compile_ros_workspace.sh
-    - cd ../../../
-    - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
-      //...
-    - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
+      --local_resources=memory=24000
+      --local_resources=cpu=8
+      --remote_http_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
+
 drake_master_build_task:
   timeout_in: 120m
   container:
-    dockerfile: install/focal/ros/Dockerfile
+    image: ghcr.io/dairlab/docker-dair/jammy-dair-base:v1.42
     cpu: 8
-    memory: 24
+    memory: 24G
   allow_failures: true
-  env:
-    DAIRLIB_WITH_ROS: ON
   test_script:
     - git clone https://github.com/RobotLocomotion/drake.git ../drake
-    - export DAIRLIB_LOCAL_DRAKE_PATH=$PWD/../drake
-    - cd tools/workspace/ros
-    - ./compile_ros_workspace.sh
-    - cd ../../../
     - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
+      --override_module=drake=$PWD/../drake
+      --local_resources=memory=24000
+      --local_resources=cpu=8
       //...
     - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
+      --override_module=drake=$PWD/../drake
+      --local_resources=memory=24000
+      --local_resources=cpu=8
       //...

.gitignore

@@ -11,3 +11,4 @@ attic/multibody/solver_log/
 .vscode
 *.csv
 /examples/Cassie/saved_trajectories/
+/MODULE.bazel.lock

BUILD.bazel

@@ -32,14 +32,3 @@
 
 # This is an empty BUILD file, to ensure that the project's root directory is a
 # bazel package.
-
-load("@com_github_bazelbuild_buildtools//buildifier:def.bzl", "buildifier")
-
-buildifier(
-    name = "buildifier",
-)
-
-load("@bazel_gazelle//:def.bzl", "gazelle")
-
-# gazelle:prefix github.com/example/project
-gazelle(name = "gazelle")

MODULE.bazel

@@ -0,0 +1,122 @@
+## MODULE.bazel
+module(
+    name = "dairlib"
+)
+
+drake_dep_repositories = use_extension(
+    "@drake//tools/workspace:default.bzl",
+    "drake_dep_repositories",
+)
+
+# If you don't want to support building on macOS, you may remove the next line.
+# Note that it must appear prior to loading "rules_cc", per the documentation:
+#  https://github.com/bazelbuild/apple_support?tab=readme-ov-file#bazel-7-setup
+bazel_dep(name = "apple_support", version = "1.17.1")
+
+# Add the Bazel rules we need.
+bazel_dep(name = "rules_cc", version = "0.1.1")
+bazel_dep(name = "rules_python", version = "1.0.0")
+bazel_dep(name = "bazel_skylib", version = "1.7.1")
+
+use_repo(
+    drake_dep_repositories,
+    "blas",
+    "buildifier",
+    "drake_models",
+    "eigen",
+    "fmt",
+    "gflags",
+    "glib",
+    "gtest",
+    "lapack",
+    "lcm",
+    "meshcat",
+    "mosek",
+    "opencl",
+    "pybind11",
+    "pycodestyle",
+    "snopt",
+    "spdlog",
+    "styleguide",
+    "x11",
+    "zlib",
+    "gurobi",
+)
+
+bazel_dep(name = "gazelle", version = "0.44.0")
+
+bazel_dep(name = "osqp", version = "0.6.3.bcr.2")
+
+# Use gurobi_cxx, which Drake deprecated
+gurobi_extension = use_extension("@dairlib//tools/workspace/gurobi:repository.bzl", "gurobi_extension")
+use_repo(gurobi_extension, "my_gurobi")
+
+# Replace Drake's Gurobi repository with ours.
+override_repo(
+    drake_dep_repositories,
+    gurobi = "my_gurobi",
+)
+
+# Here we introduce Drake as a module dependency, but note that Drake is not
+# published to any Bazel registry. Below, we'll override it with a github
+# source archive.
+bazel_dep(name = "drake")
+
+bazel_dep(name = "inekf")
+
+# By default, this example always uses the latest Drake master branch.
+
+# To use a local version of drake, use
+# build --override_module=drake=/home/user/stuff/drake
+# this will also work to override inekf 
+
+# You can also use DRAKE_COMMIT to choose a Drake release; e.g.:
+DRAKE_VERSION = "v1.42.0"
+DRAKE_CHECKSUM = "d860c15f50397c8a946fcc79e0a58a91ebc56f2189ef9edfcac929aa04157f8b"
+
+# Before changing the DRAKE_VERSION, temporarily uncomment the next line so that Bazel
+# displays the suggested new value for the CHECKSUM.
+# DRAKE_CHECKSUM = "0" * 64
+
+# This declares the `@drake` module as a source code archive from github.
+# See README.md for instructions to use a local path, instead.
+archive_override(
+    module_name = "drake",
+    urls = [x.format(DRAKE_VERSION) for x in [
+        "https://github.com/RobotLocomotion/drake/archive/{}.tar.gz",
+    ]],
+    sha256 = DRAKE_CHECKSUM,
+    strip_prefix = "drake-{}".format(DRAKE_VERSION.lstrip("v")),
+)
+
+INEKF_COMMIT = "297c308e50fa599af92ce3bd5f11d71e2bf8af69"
+INEKF_CHECKSUM = "c5a056ce00e1625e52f5a71b1d5c202acd53c1a8c7bca33da458db1e4f3f2edf"
+
+
+# Before changing the COMMIT, temporarily uncomment the next line so that Bazel
+# displays the suggested new value for the CHECKSUM.
+#INEKF_CHECKSUM = "0" * 64
+
+# This declares the `@inekf` module as a source code archive from github.
+archive_override(
+    module_name = "inekf",
+    urls = [x.format(INEKF_COMMIT) for x in [
+        "https://github.com/DAIRLab/invariant-ekf/archive/{}.tar.gz",
+    ]],
+    sha256 = INEKF_CHECKSUM,
+    strip_prefix = "invariant-ekf-{}".format(INEKF_COMMIT),
+)
+
+# Use the host system /usr/bin/python3.
+python_repository = use_repo_rule(
+    "@drake//tools/workspace/python:repository.bzl",
+    "python_repository",
+)
+
+python_repository(
+    name = "python",
+    linux_interpreter_path = "/usr/bin/python3",
+    requirements_flavor = "build",
+)
+
+register_toolchains("@python//:all")

README.md

@@ -2,10 +2,9 @@
 Warning! This is very much "development-level" code and is provided as-is. APIs are likely to be unstable and, while we hope for the documentation to be thorough and accurate, we make no guarantees.
 
 ## Current Continuous Integration Status
-* `master` branch build and unit tests (Ubuntu 18.04): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=build&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
-* `master` branch build and unit tests (Ubuntu 20.04): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=build_focal&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
-* `master` branch build and unit tests (Ubuntu 20.04 with ROS): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=build_with_ros&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
-* Experimental build against Drake's `master` branch: [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=drake_master_build&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
+* `main` branch build and unit tests (Ubuntu Jammy 22.04): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=build_jammy&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
+* `main` branch build and unit tests (Ubuntu Focal 24.04): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=build_focal&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
+* Experimental build against Drake's `master` branch (Jammy): [![Build Status](https://api.cirrus-ci.com/github/DAIRLab/dairlib.svg?task=drake_master_build&script=test)](https://cirrus-ci.com/github/DAIRLab/dairlib)
 ## Complete Build Instructions
 
 ### Download dairlib
@@ -29,21 +28,13 @@ There is no need to extract the tar.
 The library is meant to be built with Drake (see http://drake.mit.edu/ for more details). There are two ways to use Drake within dairlib:
 
 #### Option 1: use pegged revision (Note - These steps may need repeated if switching to a branch with a different pegged revision of drake).
-The only specific action needed here is to install all of Drake's prerequisites. There are two choices for completing this step:
 
-a) In `dairlib/install`, run the appropriate `install_prereqs_xxx.sh`. This is untested on mac, and has not been tested to get every dependency for a fresh install.
-
-b) Download a source copy of drake, and install pre-requisites as described here: http://drake.mit.edu/from_source.html. Drake dependencies can change without notice. For full compatiability, you may need to checkout the drake commit which is pegged in WORKSPACE to install the correct dependencies. There is no need to build Drake itself. Proceed only until you have run the Drake setup script. 
-
-bazel will automatically download the pegged revision, specified in the WORKSPACE file. dairlib developers hope to keep this pegged revision current, and ensure that the pegged version will always work with a specific version of dairlib.
+In `dairlib/install`, run the `install_prereqs_ubuntu.sh`. Our build process does not currently support MacOS, though it has in the past and likely will in the future.
 
 This option is recommended for users who are not currently editing any source code in Drake itself.
 
 #### Option 2: source install of Drake
-Complete both steps (a) and (b) above. By running the drake install script after the dairlib install script, you are capturing any dependency changes between the pegged revision and the current Drake master, while still getting any aditional dairlib dependencies we may add. There is no need to build Drake. Next, to tell dairlib to use your local install, set the environment variable `DAIRLIB_LOCAL_DRAKE_PATH`, e.g.
-```
-export DAIRLIB_LOCAL_DRAKE_PATH=/home/user/my-workspace/drake
-```
+If you would like to use your own local install of Drake, likely because you are modifying it, when you build with Bazel you will need to use `bazel build --override_module=drake=/home/user/my-workspace/drake <package you are building>` (using the appropriate directory for your own install). There is no need to build Drake.
 
 ### IDE setup
 JetBrains IDEs have worked well for us and are available for free to students. For C++ development using the CLion Bazel plugin, see https://drake.mit.edu/clion.html and replace `drake` with `dairlib` in the "Setting up Drake in CLion" section.