Dockerfile and devcontainer.json

.devcontainer/devcontainer.json

@@ -0,0 +1,67 @@
+{
+  "name": "Whole Body MPC Dev Container",
+  "initializeCommand": "xhost +local:",
+  "build": {
+    "dockerfile": "${localWorkspaceFolder}/docker/Dockerfile",
+    "target": "base",
+    "args": {
+      "WB_HUMANOID_MPC_DIR": "/wb_humanoid_mpc_ws",
+      "PYTHON_VERSION": "3.12",
+      "USER_ID": "${localEnv:USER_ID}",
+      "GROUP_ID": "${localEnv:GROUP_ID}",
+      "GIT_USER_NAME": "${command:git config --global user.name}",
+      "GIT_USER_EMAIL": "${command:git config --global user.email}"
+    }
+  },
+  "runArgs": [
+    "--rm",
+    "-it",
+    "--net=host",
+    "--privileged",
+    "-u", "${localEnv:USER_ID}:${localEnv:GROUP_ID}",
+    "-e", "DISPLAY",
+    "-e", "QT_X11_NO_MITSHM=1",
+    "-e", "XDG_RUNTIME_DIR=${localEnv:XDG_RUNTIME_DIR}",
+    "-e",
+    "GIT_USER_NAME=$(git config --global user.name)",
+    "-e",
+    "GIT_USER_EMAIL=$(git config --global user.email)",
+    "-v", "/tmp/.X11-unix:/tmp/.X11-unix",
+    "-v", "${localEnv:XDG_RUNTIME_DIR}:${localEnv:XDG_RUNTIME_DIR}"
+  ],
+  "overrideCommand": true,
+  "workspaceFolder": "/wb_humanoid_mpc_ws/src/wb_humanoid_mpc",
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "editor.formatOnSave": true,
+        "files.trimTrailingWhitespace": true
+      },
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-vscode.cmake-tools",
+        "ms-vscode-remote.remote-containers",
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "ms-python.vscode-pylance",
+        "eamodio.gitlens",
+        "GitHub.copilot",
+        "GitHub.copilot-chat",
+        "twxs.cmake",
+        "cheshirekow.cmake-format",
+        "xaver.clang-format",
+        "ms-toolsai.jupyter-keymap",
+        "ms-vscode-remote.remote-ssh",
+        "ms-vscode-remote.remote-ssh-edit",
+        "ms-vscode.remote-explorer",
+        "sankethdev.vscode-proto"
+      ]
+    }
+  },
+  "mounts": [
+    "source=${localWorkspaceFolder}/../..,target=/wb_humanoid_mpc_ws,type=bind,consistency=cached",
+    "source=${localEnv:HOME}/.gitconfig,target=/home/vscode/.gitconfig,type=bind"
+  ],
+  "postCreateCommand": "git config --global user.name \"$GIT_USER_NAME\" && git config --global user.email \"$GIT_USER_EMAIL\" && git config --global --add safe.directory /wb_humanoid_mpc_ws/src/wb_humanoid_mpc && curl -o .git-completion.bash https://raw.githubusercontent.com/git/git/master/contrib/completion/git-completion.bash && echo 'source /opt/ros/jazzy/setup.bash' >> ~/.bashrc && echo 'source ./.git-completion.bash' >> ~/.bashrc"
+}

.gitignore

@@ -51,7 +51,7 @@ install/
 
 **/__pycache__/**
 
-# MuJoCo log 
+# MuJoCo log
 */MUJOCO_LOG.TXT
 *mjData.bin
 
@@ -62,3 +62,4 @@ install/
 
 **/.gdb_history
 
+.git-completion.bash

.gitmodules

@@ -7,9 +7,6 @@
 [submodule "lib/cmake_modules"]
 	path = lib/cmake_modules
 	url = https://github.com/ros/cmake_modules.git
-[submodule "lib/pinocchio"]
-	path = lib/pinocchio
-	url = https://github.com/manumerous/pinocchio.git
 [submodule "lib/mujoco"]
 	path = lib/mujoco
 	url = https://github.com/google-deepmind/mujoco.git

docker/Dockerfile

@@ -0,0 +1,64 @@
+ARG BASE_IMAGE=ubuntu:24.04
+FROM ${BASE_IMAGE} AS base
+
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+ARG WB_HUMANOID_MPC_DIR="/wb_humanoid_mpc_ws"
+ARG PYTHON_VERSION=3.12
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=jazzy
+
+# Install system dependencies, ROS, Python, and development tools in a single step
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl gnupg2 lsb-release locales software-properties-common \
+    git build-essential clang-format make ninja-build \
+    python3-pygame libeigen3-dev libglpk-dev libboost-all-dev \
+    libboost-filesystem-dev libboost-log-dev libglfw3-dev \
+    x11-apps mesa-utils \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set up locales
+RUN locale-gen en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG en_US.UTF-8 LANGUAGE en_US:en LC_ALL en_US.UTF-8
+
+# Install Python and pip
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python${PYTHON_VERSION} python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-tk libpython${PYTHON_VERSION}-dev \
+    python3-pip python3-argcomplete \
+    && rm -rf /var/lib/apt/lists/*
+RUN ln -sf /usr/bin/python${PYTHON_VERSION} /usr/bin/python3
+RUN python3 -m pip install --break-system-packages --no-cache-dir --upgrade setuptools cython catkin_pkg colcon-common-extensions
+
+# Add ROS2 repository and install core packages
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
+    echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-ament-cmake \
+    ros-${ROS_DISTRO}-ament-cmake-clang-format \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-mcap-vendor ros-${ROS_DISTRO}-interactive-markers \
+    ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-pinocchio \
+    && rm -rf /var/lib/apt/lists/*
+
+# Increase Git buffer size
+RUN git config --global http.postBuffer 1048576000
+
+# Set default shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Set up environment variables
+ENV CMAKE_PREFIX_PATH="/opt/ros/${ROS_DISTRO}:${CMAKE_PREFIX_PATH}"
+ENV DISPLAY=${DISPLAY} QT_X11_NO_MITSHM=1
+
+# Set up user and workspace
+WORKDIR ${WB_HUMANOID_MPC_DIR}
+RUN mkdir -p ${WB_HUMANOID_MPC_DIR}/src/wb_humanoid_mpc
+
+# Ensure correct UID/GID
+RUN if ! getent group $GROUP_ID > /dev/null; then groupadd --gid $GROUP_ID devgroup; fi && \
+    if ! getent passwd $USER_ID > /dev/null; then useradd --uid $USER_ID --gid $GROUP_ID --create-home devuser; fi && \
+    chown -R $USER_ID:$GROUP_ID .
+
+# Copy the Makefile and other necessary files
+COPY . ${WB_HUMANOID_MPC_DIR}/src/wb_humanoid_mpc