From 293bc5019139fc047c748be64f7f71c751c54203 Mon Sep 17 00:00:00 2001
From: Valerio Modugno <valerio.modugno@gmail.com>
Date: Wed, 24 May 2023 15:26:42 +0100
Subject: [PATCH] added readme and tested on mambaforge

---
 .gitignore                    |  1 +
 README.md                     | 18 ++++++++++++++++--
 environment.yml               | 18 ++++++++++++------
 horizon/examples/spot_walk.py |  8 ++++----
 setup.py                      |  2 +-
 5 files changed, 34 insertions(+), 13 deletions(-)

diff --git a/.gitignore b/.gitignore
index be2344cd..468551d1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,3 +11,4 @@ venv
 *.so*
 *.mat
 
+.vscode/launch.json
diff --git a/README.md b/README.md
index 0d574da7..d56a89f8 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,22 @@
 A framework for trajectory optimization and optimal control for robotics based on CasADi
 
 ## Install
-pip package: ```pip install casadi-horizon```  
-conda package: ```conda install horizon -c francesco_ruscelli```
+here we assume that a mambaforge python package manager is already installed in your system. if it is not the case follow the instruction [here](https://github.com/conda-forge/miniforge#mambaforge).
+aftert installing mambaforge **assuming that you are in the project folder** you can create the environment for horizon by doing  
+
+```
+mamba env create -f environment.yml
+conda activate hori
+```
+one important dependencies of horizon is **casadi-kin-dyn**. you need to install it in the environment that you have just created (all the casadi-kin-dyn dependencies are already satisfied in the newly created environment)
+to install casadi-kin-dyn follow the instruction provided [here](https://github.com/ADVRHumanoids/casadi_kin_dyn/tree/collision)
+after installing casadi-kin-dyn you can install horizon by doing
+
+```
+pip install -e .
+```
+### installing libhsl.so
+to do 
 
 ## Documentations
 Don't forget to check the [**documentation**](https://advrhumanoids.github.io/horizon/)!  
diff --git a/environment.yml b/environment.yml
index c6f8cc81..1fff2d0c 100644
--- a/environment.yml
+++ b/environment.yml
@@ -1,11 +1,11 @@
 name: hori
 channels:
 - conda-forge
-- robostack
-- francesco_ruscelli
+- robostack-staging
+#- francesco_ruscelli
 dependencies:
-- python=3.8
-- nodejs=14
+- python=3.9
+- nodejs
 - jupyterlab=3.2
 - yaml-cpp
 - pip
@@ -20,8 +20,14 @@ dependencies:
 - conda-verify
 - anaconda-client
 - ros-noetic-ros-base
-- ros-noetic-pinocchio
-- francesco_ruscelli::casadi_kin_dyn
+- pinocchio
+- ros-noetic-tf2-msgs
+- ros-noetic-rviz
+- ros-noetic-ros-numpy  # maybe not necessary (bugged)
+- ros-noetic-robot-state-publisher
+- catkin_tools
+#- ros-noetic-pinocchio
+#- francesco_ruscelli::casadi_kin_dyn
 #- ros-noetic-catkin
 #- ros-noetic-robot-state-publisher
 #- ros-noetic-joint-state-publisher
diff --git a/horizon/examples/spot_walk.py b/horizon/examples/spot_walk.py
index 24cd4d4e..becebe59 100644
--- a/horizon/examples/spot_walk.py
+++ b/horizon/examples/spot_walk.py
@@ -146,9 +146,9 @@ def z_trj(tau):
 
     # contact velocity is zero, and normal force is positive
     for i, frame in enumerate(contacts_name):
-        FK = cs.Function.deserialize(kindyn.fk(frame))
-        DFK = cs.Function.deserialize(kindyn.frameVelocity(frame, cas_kin_dyn.CasadiKinDyn.LOCAL_WORLD_ALIGNED))
-        DDFK = cs.Function.deserialize(kindyn.frameAcceleration(frame, cas_kin_dyn.CasadiKinDyn.LOCAL_WORLD_ALIGNED))
+        FK = kindyn.fk(frame)
+        DFK = kindyn.frameVelocity(frame, cas_kin_dyn.CasadiKinDyn.LOCAL_WORLD_ALIGNED)
+        DDFK = kindyn.frameAcceleration(frame, cas_kin_dyn.CasadiKinDyn.LOCAL_WORLD_ALIGNED)
 
         p = FK(q=q)['ee_pos']
         v = DFK(q=q, qdot=q_dot)['ee_vel_linear']
@@ -411,7 +411,7 @@ def set_initial_guess():
             ax = fig.add_subplot(gs[i])
             ax.set_title('{}'.format(contact))
             i += 1
-            FK = cs.Function.deserialize(kindyn.fk(contact))
+            FK = kindyn.fk(contact)
             pos = FK(q=solution['q'])['ee_pos']
             for dim in range(n_f):
                 ax.plot(np.atleast_2d(cumulative_dt), np.array(pos[dim, :]), marker="x", markersize=3,
diff --git a/setup.py b/setup.py
index c4bdd00a..25beecea 100644
--- a/setup.py
+++ b/setup.py
@@ -66,7 +66,7 @@ def run(self):
     long_description_content_type="text/markdown",
     url="https://github.com/ADVRHumanoids/horizon",
     packages=['horizon', 'horizon.utils', 'horizon.solvers', 'horizon.transcriptions', 'horizon.examples', 'horizon.ros', 'horizon.rhc', 'horizon.rhc.tasks'],
-    install_requires=['casadi', 'numpy', 'matplotlib', 'scipy', 'casadi-kin-dyn', 'rospkg'],
+    install_requires=['casadi', 'numpy', 'matplotlib', 'scipy', 'rospkg'], #for now removed casadi-kin-dyn due to the installation issue related to the library
     python_requires=">=3.6",
     cmdclass={'build_py': CustomBuild,
               'develop': CustomDevelop},