humanoid-path-planner · nim65s · Jun 19, 2026 · Jun 16, 2026 · Jun 16, 2026 · Jun 19, 2026
diff --git a/.github/workflows/ci_ros2.yml b/.github/workflows/ci_ros2.yml
@@ -0,0 +1,39 @@
+name: ROS2 Continuous Integration
+on:
+  push:
+    branches:
+      - devel
+      - main
+  pull_request:
+jobs:
+  build:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling}
+    env:
+      UPSTREAM_WORKSPACE: |
+        github:gepetto/example-robot-data#devel
+        github:humanoid-path-planner/hpp-constraints#devel
+        github:humanoid-path-planner/hpp-core#devel
+        github:humanoid-path-planner/hpp-environments#devel
+        github:humanoid-path-planner/hpp-manipulation#devel
+        github:humanoid-path-planner/hpp-manipulation-urdf#devel
+        github:humanoid-path-planner/hpp-pinocchio#devel
+        github:humanoid-path-planner/hpp-statistics#devel
+        github:humanoid-path-planner/hpp-util#devel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: 'ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6'
+        env: ${{ matrix.env }}
+  check:
+    if: always()
+    name: check-ros-ci
+    runs-on: ubuntu-latest
+    needs:
+      - build
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}
diff --git a/.mergify.yml b/.mergify.yml
@@ -2,6 +2,7 @@ pull_request_rules:
   - name: merge [bot] PRs when CI pass
     conditions:
       - check-success = "check-macos-linux-nix"
+      - check-success = "check-ros-ci"
       - check-success = "pre-commit.ci - pr"
       - or:
           - author = dependabot[bot]

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -104,6 +104,7 @@ set(${PROJECT_NAME}_HEADERS
 )
 
 set(PYTHON_COMPONENTS Interpreter Development NumPy)
+findpython()
 
 add_project_dependency(hpp-util REQUIRED)
 add_project_dependency(hpp-pinocchio REQUIRED)
@@ -113,7 +114,6 @@ add_project_dependency(hpp-manipulation REQUIRED)
 add_project_dependency(hpp-manipulation-urdf REQUIRED)
 add_project_dependency(eigenpy REQUIRED)
 add_project_dependency(pinocchio REQUIRED)
-findpython()
 search_for_boost_python()
 
 if(BUILD_TESTING)

diff --git a/doc/configure.py b/doc/configure.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2018 CNRS
 # Authors: Joseph Mirabel

diff --git a/flake.lock b/flake.lock
diff --git a/package.xml b/package.xml
@@ -1,37 +1,28 @@
 <?xml version='1.0'?>
- <package format='2'>
- <name>hpp-python</name>
- <version>8.0.0</version>
- <description>Implement python bindings for HPP </description>
+<package format='2'>
+  <name>hpp_python</name>
+  <version>8.0.0</version>
+  <description>Implement python bindings for HPP</description>
+  <author>Joseph Mirabel</author>
+  <author>Florent Lamiraux</author>
+  <maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
+  <license>BSD-2-Clause</license>
 
- <maintainer email='hpp@laas.fr'>Joseph Mirabel</maintainer>
- <license>BSD</license>
+  <depend>eigenpy</depend>
+  <depend>pinocchio</depend>
+  <depend>hpp_util</depend>
+  <depend>hpp_pinocchio</depend>
+  <depend>hpp_constraints</depend>
+  <depend>hpp_core</depend>
+  <depend>hpp_manipulation</depend>
+  <depend>hpp_manipulation_urdf</depend>
 
- <author>Joseph Mirabel</author>
- <author>Florent Lamiraux</author>
+  <buildtool_depend>cmake</buildtool_depend>
+  <build_depend>doxygen</build_depend>
+  <build_depend>jrl_cmakemodules</build_depend>
+  <build_depend>python3-lxml</build_depend>
 
- <build_depend>eigenpy</build_depend>
- <exec_depend>eigenpy</exec_depend>
- <build_export_depend>eigenpy</build_export_depend>
- <build_depend>pinocchio</build_depend>
- <exec_depend>pinocchio</exec_depend>
- <build_export_depend>pinocchio</build_export_depend>
- <build_depend>hpp-util</build_depend>
- <exec_depend>hpp-util</exec_depend>
- <build_export_depend>hpp-util</build_export_depend>
- <build_depend>hpp-pinocchio</build_depend>
- <exec_depend>hpp-pinocchio</exec_depend>
- <build_export_depend>hpp-pinocchio</build_export_depend>
- <build_depend>hpp-constraints</build_depend>
- <exec_depend>hpp-constraints</exec_depend>
- <build_export_depend>hpp-constraints</build_export_depend>
- <build_depend>hpp-core</build_depend>
- <exec_depend>hpp-core</exec_depend>
- <build_export_depend>hpp-core</build_export_depend>
- <build_depend>hpp-manipulation</build_depend>
- <exec_depend>hpp-manipulation</exec_depend>
- <build_export_depend>hpp-manipulation</build_export_depend>
- <build_depend>hpp-manipulation-urdf</build_depend>
- <exec_depend>hpp-manipulation-urdf</exec_depend>
- <build_export_depend>hpp-manipulation-urdf</build_export_depend>
- </package>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/src/pyhpp/core/static_stability_constraint_factory.py b/src/pyhpp/core/static_stability_constraint_factory.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/src/pyhpp/manipulation/constraint_graph_factory.py b/src/pyhpp/manipulation/constraint_graph_factory.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/src/pyhpp/manipulation/security_margins.py b/src/pyhpp/manipulation/security_margins.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2020 CNRS, Airbus SAS
 # Author: Florent Lamiraux

diff --git a/src/pyhpp/pinocchio/utils.py b/src/pyhpp/pinocchio/utils.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Florent Lamiraux

diff --git a/tests/integration/benchmark_utils.py b/tests/integration/benchmark_utils.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/integration/construction-set-m-rrt.py b/tests/integration/construction-set-m-rrt.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 from math import pi, sqrt
 import numpy as np

diff --git a/tests/integration/pr2-in-iai-kitchen.py b/tests/integration/pr2-in-iai-kitchen.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import numpy as np
 

diff --git a/tests/integration/romeo-placard.py b/tests/integration/romeo-placard.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import numpy as np
 

diff --git a/tests/integration/ur3-spheres-spf.py b/tests/integration/ur3-spheres-spf.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 #  Copyright 2020 CNRS
 #

diff --git a/tests/unit/conftest.py b/tests/unit/conftest.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_configuration_shooter.py b/tests/unit/test_configuration_shooter.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_constraint_factory.py b/tests/unit/test_constraint_factory.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_constraint_graph_factory.py b/tests/unit/test_constraint_graph_factory.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_device.py b/tests/unit/test_device.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_differentiable_function.py b/tests/unit/test_differentiable_function.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_handles_grippers.py b/tests/unit/test_handles_grippers.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_liegroup.py b/tests/unit/test_liegroup.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_path.py b/tests/unit/test_path.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_path_optimizer.py b/tests/unit/test_path_optimizer.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_path_planner.py b/tests/unit/test_path_planner.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_path_projector.py b/tests/unit/test_path_projector.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_path_validation.py b/tests/unit/test_path_validation.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_position_constraint.py b/tests/unit/test_position_constraint.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin

diff --git a/tests/unit/test_problem.py b/tests/unit/test_problem.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (c) 2025 CNRS
 # Author: Paul Sardin