Merge branch 'master' into addyarpros

robotology · Oct 10, 2024 · ce19622 · ce19622
2 parents 51e420f + e081c9d
commit ce19622
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diff --git a/.ci/initial-cache.gh.cmake b/.ci/initial-cache.gh.cmake
@@ -15,9 +15,7 @@ if(NOT WIN32 OR DEFINED ENV{CONDA_PREFIX})
 endif()
 
 # Profiles options
-if(NOT (APPLE AND ($ENV{RUNNER_ARCH} STREQUAL "ARM64")))
-  set(ROBOTOLOGY_ENABLE_ROBOT_TESTING ON CACHE BOOL "")
-endif()
+set(ROBOTOLOGY_ENABLE_ROBOT_TESTING ON CACHE BOOL "")
 set(ROBOTOLOGY_ENABLE_ICUB_HEAD ON CACHE BOOL "")
 set(ROBOTOLOGY_ENABLE_DYNAMICS ON CACHE BOOL "")
 # ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is only supported on Windows with conda

diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
@@ -54,8 +54,8 @@ jobs:
               include:
                 - os: ubuntu-20.04
                   conda_platform: linux-64
-                - os: macos-11.0
-                  conda_platform: osx-64
+                - os: macos-14
+                  conda_platform: osx-arm64
                 - os: windows-2019
                   conda_platform: win-64
 
@@ -79,11 +79,11 @@ jobs:
         - name: Install files to enable compilation of mex files [Conda/macOS]
           if: contains(matrix.os, 'macos')
           run: |
-            curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
-            unzip msdk_R2020a_mexmaci64.zip
-            rm msdk_R2020a_mexmaci64.zip
-            echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
-            echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV
+            curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
+            unzip msdk_R2023b_mexmaca64.zip
+            rm msdk_R2023b_mexmaca64.zip
+            echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
+            echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV
 
         - name: Install files to enable compilation of mex files [Conda/Windows]
           if: contains(matrix.os, 'windows')
@@ -98,7 +98,7 @@ jobs:
         - name: Dependencies for conda recipes generation and upload
           shell: bash -l {0}
           run: |
-            conda install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller
+            conda install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller pixi
 
         - name: Print used environment
           shell: bash -l {0}
@@ -180,18 +180,8 @@ jobs:
             # specifically because we can't use --skip-existing as these packages are part of the robotology channel
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-contrib-common
             rm -rf icub-contrib-common
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-firmware-shared
-            rm -rf icub-firmware-shared
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robots-configuration
             rm -rf robots-configuration
-            # icub-main needs robotology channel as it also depends on esdcan, and local to avoid that robotology packages are used instead of local built one
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology icub-main
-            rm -rf icub-main
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wearables
-            rm -rf wearables
-            # Channels specified explicitly due to https://github.com/robotology/robotology-superbuild/issues/1140
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge human-dynamics-estimation
-            rm -rf human-dynamics-estimation
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robot-log-visualizer
             rm -rf robot-log-visualizer
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree-matlab-bindings
@@ -206,26 +196,31 @@ jobs:
             rm -rf blocktest
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml .
 
-        - name: Build conda metapackages (if necessary)
+        - name: Build robotology-distro conda metapackage (if necessary)
           if: github.event_name == 'release' || (github.event_name == 'workflow_dispatch' && github.event.inputs.test_metapackages_generation == 'true')
           shell: bash -l {0}
           run: |
             cd build/conda/generated_recipes_metapackages
              # Debug generated recipes
             cat */meta.yaml
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro-all
 
         - name: Upload conda packages
           shell: bash -l {0}
           # Upload by default on schedule events, and on workflow dispatch only if input upload_conda_binaries is 'true'
           if: github.event_name == 'schedule' || github.event_name == 'release' || (github.event_name == 'workflow_dispatch' && github.event.inputs.upload_conda_binaries == 'true')
           env:
             ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+            PREFIX_DEV_TOKEN: ${{ secrets.PREFIX_DEV_TOKEN }}
           run: |
             cd ${CONDA_BLD_PATH}/${{ matrix.conda_platform}}/
             ls *.tar.bz2
             anaconda upload --skip-existing *.tar.bz2
+            pixi auth login https://prefix.dev --token $PREFIX_DEV_TOKEN
+            for condapackage in *.tar.bz2; do
+              pixi upload https://prefix.dev/api/v1/upload/robotology "$condapackage"
+            done
+            pixi auth logout https://prefix.dev
 
         # Only on linux-64 we upload noarch packages (noarch packages need to be uploaded only once, as they can be reused across platforms)
         - name: Upload conda packages (noarch)
@@ -234,10 +229,43 @@ jobs:
           if: matrix.conda_platform == 'linux-64' && (github.event_name == 'schedule' || github.event_name == 'release' || (github.event_name == 'workflow_dispatch' && github.event.inputs.upload_conda_binaries == 'true'))
           env:
             ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+            PREFIX_DEV_TOKEN: ${{ secrets.PREFIX_DEV_TOKEN }}
           run: |
             cd ${CONDA_BLD_PATH}/noarch/
             ls *.tar.bz2
             anaconda upload --skip-existing *.tar.bz2
+            pixi auth login https://prefix.dev --token $PREFIX_DEV_TOKEN
+            for condapackage in *.tar.bz2; do
+              pixi upload https://prefix.dev/api/v1/upload/robotology "$condapackage"
+            done
+            pixi auth logout https://prefix.dev
+
+        - name: Build robotology-distro-all conda metapackage (if necessary)
+          if: github.event_name == 'release' || (github.event_name == 'workflow_dispatch' && github.event.inputs.test_metapackages_generation == 'true')
+          shell: bash -l {0}
+          run: |
+            cd build/conda/generated_recipes_metapackages
+             # Debug generated recipes
+            cat */meta.yaml
+            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro-all
+
+        - name: Upload robotology-distro-all metapackage
+          shell: bash -l {0}
+          # Upload by default on schedule events, and on workflow dispatch only if input upload_conda_binaries is 'true'
+          if: github.event_name == 'release' || (github.event_name == 'workflow_dispatch' && github.event.inputs.test_metapackages_generation == 'true' && github.event.inputs.upload_conda_binaries == 'true')
+          env:
+            ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+            PREFIX_DEV_TOKEN: ${{ secrets.PREFIX_DEV_TOKEN }}
+          run: |
+            cd ${CONDA_BLD_PATH}/${{ matrix.conda_platform}}/
+            ls robotology-distro-all-*.tar.bz2
+            anaconda upload --skip-existing robotology-distro-all-*.tar.bz2
+            pixi auth login https://prefix.dev --token $PREFIX_DEV_TOKEN
+            for condapackage in robotology-distro-all-*.tar.bz2; do
+              pixi upload https://prefix.dev/api/v1/upload/robotology "$condapackage"
+            done
+            pixi auth logout https://prefix.dev
+  
 
     # If the  generate-conda-packages completed correctly and binaries are uploaded,
     # bump automatically the CONDA_BUILD_NUMBER in conda/cmake/CondaGenerationOptions.cmake

diff --git a/.github/workflows/generate-non-periodical-conda-package.yaml b/.github/workflows/generate-non-periodical-conda-package.yaml
@@ -20,8 +20,8 @@ jobs:
               include:
                 - os: ubuntu-20.04
                   conda_platform: linux-64
-                - os: macos-11.0
-                  conda_platform: osx-64
+                - os: macos-14
+                  conda_platform: osx-arm64
                 - os: windows-2019
                   conda_platform: win-64
 
@@ -36,7 +36,7 @@ jobs:
         - name: Dependencies for conda recipes generation and upload
           shell: bash -l {0}
           run: |
-            conda install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller
+            conda install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller pixi
 
         - name: Print used environment
           shell: bash -l {0}
@@ -64,7 +64,13 @@ jobs:
           if: (github.event_name == 'workflow_dispatch' && github.event.inputs.upload_conda_binaries == 'true')
           env:
             ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+            PREFIX_DEV_TOKEN: ${{ secrets.PREFIX_DEV_TOKEN }}
           run: |
             cd ${CONDA_PREFIX}/conda-bld/${{ matrix.conda_platform}}/
             ls *.tar.bz2
             anaconda upload --skip-existing *.tar.bz2
+            pixi auth login https://prefix.dev --token $PREFIX_DEV_TOKEN
+            for condapackage in *.tar.bz2; do
+              pixi upload https://prefix.dev/api/v1/upload/robotology "$condapackage"
+            done
+            pixi auth logout https://prefix.dev
diff --git a/.github/workflows/pixi-ci.yml b/.github/workflows/pixi-ci.yml
@@ -42,7 +42,7 @@ jobs:
     - uses: prefix-dev/[email protected]
 
     - name: Build
-      shell: bash -l {0}
+      shell: bash
       run: |
         # Avoid YCM complaining that the git user is not set
         # Eventually we could consider removing that check in YCM

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -28,7 +28,7 @@ endmacro()
 include(RobotologySuperbuildOptions)
 
 # Python-related logic
-if(ROBOTOLOGY_USES_PYTHON)
+if(ROBOTOLOGY_USES_PYTHON AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
   find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
   if(Python3_VERSION VERSION_GREATER_EQUAL 3.12)
     execute_process(COMMAND ${Python3_EXECUTABLE} -c "import os;import sysconfig;relative_site_packages = sysconfig.get_path('purelib').replace(sysconfig.get_path('data'), '').lstrip(os.path.sep);print(relative_site_packages)"

diff --git a/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -7,9 +7,29 @@ include(FindOrBuildPackage)
 find_or_build_package(YARP QUIET)
 find_or_build_package(ICUB QUIET)
 find_or_build_package(iDynTree QUIET)
-find_or_build_package(wearables QUIET)
 find_or_build_package(osqp QUIET)
 find_or_build_package(OsqpEigen QUIET)
+find_or_build_package(robometry QUIET)
+
+# For what regards Python installation, the options changes depending
+# on whether we are installing HDE in the superbuild, or generating a
+# conda package
+# See https://github.com/robotology/robotology-superbuild/issues/641
+set(HDE_OPTIONAL_CMAKE_ARGS "")
+if(ROBOTOLOGY_USES_PYTHON) 
+  if (NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+    # If we are not generating a conda recipe, the bindings need to go in the ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+  else()
+    # If we are building a conda package, the active environment is the correct place were to install the python bindings
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+  endif()
+endif()
+
+
+if(WIN32)
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
+endif()
 
 if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
   find_or_build_package(yarp-ros QUIET)
@@ -22,13 +42,13 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               TAG master
               COMPONENT human_dynamics
               FOLDER src
-              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON
+              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON} ${HDE_OPTIONAL_CMAKE_ARGS}
               DEPENDS iDynTree
                       YARP
-                      wearables
                       osqp
                       OsqpEigen
                       ICUB
-                      ${HumanDynamicsEstimation_OPTIONAL_DEPS})
+                      robometry)
 
-set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
+set(HumanDynamicsEstimation_CONDA_PKG_NAME human-dynamics-estimation)
+set(HumanDynamicsEstimation_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/BuildICUB.cmake b/cmake/BuildICUB.cmake
@@ -104,33 +104,5 @@ ycm_ep_helper(ICUB TYPE GIT
                               -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA}
                               ${ICUB_PYTHON_INSTALL_CMAKE_ARGS})
 
-set(ICUB_CONDA_DEPENDENCIES ace libopencv gsl ipopt libode qt-main sdl)
-set(ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT)
-
-if(NOT (APPLE OR WIN32))
-  list(APPEND ICUB_CONDA_DEPENDENCIES libdc1394)
-endif()
-
-if(NOT APPLE)
-  list(APPEND ICUB_CONDA_DEPENDENCIES freeglut)
-endif()
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-  list(APPEND ICUB_CONDA_DEPENDENCIES libglu)
-endif()
-
-if(ROBOTOLOGY_USES_ESDCAN)
-  list(APPEND ICUB_CONDA_DEPENDENCIES esdcan)
-endif()
-
-if(ICUB_COMPILE_BINDINGS)
-  list(APPEND ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT swig)
-endif()
-
-if(ROBOTOLOGY_USES_PYTHON)
-  list(APPEND ICUB_CONDA_DEPENDENCIES python)
-endif()
-
-if(ROBOTOLOGY_USES_LUA)
-  list(APPEND ICUB_CONDA_DEPENDENCIES lua)
-endif()
-
+set(ICUB_CONDA_PKG_NAME icub-main)
+set(ICUB_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildblocktest-yarp-plugins.cmake b/cmake/Buildblocktest-yarp-plugins.cmake
@@ -26,4 +26,4 @@ ycm_ep_helper(blocktest-yarp-plugins TYPE GIT
                       ${blocktest-yarp-plugins_OPTIONAL_DEPS}
               CMAKE_ARGS -DENABLE_MSVC_WARNINGS:BOOL=OFF)
 
-set(blocktest-yarp-plugins_CONDA_DEPENDENCIES boost-cpp)
+set(blocktest-yarp-plugins_CONDA_DEPENDENCIES libboost-devel)
diff --git a/cmake/Buildblocktestcore.cmake b/cmake/Buildblocktestcore.cmake
@@ -13,4 +13,4 @@ ycm_ep_helper(blocktestcore TYPE GIT
               CMAKE_ARGS -DENABLE_MSVC_WARNINGS:BOOL=OFF
               DEPENDS YCM)
 
-set(blocktestcore_CONDA_DEPENDENCIES qt-main boost-cpp)
+set(blocktestcore_CONDA_DEPENDENCIES qt-main libboost-devel)
diff --git a/cmake/Buildcasadi.cmake b/cmake/Buildcasadi.cmake
@@ -28,8 +28,8 @@ endif()
 
 ycm_ep_helper(casadi TYPE GIT
               STYLE GITHUB
-              REPOSITORY ami-iit/casadi.git
-              TAG 3.6.5.backport3724
+              REPOSITORY casadi/casadi.git
+              TAG 3.6.7
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DWITH_IPOPT:BOOL=ON
@@ -55,8 +55,4 @@ ycm_ep_helper(casadi TYPE GIT
 
 set(casadi_CONDA_PKG_NAME casadi)
 set(casadi_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
-# This is a small hack. To avoid incompatibilities between the version tagged in the ami-iit fork
-# and the version available in conda-forge when generating conda metapackages
-# such as robotology-distro and robotology-distro-all, we override the conda package version of casadi
-# here. This needs to be removed as soon as we stop use our fork in the superbuild 
-set(casadi_CONDA_VERSION 3.6.5)
+
diff --git a/cmake/BuildiDynTree.cmake b/cmake/BuildiDynTree.cmake
@@ -11,7 +11,7 @@ set(iDynTree_DEPENDS "")
 list(APPEND iDynTree_DEPENDS OsqpEigen)
 
 # For what regards Python installation, the options changes depending
-# on whether we are installing YARP from source, or generating a
+# on whether we are installing iDynTree from source, or generating a
 # conda package on Windows as in that case the installation location
 # will need to be outside of CMAKE_INSTALL_PREFIX
 # See https://github.com/robotology/robotology-superbuild/issues/641

diff --git a/cmake/Buildicub_firmware_shared.cmake b/cmake/Buildicub_firmware_shared.cmake
@@ -11,3 +11,6 @@ ycm_ep_helper(icub_firmware_shared TYPE GIT
                                    COMPONENT iCub
                                    FOLDER src
                                    DEPENDS YCM)
+
+set(icub_firmware_shared_CONDA_PKG_NAME icub-firmware-shared)
+set(icub_firmware_shared_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildwearables.cmake b/cmake/Buildwearables.cmake
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
@@ -9,10 +9,10 @@ set_tag(osqp_REPOSITORY robotology-dependencies/osqp.git)
 set_tag(osqp_TAG v0.6.3.1)
 set_tag(manif_TAG 0.0.5)
 set_tag(qhull_TAG 2020.2)
-set_tag(CppAD_TAG 20240000.2)
-set_tag(proxsuite_TAG v0.6.4)
-set_tag(casadi_TAG 3.6.5.backport3724)
-set_tag(casadi-matlab-bindings_TAG v3.6.5.0)
+set_tag(CppAD_TAG 20240000.7)
+set_tag(proxsuite_TAG v0.6.7)
+set_tag(casadi_TAG 3.6.7)
+set_tag(casadi-matlab-bindings_TAG v3.6.7.0)
 
 # Robotology projects
 set_tag(YCM_TAG master)