Migrate icub-firmware-shared, icub-main and human-dynamics-estimation…

… conda packages to be installed via conda-forge (#1727)

.github/workflows/generate-conda-packages.yaml

@@ -180,16 +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
-            # 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

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)"

cmake/BuildHumanDynamicsEstimation.cmake

@@ -45,9 +45,5 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
                       ICUB
                       robometry)
 
-set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
-
-if(ROBOTOLOGY_USES_PYTHON)
-    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES python)
-    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES pybind11)
-endif()
+set(HumanDynamicsEstimation_CONDA_PKG_NAME human-dynamics-estimation)
+set(HumanDynamicsEstimation_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)

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)

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)

cmake/ProjectsTagsStable.cmake

@@ -9,8 +9,8 @@ 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(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)
 

cmake/ProjectsTagsUnstable.cmake

@@ -9,8 +9,8 @@ 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(CppAD_TAG 20240000.7)
+set_tag(proxsuite_TAG v0.6.7)
 set_tag(casadi_TAG 3.6.6)
 set_tag(casadi-matlab-bindings_TAG v3.6.6.0)
 

conda/cmake/CondaGenerationOptions.cmake

@@ -2,7 +2,7 @@
 # to ensure that binaries belonging to different rebuilds
 # can be distinguished even if the version number is the same
 if(NOT CONDA_BUILD_NUMBER)
-  set(CONDA_BUILD_NUMBER 133)
+  set(CONDA_BUILD_NUMBER 140)
 endif()
 
 # This option is enabled only when the metapackages robotology-distro and robotology-distro-all are

conda/pure_python_recipe_template/meta.yaml

@@ -34,7 +34,8 @@ requirements:
 
 test:
   commands:
-    - pip check
+    # Do not run pip check on arm64 as pip list does not list qtpy5 and qtwebengine
+    - pip check  # [not arm64]
   requires:
     - pip
 

releases/latest.releases.yaml

@@ -18,7 +18,7 @@ repositories:
   CppAD:
     type: git
     url: https://github.com/coin-or/CppAD.git
-    version: 20240000.4
+    version: 20240000.7
   casadi:
     type: git
     url: https://github.com/casadi/casadi.git
@@ -122,7 +122,7 @@ repositories:
   HumanDynamicsEstimation:
     type: git
     url: https://github.com/robotology/human-dynamics-estimation.git
-    version: v4.0.2
+    version: v4.0.3
   human-gazebo:
     type: git
     url: https://github.com/robotology/human-gazebo.git
@@ -246,7 +246,7 @@ repositories:
   proxsuite:
     type: git
     url: https://github.com/Simple-Robotics/proxsuite.git
-    version: v0.6.4
+    version: v0.6.7
   BayesFilters:
     type: git
     url: https://github.com/robotology/bayes-filters-lib.git