Merge branch 'master' into fix1707

robotology · Sep 25, 2024 · e05a02d · e05a02d
2 parents 5c9e56d + 2e1d27e
commit e05a02d
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Showing 17 changed files with 76 additions and 94 deletions.
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}
@@ -187,8 +187,6 @@ jobs:
             # 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
@@ -221,10 +219,16 @@ jobs:
           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)
@@ -233,10 +237,16 @@ 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')
@@ -253,11 +263,16 @@ jobs:
           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,

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/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -7,9 +7,9 @@ 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
@@ -26,6 +26,11 @@ if(ROBOTOLOGY_USES_PYTHON)
   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()
+
 ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/human-dynamics-estimation.git
@@ -35,10 +40,10 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               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)
+                      ICUB
+                      robometry)
 
 set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
 

diff --git a/cmake/Buildwearables.cmake b/cmake/Buildwearables.cmake
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
@@ -146,7 +146,6 @@ endif()
 # Human Dynamics Estimation
 if(ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS)
   find_or_build_package(yarp-devices-forcetorque)
-  find_or_build_package(wearables)
   find_or_build_package(HumanDynamicsEstimation)
   find_or_build_package(human-gazebo)
 endif()

diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -80,7 +80,6 @@ Add-ValueToUserEnvVariable BLOCKTEST_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTAL
 # ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\human-gazebo";
 Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\HumanDynamicsEstimation";
-Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\Wearables";
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -83,7 +83,6 @@ Remove-ValueFromUserEnvVariable BLOCKTEST_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_I
 # Cleanup ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\human-gazebo";
 Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\HumanDynamicsEstimation";
-Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\Wearables";
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
@@ -41,7 +41,6 @@ set "BLOCKTEST_RESOURCE_PATH"=%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\bin
 rem ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\human-gazebo"
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\HumanDynamicsEstimation"
-set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\Wearables"
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
@@ -45,7 +45,6 @@ export BLOCKTEST_RESOURCE_PATH=${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/bin
 # ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/human-gazebo
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/HumanDynamicsEstimation
-export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/Wearables
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/conda/cmake/CondaGenerationOptions.cmake b/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 131)
+  set(CONDA_BUILD_NUMBER 133)
 endif()
 
 # This option is enabled only when the metapackages robotology-distro and robotology-distro-all are

diff --git a/conda/multisheller/wearables_activate.msh b/conda/multisheller/wearables_activate.msh
diff --git a/conda/multisheller/wearables_deactivate.msh b/conda/multisheller/wearables_deactivate.msh
diff --git a/doc/cmake-options.md b/doc/cmake-options.md
@@ -49,7 +49,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION` | The robotology software packages related to teleoperation. | [`walking-teleoperation`](https://github.com/robotology/walking-teleoperation), [`https://github.com/ami-iit/yarp-openvr-trackers`](https://github.com/ami-iit/yarp-openvr-trackers) and [`https://github.com/ami-iit/yarp-device-openxrheadset`](https://github.com/ami-iit/yarp-device-openxrheadset). | `OFF` | [Documentation on teleoperation profile.](#teleoperation)  |
-| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables), [`yarp-devices-forcetorque`](https://github.com/robotology/yarp-devices-forcetorque). For options check the profile documentation. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |
+| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`yarp-devices-forcetorque`](https://github.com/robotology/yarp-devices-forcetorque). For options check the profile documentation. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |
 | `ROBOTOLOGY_ENABLE_EVENT_DRIVEN` | The robotology software packages related to event-driven. | [`event-driven`](https://github.com/robotology/event-driven) | `OFF` | [Documentation on event-driven profile.](#event-driven)  |
 | `ROBOTOLOGY_ENABLE_GRASPING` | The robotology software packages related to grasping. | [`find-superquadric`](https://github.com/robotology/find-superquadric) if the `ROBOTOLOGY_USES_PCL_AND_VTK` option is enabled. | `OFF` | [Documentation on grasping profile.](#grasping)  |
 
@@ -372,7 +372,11 @@ Furthermore, due to Python ignoring the directories in `PATH`, before running py
 
 ~~~python
 import os
-os.add_dll_directory(os.path.join(os.environ['ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX'], bin))
+
+if os.name == "nt":
+    superbuild_dll_path = os.path.join(os.environ.get('ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX',""), 'bin')
+    if (os.exists(superbuild_dll_path)):
+        os.add_dll_directory(superbuild_dll_path)
 ~~~
 
 see https://github.com/robotology/robotology-superbuild/issues/1268 for more details.