Merge branch 'master' into traversaro-patch-1

ami-iit · Jun 15, 2023 · 232aa86 · 232aa86
2 parents cff2758 + 5a28374
commit 232aa86
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diff --git a/.ci/generate-labeler-file.py b/.ci/generate-labeler-file.py
@@ -9,18 +9,17 @@
 
 if __name__ == "__main__":
 
-    dict_file = {':book: documentation' : 'docs/**/*',
-                 ':computer: utilities' : 'utilities/**/*',
-                 ':snake: bindings' : 'bindings/**/*',
-                 ':building_construction: GitHub action' : '.github/**/*'}
+    dict_file = {':book: documentation': 'docs/**/*',
+                 ':computer: utilities': 'utilities/**/*',
+                 ':snake: bindings': 'bindings/**/*',
+                 ':building_construction: GitHub action': '.github/**/*',
+                 ':school: Examples': 'examples/**/*'}
 
     src_dir = '../src'
     for file in os.listdir(src_dir):
         d = os.path.join(src_dir, file)
         if os.path.isdir(d):
             dict_file[":hammer: component: " + os.path.basename(d)] = "src/" + os.path.basename(d) + "/**/*"
 
-
     with open(r'../.github/labeler.yml', 'w') as file:
         yaml.dump(dict_file, file, default_flow_style=False)
-
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -0,0 +1 @@
+*       @GiulioRomualdi @S-Dafarra
diff --git a/.github/labeler.yml b/.github/labeler.yml
@@ -9,15 +9,16 @@
 ':hammer: component: Estimators': src/Estimators/**/*
 ':hammer: component: GenericContainer': src/GenericContainer/**/*
 ':hammer: component: IK': src/IK/**/*
+':hammer: component: ML': src/ML/**/*
 ':hammer: component: Math': src/Math/**/*
 ':hammer: component: ParametersHandler': src/ParametersHandler/**/*
 ':hammer: component: Perception': src/Perception/**/*
 ':hammer: component: Planners': src/Planners/**/*
-':hammer: component: ReducedModelControllers': src/ReducedModelControllers/**/*
 ':hammer: component: RobotInterface': src/RobotInterface/**/*
 ':hammer: component: SimplifiedModelControllers': src/SimplifiedModelControllers/**/*
 ':hammer: component: System': src/System/**/*
 ':hammer: component: TSID': src/TSID/**/*
 ':hammer: component: TextLogging': src/TextLogging/**/*
 ':hammer: component: YarpUtilities': src/YarpUtilities/**/*
+':school: Examples': examples/**/*
 ':snake: bindings': bindings/**/*
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
@@ -2,6 +2,8 @@ name: C++ CI Workflow with conda-forge dependencies
 
 on:
   push:
+    branches:
+    - master
   pull_request:
   schedule:
   # * is a special character in YAML so you have to quote this string
@@ -15,16 +17,17 @@ jobs:
     strategy:
       matrix:
         build_type: [Release]
-        os: [ubuntu-latest, windows-latest, macos-latest]
+        os: [ubuntu-latest, windows-2019, macos-latest]
       fail-fast: false
 
     steps:
     - uses: actions/checkout@v2
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
-        mamba-version: "*"
-        channels: conda-forge,robotology
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        channels: conda-forge,robostack-staging
         channel-priority: true
 
     - name: Dependencies
@@ -35,14 +38,28 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install idyntree yarp libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog catch2 nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl tomlplusplus unicycle-footstep-planner
+        # manifpy is pinned as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/issues/674
+        mamba install "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
+                      liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \
+                      nlohmann_json manif manifpy=*=*_12 pybind11 numpy pytest scipy opencv pcl \
+                      tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \
+                      ros-humble-rclcpp
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')
       shell: bash -l {0}
       run: |
-        # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
+        mamba install manifpy=*=*_12 expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 \
+                      libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 \
+                      libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 \
+                      mesa-libgl-devel-cos6-x86_64 onnxruntime-cpp
+
+    - name: maxOS-only Dependencies [macOS]
+      if: contains(matrix.os, 'macos')
+      shell: bash -l {0}
+      run: |
+        mamba install onnxruntime-cpp
+
 
     - name: Windows-only Dependencies [Windows]
       if: contains(matrix.os, 'windows')
@@ -51,6 +68,14 @@ jobs:
         # Compilation related dependencies
         mamba install vs2019_win-64
 
+    - name: Remove icub-models [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        # Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18
+        mamba remove icub-models
+
+
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
       shell: bash -l {0}
@@ -80,7 +105,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
     - name: Build [Windows]
       if: contains(matrix.os, 'windows')

diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml
@@ -11,31 +11,44 @@ jobs:
     steps:
       - uses: actions/checkout@master
 
-      - name: Dependencies
+      - uses: conda-incubator/setup-miniconda@v2
+        with:
+          miniforge-variant: Mambaforge
+          miniforge-version: latest
+          channels: conda-forge
+          channel-priority: true
+
+      - name: Dependencies [apt]
+        shell: bash -l {0}
         run: |
+          # The following dependencies are not available in conda
+          # See: https://github.com/conda-forge/texlive-core-feedstock/issues/19
           sudo apt update
           sudo apt install -y xsltproc texlive ghostscript graphviz texlive-base texlive-latex-extra texlive-fonts-extra texlive-fonts-recommended flex bison
-          git clone --depth 1 --branch Release_1_9_1 https://github.com/doxygen/doxygen.git
-          cd doxygen && mkdir build && cd build
-          cmake -G "Unix Makefiles" ..
-          sudo make install
 
-      - name: Fetch Python deps
-        run: python3 -m pip install jinja2 Pygments docutils
+      - name: Dependencies
+        shell: bash -l {0}
+        run: |
+          # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+          conda config --remove channels defaults
+
+          # Dependencies
+          mamba install doxygen=1.9.1 toml pygments docutils jinja2
 
       - name: Fetch m.css
+        shell: bash -l {0}
         run: |
-          # Use an unofficial version of m.css because of https://github.com/mosra/m.css/pull/189
           cd ${GITHUB_WORKSPACE}
-          git clone https://github.com/crisluengo/m.css.git
+          git clone https://github.com/mosra/m.css.git
           cd m.css
-          git checkout fix-class-parsed-as-function
+          git checkout 4bf4ddade48717ffabbdc6a1fd7ed15a75f9bec3
 
       - name: Build docs
+        shell: bash -l {0}
         run: |
           cd docs
-          git clone https://github.com/dic-iit/bipedal-locomotion-framework.git
-          ./generate_website.sh ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py
+          git clone https://github.com/ami-iit/bipedal-locomotion-framework.git
+          python3 ./generate_website.py --mcss_path ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py
 
       - name: Archive artifacts
         uses: actions/upload-artifact@v2

diff --git a/.github/workflows/update-labeler-file.yml b/.github/workflows/update-labeler-file.yml
@@ -13,7 +13,7 @@ jobs:
       - uses: actions/checkout@v2
       - name: Update the labeler file
         run: |
-          cd ./ci
+          cd ./.ci
           python3 generate-labeler-file.py
       - name: Check for modified files
         id: git-check