Remove homebrew job from CI #822

GiulioRomualdi · 2024-03-17T22:12:59Z

No description provided.

GiulioRomualdi · 2024-03-18T07:59:48Z

Manifpy tries to install the python bindings in /usr

traversaro · 2024-03-18T08:03:03Z

Manifpy tries to install the python bindings in /usr

You can set manually the MANIF_PKGDIR, see https://github.com/robotology/robotology-superbuild/blob/e131566d6f8cdd74b25ed9c5151567f8163cfaec/cmake/Buildmanif.cmake#L23 .

GiulioRomualdi · 2024-03-18T12:39:06Z

I need to switch to our manif https://github.com/robotology-dependencies/manif.git repo to fix the version

GiulioRomualdi · 2024-03-18T14:32:22Z

iDynTree fails with the following error (perhaps it is an old version and it should be updated @traversaro )

Cloning into 'iDynTree'...
HEAD is now at a7fdef001 Release iDynTree 8.0.0 (#1039)
-- The C compiler identification is AppleClang 14.0.0.14000029
-- The CXX compiler identification is AppleClang 14.0.0.14000029
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /Applications/Xcode_14.2.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /Applications/Xcode_14.2.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found LibXml2: /Applications/Xcode_14.2.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/lib/libxml2.tbd (found version "2.9.4") 
-- Found YARP: /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/lib/cmake/YARP (found version "3.8.0")
-- Found YCM: /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/share/cmake/YCM (found version "0.15.3")
-- Found YARP: /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/lib/cmake/YARP (found version "3.8.0")
-- Found IPOPT: /usr/local/lib/libipopt.dylib  
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY - Success
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY - Success
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR - Success
-- Found SWIG: /usr/local/bin/swig (found version "4.2.1")  
-- Found Python3: /usr/local/Frameworks/Python.framework/Versions/3.12/bin/python3.12 (found version "3.12.2") found components: Interpreter Development.Module NumPy 
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'distutils'
CMake Error at bindings/CMakeLists.txt:54 (string):
  string sub-command STRIP requires two arguments.

GiulioRomualdi · 2024-03-18T14:36:12Z

I can set the installdir of idyntree in https://github.com/robotology/idyntree/blob/d6af7ff4aa46bd8a4e3cfa8e8abc316908dbd4fd/bindings/CMakeLists.txt#L46C20-L46C47

traversaro · 2024-03-18T16:31:11Z

iDynTree fails with the following error (perhaps it is an old version and it should be updated @traversaro )

Yes, that is true. At the superbuild level I fixed this as documented in robotology/robotology-superbuild#1238 and robotology/robotology-superbuild#1508 , i.e. not using distutils . However, distutils is still use by default, so it probably make sense to cleanup that.

traversaro · 2024-03-19T23:07:22Z

iDynTree fails with the following error (perhaps it is an old version and it should be updated @traversaro )

Yes, that is true. At the superbuild level I fixed this as documented in robotology/robotology-superbuild#1238 and robotology/robotology-superbuild#1508 , i.e. not using distutils . However, distutils is still use by default, so it probably make sense to cleanup that.

TL;DR: We need to propagate robotology/robotology-superbuild#1511 to idyntree.

GiulioRomualdi · 2024-03-24T18:01:29Z

Associated PR in iDynTree: robotology/idyntree#1168

GiulioRomualdi · 2024-03-26T17:51:02Z

The ubuntu test fails with

/home/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/IK/tests/QPInverseKinematicsTest.cpp:750: FAILED:
  REQUIRE( error.coeffs().isZero(tolerance) )
with expansion:
  false

I was wondering if something similar to what happened back in time on the iDynTree generation of the model. I updated the version of iDynTree in the CI

GiulioRomualdi · 2024-03-30T18:46:30Z

I did a bit of analysis. I was able to replicate the failure #822 (comment) on my PC with the following commit of iDynTree robotology/idyntree@7e029b9 while with robotology/idyntree@7ecf7b5 the test pass.

I tried a git bisect and I found the commit in iDynTree that breaks the test in blf robotology/idyntree@9c7f2b3

9c7f2b36a2505f132700744bfffb142728639a57 is the first bad commit
commit 9c7f2b36a2505f132700744bfffb142728639a57
Author: Silvio Traversaro <[email protected]>
Date:   Wed Mar 22 14:46:19 2023 +0100

    Add support for PrismaticJoint in getRandomModel

 src/model/include/iDynTree/Model/ModelTestUtils.h | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

This is the git bisect trace

git bisect start
# bad: [7e029b963d44fa2606bd608019ba9b82a4398741] Merge pull request #1163 from S-Dafarra/visualize_solid_shapes
git bisect bad 7e029b963d44fa2606bd608019ba9b82a4398741
# bad: [7e029b963d44fa2606bd608019ba9b82a4398741] Merge pull request #1163 from S-Dafarra/visualize_solid_shapes
git bisect bad 7e029b963d44fa2606bd608019ba9b82a4398741
# good: [7ecf7b536be9e03fe05a0d49c8e7adbc5f84dc31] Fix MatrixView constructor when MatrixView<const T> is built from MatrixView<T> (#1044)
git bisect good 7ecf7b536be9e03fe05a0d49c8e7adbc5f84dc31
# bad: [deea1a161e18f24f2ce94175bd3836015411a6cd] Merge PositionRaw in Position and deprecated PositionRaw
git bisect bad deea1a161e18f24f2ce94175bd3836015411a6cd
# bad: [40bfd488e7845f948e834a7a175c6e578d513d08] Merge branch 'master' into devel
git bisect bad 40bfd488e7845f948e834a7a175c6e578d513d08
# bad: [720bcabea4a70910378e7dadd85c309a70f037ca] Merge pull request #1061 from robotology/python_3.10
git bisect bad 720bcabea4a70910378e7dadd85c309a70f037ca
# bad: [9c7f2b36a2505f132700744bfffb142728639a57] Add support for PrismaticJoint in getRandomModel
git bisect bad 9c7f2b36a2505f132700744bfffb142728639a57
# good: [1d41168b4cf133a0360f8099407f4bfc30666ecf] Merge pull request #1050 from robotology/fix1049
git bisect good 1d41168b4cf133a0360f8099407f4bfc30666ecf
# good: [91592526d9bcc3d991da060487b0f4801f327250] Update changelog.
git bisect good 91592526d9bcc3d991da060487b0f4801f327250
# good: [4e9d8097753dc146914e55f5656b465d00e6b25f] Merge pull request #1053 from francesco-romano/parser/add_error
git bisect good 4e9d8097753dc146914e55f5656b465d00e6b25f
# first bad commit: [9c7f2b36a2505f132700744bfffb142728639a57] Add support for PrismaticJoint in getRandomModel

GiulioRomualdi · 2024-03-30T18:55:28Z

Our inverse dynamics doesn't support prismatic joints. It would be nice if it could be possible to generate chains with only revolutes joints in iDynTree

traversaro · 2024-03-30T18:57:02Z

See the following related issues:

Fix support for PrismaticJoint in iDynTree::getRandomModel robotology/idyntree#1057
Gravity task and distance task QPIK test fails on windows #799
Run Jacobian and InverseKinematics tests for models with prismatic joints robotology/idyntree#1149

traversaro · 2024-03-30T18:58:35Z

Our inverse dynamics doesn't support prismatic joints. It would be nice if it could be possible to generate chains with only revolutes joints in iDynTree

There is the third argument of the function that does that: robotology/idyntree#1149 .

GiulioRomualdi · 2024-03-30T20:22:34Z

Associated fix in iDynTree for generating a model (and not a chain) with revolute joints robotology/idyntree#1171

traversaro · 2024-03-30T21:50:43Z

It seems we need to fix something on the pybind11 bindings, I will check tomorrow.

GiulioRomualdi · 2024-04-03T12:45:34Z

#822 (comment) probably related to #829

… QPFixedBaseInverseKinematicsTest

GiulioRomualdi · 2024-04-04T07:47:45Z

I've just rebased on master. Let's see if the CI is happy

GiulioRomualdi · 2024-04-04T07:59:15Z

macOS fails while in solving the qp of the QPInverseKinematics 😭

traversaro · 2024-04-04T09:16:36Z

macOS fails while in solving the qp of the QPInverseKinematics 😭

You know my position on this. :D:

GiulioRomualdi · 2024-04-05T08:37:03Z

macOS fails while in solving the qp of the QPInverseKinematics 😭

You know my position on this. :D:

I removed macOS - brew from CI e143f51

traversaro · 2024-04-05T09:20:35Z

I guess GitHub has some problems, the CI failures are due to this.

GiulioRomualdi · 2024-04-05T09:58:52Z

Running again the CI

GiulioRomualdi · 2024-04-05T10:09:43Z

Merging!

GiulioRomualdi added the [disable changelog ci] label Mar 17, 2024

GiulioRomualdi requested a review from traversaro March 17, 2024 22:12

GiulioRomualdi self-assigned this Mar 17, 2024

GiulioRomualdi requested a review from S-Dafarra as a code owner March 17, 2024 22:13

GiulioRomualdi enabled auto-merge (squash) March 17, 2024 22:13

github-actions bot added the 🏗️ GitHub action label Mar 17, 2024

traversaro approved these changes Mar 17, 2024

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S-Dafarra approved these changes Mar 18, 2024

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traversaro mentioned this pull request Mar 29, 2024

InstallBasicPackageFiles: Fix bug of OVERRIDE_MODULE_PATH that corrupt CMAKE_MODULE_PATH values set by blf transitive dependencies #827

Merged

github-actions bot added the 🔨 component: IK label Mar 30, 2024

GiulioRomualdi force-pushed the GiulioRomualdi-patch-1 branch 2 times, most recently from 4d61702 to 7a5383e Compare March 30, 2024 20:50

GiulioRomualdi added 2 commits April 4, 2024 09:42

Install manifpy from cmake in CI

0853c43

Update ci.yml

07e7f22

GiulioRomualdi added 7 commits April 4, 2024 09:42

Update ci.yml

d3b0671

Update ci.yml

1768819

Update ci.yml

eb84ed9

Update ci.yml

a184b23

Update ci.yml

7101b53

Update ci.yml

1bec178

Remove all the usage of getRandomModel in QPInverseKinematicsTest and…

70ed7aa

… QPFixedBaseInverseKinematicsTest

GiulioRomualdi force-pushed the GiulioRomualdi-patch-1 branch from 7a5383e to 70ed7aa Compare April 4, 2024 07:42

Remove macOS from CI

e143f51

traversaro changed the title ~~Install manifpy from cmake in CI~~ Remove homebrew job from CI Apr 5, 2024

GiulioRomualdi disabled auto-merge April 5, 2024 10:09

GiulioRomualdi merged commit 9f16190 into master Apr 5, 2024
13 checks passed

GiulioRomualdi deleted the GiulioRomualdi-patch-1 branch April 5, 2024 10:09

This was referenced Apr 5, 2024

Disable homebrew CI job? #714

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Randomly failure of QPInverseKinematicsUnitTests in macOS CI #685

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Remove homebrew job from CI #822

Remove homebrew job from CI #822

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Remove homebrew job from CI #822

Remove homebrew job from CI #822

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