Remove homebrew job from CI

.github/workflows/ci.yml

@@ -14,9 +14,9 @@ env:
   vcpkg_robotology_TAG: v0.11.0
   YCM_TAG: v0.15.3
   YARP_TAG: v3.8.0
-  iDynTree_TAG: v8.0.0
+  iDynTree_TAG: 42f2874b729348575aeee723c1775c3425735ef9
   CasADi_TAG: 3.5.5.2
-  manif_TAG: 0.0.4
+  manif_TAG: 0.0.4.102
   matioCpp_TAG: v0.2.0
   LieGroupControllers_TAG: v0.2.0
   osqp_TAG: v0.6.2
@@ -58,7 +58,7 @@ jobs:
     strategy:
       matrix:
         build_type: [Release, Debug]
-        os: [ubuntu-20.04, windows-2019, macos-latest]
+        os: [ubuntu-20.04, windows-2019]
       fail-fast: false
 
     steps:
@@ -92,25 +92,6 @@ jobs:
         unzip vcpkg-robotology.zip -d C:/
         rm vcpkg-robotology.zip
 
-    - name: Fixup brew [macOS]
-      if: matrix.os == 'macos-latest'
-      run: |
-          # Unlink and re-link to prevent errors when github mac runner images
-          # install python outside of brew, for example:
-          # https://github.com/orgs/Homebrew/discussions/3895
-          # https://github.com/actions/setup-python/issues/577
-          # https://github.com/actions/runner-images/issues/6459
-          # https://github.com/actions/runner-images/issues/6507
-          # https://github.com/actions/runner-images/issues/2322
-          brew list -1 | grep python | while read formula; do brew unlink $formula; brew link --overwrite $formula; done
-
-    - name: Dependencies [macOS]
-      if: matrix.os == 'macos-latest'
-      run: |
-        brew update
-        brew install ace boost eigen swig qt5 orocos-kdl qhull ipopt cppad pkg-config pybind11 \
-                     libmatio spdlog librealsense nlohmann-json numpy assimp
-
     - name: Dependencies [Ubuntu]
       if: startsWith(matrix.os, 'ubuntu')
       run: |
@@ -143,10 +124,6 @@ jobs:
       if: startsWith(matrix.os, 'ubuntu')
       run: echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV
 
-    - name: Get number of cores to speed up cmake build [macOS]
-      if: matrix.os == 'macos-latest'
-      run: echo "NUM_CORES_FOR_CMAKE_BUILD=`sysctl -n hw.logicalcpu`" >> $GITHUB_ENV
-
     - name: Cache Source-based Dependencies
       id: cache-source-deps
       uses: actions/cache@v3
@@ -248,7 +225,7 @@ jobs:
 
         # manif
         cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/artivis/manif.git
+        git clone https://github.com/robotology-dependencies/manif.git
         cd manif
         git checkout ${manif_TAG}
         mkdir build
@@ -339,8 +316,8 @@ jobs:
                      -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
         cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
 
-    - name: Source-based Dependencies [Ubuntu/macOS]
-      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
+    - name: Source-based Dependencies [Ubuntu]
+      if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu')
       shell: bash
       run: |
 
@@ -420,12 +397,12 @@ jobs:
 
         # manif
         cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/artivis/manif.git
+        git clone https://github.com/robotology-dependencies/manif.git
         cd manif
         git checkout ${manif_TAG}
         mkdir build
         cd build
-        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
+        cmake -DBUILD_PYTHON_BINDINGS:BOOL=ON -DMANIFPY_PKGDIR:PATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
         cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
 
         # matioCpp
@@ -502,14 +479,6 @@ jobs:
 
         cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
 
-    - name: Install manifpy [Ubuntu/macOS]
-      if: startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest'
-      run: |
-        git clone https://github.com/artivis/manif.git manifpy
-        cd manifpy
-        git checkout ${manif_TAG}
-        python3 -m pip install .
-
     - name: Check Python setup
       shell: bash
       run: |
@@ -554,20 +523,6 @@ jobs:
               -DENABLE_YarpRobotLoggerDevice:BOOL=ON \
               -DFRAMEWORK_RUN_Valgrind_tests:BOOL=ON ..
 
-    - name: Configure [macOS]
-      if: matrix.os == 'macos-latest'
-      shell: bash
-      run: |
-        mkdir -p build
-        cd build
-        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
-              -DPython3_ROOT_DIR=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \
-              -DFRAMEWORK_TEST_PYTHON_BINDINGS:BOOL=OFF \
-              -DBUILD_TESTING:BOOL=ON ..
-
     - name: Check build if some dependencies are not enabled [Ubuntu]
       if: github.event_name != 'push' && github.event_name != 'release' && matrix.os == 'ubuntu-20.04'
       shell: bash

src/IK/tests/QPFixedBaseInverseKinematicsTest.cpp

@@ -39,7 +39,7 @@ using namespace BipedalLocomotion::Conversions;
 using namespace std::chrono_literals;
 
 constexpr auto robotVelocity = "robotVelocity";
-constexpr std::chrono::nanoseconds dT = 5ms;
+constexpr std::chrono::nanoseconds dT = 10ms;
 
 struct InverseKinematicsAndTasks
 {
@@ -62,7 +62,7 @@ struct System
 
 std::shared_ptr<IParametersHandler> createParameterHandler()
 {
-    constexpr double gain = 0.5;
+    constexpr double gain = 20.0;
 
     auto parameterHandler = std::make_shared<StdImplementation>();
     parameterHandler->setParameter("robot_velocity_variable_name", robotVelocity);
@@ -110,7 +110,6 @@ InverseKinematicsAndTasks createIK(std::shared_ptr<IParametersHandler> handler,
 
     out.regularizationTask = std::make_shared<JointTrackingTask>();
 
-
     REQUIRE(out.regularizationTask->setKinDyn(kinDyn));
     REQUIRE(out.regularizationTask->initialize(handler->getGroup("REGULARIZATION_TASK")));
     REQUIRE(out.ik->addTask(out.regularizationTask,
@@ -189,15 +188,18 @@ System getSystem(std::shared_ptr<iDynTree::KinDynComputations> kinDyn)
     Eigen::VectorXd jointPositions(kinDyn->getNrOfDegreesOfFreedom());
     Eigen::Vector3d gravity;
 
-    REQUIRE(kinDyn->getRobotState(basePose, jointPositions, baseVelocity, jointVelocities, gravity));
+    REQUIRE(kinDyn->getRobotState(basePose, //
+                                  jointPositions,
+                                  baseVelocity,
+                                  jointVelocities,
+                                  gravity));
 
     // perturb the joint position
     for (int i = 0; i < kinDyn->getNrOfDegreesOfFreedom(); i++)
     {
         jointPositions[i] += distribution(generator);
     }
 
-
     out.dynamics = std::make_shared<FloatingBaseSystemKinematics>();
     out.dynamics->setState({basePose.topRightCorner<3, 1>(),
                             toManifRot(basePose.topLeftCorner<3, 3>()),
@@ -226,7 +228,11 @@ TEST_CASE("QP-IK")
         DYNAMIC_SECTION("Model with " << numberOfJoints << " joints")
         {
             // create the model
-            const iDynTree::Model model = iDynTree::getRandomModel(numberOfJoints);
+            constexpr std::size_t nrOfAdditionalFrames = 10;
+            constexpr bool onlyRevoluteJoints = true;
+            const iDynTree::Model model = iDynTree::getRandomChain(numberOfJoints,
+                                                                   nrOfAdditionalFrames,
+                                                                   onlyRevoluteJoints);
             REQUIRE(kinDyn->loadRobotModel(model));
 
             const auto desiredSetPoints = getDesiredReference(kinDyn, numberOfJoints);
@@ -251,7 +257,7 @@ TEST_CASE("QP-IK")
             REQUIRE(ikAndTasks.regularizationTask->setSetPoint(desiredSetPoints.joints));
 
             // propagate the inverse kinematics for
-            constexpr std::size_t iterations = 10;
+            constexpr std::size_t iterations = 20;
             Eigen::Vector3d gravity;
             gravity << 0, 0, -9.81;
             Eigen::Matrix4d baseTransform = Eigen::Matrix4d::Identity();

src/IK/tests/QPInverseKinematicsTest.cpp

@@ -320,31 +320,33 @@ inline std::string customInt2string(int i)
     return ss.str();
 }
 
-// Workaround for https://github.com/ami-iit/bipedal-locomotion-framework/issues/799
-inline iDynTree::Model customGetRandomModelWithNoPrismaticJoints(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, bool onlyRevoluteJoints=false)
+// Workaround for https://github.com/ami-iit/bipedal-locomotion-framework/issues/799 and
+// https://github.com/robotology/idyntree/pull/1171
+inline iDynTree::Model customGetRandomModelWithNoPrismaticJoints(unsigned int nrOfJoints,
+                                                                 size_t nrOfAdditionalFrames = 10,
+                                                                 bool onlyRevoluteJoints = false)
 {
     iDynTree::Model model;
 
     model.addLink("baseLink", iDynTree::getRandomLink());
 
-    for(unsigned int i=0; i < nrOfJoints; i++)
+    for (unsigned int i = 0; i < nrOfJoints; i++)
     {
         std::string parentLink = iDynTree::getRandomLinkOfModel(model);
         std::string linkName = "link" + customInt2string(i);
-        iDynTree::addRandomLinkToModel(model,parentLink,linkName,onlyRevoluteJoints);
+        iDynTree::addRandomLinkToModel(model, parentLink, linkName, onlyRevoluteJoints);
     }
 
-    for(unsigned int i=0; i < nrOfAdditionalFrames; i++)
+    for (unsigned int i = 0; i < nrOfAdditionalFrames; i++)
     {
         std::string parentLink = iDynTree::getRandomLinkOfModel(model);
         std::string frameName = "additionalFrame" + customInt2string(i);
-        iDynTree::addRandomAdditionalFrameToModel(model,parentLink,frameName);
+        iDynTree::addRandomAdditionalFrameToModel(model, parentLink, frameName);
     }
 
     return model;
 }
 
-
 TEST_CASE("QP-IK")
 {
     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
@@ -365,7 +367,10 @@ TEST_CASE("QP-IK")
             // create the model
             size_t nrOfAdditionalFrames = 10;
             bool onlyRevoluteJoints = true;
-            const iDynTree::Model model = customGetRandomModelWithNoPrismaticJoints(numberOfJoints,nrOfAdditionalFrames,onlyRevoluteJoints);
+            const iDynTree::Model model
+                = customGetRandomModelWithNoPrismaticJoints(numberOfJoints,
+                                                            nrOfAdditionalFrames,
+                                                            onlyRevoluteJoints);
             REQUIRE(kinDyn->loadRobotModel(model));
 
             const auto desiredSetPoints = getDesiredReference(kinDyn, numberOfJoints);
@@ -499,7 +504,11 @@ TEST_CASE("QP-IK [With strict limits]")
     constexpr std::size_t numberOfJoints = 30;
 
     // create the model
-    const iDynTree::Model model = iDynTree::getRandomModel(numberOfJoints);
+    size_t nrOfAdditionalFrames = 10;
+    bool onlyRevoluteJoints = true;
+    const iDynTree::Model model = customGetRandomModelWithNoPrismaticJoints(numberOfJoints,
+                                                                            nrOfAdditionalFrames,
+                                                                            onlyRevoluteJoints);
     REQUIRE(kinDyn->loadRobotModel(model));
 
     const auto desiredSetPoints = getDesiredReference(kinDyn, numberOfJoints);
@@ -629,7 +638,11 @@ TEST_CASE("QP-IK [With builder]")
     constexpr std::size_t numberOfJoints = 30;
 
     // create the model
-    const iDynTree::Model model = iDynTree::getRandomModel(numberOfJoints);
+    size_t nrOfAdditionalFrames = 10;
+    bool onlyRevoluteJoints = true;
+    const iDynTree::Model model = customGetRandomModelWithNoPrismaticJoints(numberOfJoints,
+                                                                            nrOfAdditionalFrames,
+                                                                            onlyRevoluteJoints);
     REQUIRE(kinDyn->loadRobotModel(model));
 
     // VariableHandler and IK params
@@ -782,7 +795,11 @@ TEST_CASE("QP-IK [Distance and Gravity tasks]")
     constexpr std::size_t numberOfJoints = 30;
 
     // create the model
-    const iDynTree::Model model = iDynTree::getRandomModel(numberOfJoints);
+    size_t nrOfAdditionalFrames = 10;
+    bool onlyRevoluteJoints = true;
+    const iDynTree::Model model = customGetRandomModelWithNoPrismaticJoints(numberOfJoints,
+                                                                            nrOfAdditionalFrames,
+                                                                            onlyRevoluteJoints);
     REQUIRE(kinDyn->loadRobotModel(model));
 
     const auto desiredSetPoints = getDesiredReference(kinDyn, numberOfJoints);