From 8dec96e63bafb0f0f742b5381b032118c3b03d26 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:02:16 +0200 Subject: [PATCH 01/13] pixi: Add pixi.toml --- .gitattributes | 2 + .gitignore | 4 + pixi.lock | 24568 ++++++++++++++++++++++++++++++ pixi.toml | 186 + scripts/activation.bat | 21 + scripts/activation.sh | 45 + scripts/activation_clang.sh | 5 + scripts/activation_clang_cl.bat | 3 + 8 files changed, 24834 insertions(+) create mode 100644 .gitattributes create mode 100644 pixi.lock create mode 100644 pixi.toml create mode 100644 scripts/activation.bat create mode 100644 scripts/activation.sh create mode 100644 scripts/activation_clang.sh create mode 100644 scripts/activation_clang_cl.bat diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000..07fe41c52c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# GitHub syntax highlighting +pixi.lock linguist-language=YAML linguist-generated=true diff --git a/.gitignore b/.gitignore index 870362b066..8e33c0dd4d 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,7 @@ coverage* .travis .vscode* *.orig + +# pixi environments +.pixi +*.egg-info diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000000..362a699424 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,24568 @@ +version: 5 +environments: + accelerate: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-2.4.1-pyhd8ed1ab_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_1.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_1.conda + - conda: 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https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda + sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09 + md5: d96942c06c3e84bfcc5efb038724a7fd + depends: + - __osx >=11.0 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 405089 + timestamp: 1714723101397 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 0000000000..054e1e20fe --- /dev/null +++ b/pixi.toml @@ -0,0 +1,186 @@ +[project] +name = "pinocchio" +version = "3.2.0" +description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives" +platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"] +channels = ["conda-forge"] +license = "BSD-2-Clause" +license-file = "LICENSE" + +[build-dependencies] +ccache = ">=4.9.1" +cmake = ">=3.10" +cxx-compiler = ">=1.7.0" +ninja = ">=1.11" +pkg-config = ">=0.29.2" + +[dependencies] +libboost-devel = ">=1.80.0" +libboost-python-devel = ">=1.80.0" +eigen = ">=3.4.0" +numpy = ">=1.22.0" +python = ">=3.9.0" +eigenpy = ">=3.7.0" +urdfdom = ">=4.0" +meshcat-python = ">=0.3" +matplotlib = ">=3.9.2" + +[activation] +scripts = ["scripts/activation.sh"] + +[target.win-64.activation] +scripts = ["scripts/activation.bat"] + +[tasks] +# We must avoid to set CMAKE_CXX_FLAGS because of WIN32 +# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478 +configure = { cmd = [ + "CXXFLAGS=$PINOCCHIO_CXX_FLAGS", + "cmake", + "-G", + "Ninja", + "-B", + "build", + "-S", + ".", + "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX", + "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE", + "-DGENERATE_PYTHON_STUBS=$PINOCCHIO_PYTHON_STUBS", + "-DBUILD_WITH_COLLISION_SUPPORT=$PINOCCHIO_COLLISION_SUPPORT", + "-DBUILD_WITH_ACCELERATE_SUPPORT=$PINOCCHIO_ACCELERATE_SUPPORT", + "-DBUILD_WITH_CASADI_SUPPORT=$PINOCCHIO_CASADI_SUPPORT", + "-DBUILD_WITH_AUTODIFF_SUPPORT=$PINOCCHIO_AUTODIFF_SUPPORT", + "-DBUILD_WITH_EXTRA_SUPPORT=$PINOCCHIO_EXTRA_SUPPORT", + "-DBUILD_WITH_OPENMP_SUPPORT=$PINOCCHIO_OPENMP_SUPPORT", + "-DBUILD_WITH_CODEGEN_SUPPORT=$PINOCCHIO_CODEGEN_SUPPORT", + "-DBUILD_WITH_SDF_SUPPORT=$PINOCCHIO_SDF_SUPPORT", + "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=$PINOCCHIO_MPFR_SUPPORT", +] } +build = { cmd = "cmake --build build --target all", depends_on = ["configure"] } +clean = { cmd = "rm -rf build" } +test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ + "build", +] } + + +[feature.lint] +dependencies = { pre-commit = ">=3.6.2" } +tasks = { lint = { cmd = "pre-commit run --all" } } + +[feature.collision] +dependencies = { hpp-fcl = ">=2.4" } +activation = { env = { PINOCCHIO_COLLISION_SUPPORT = "ON" } } + +[feature.sdf] +dependencies = { libsdformat = ">=9.8" } +activation = { env = { PINOCCHIO_SDF_SUPPORT = "ON" } } + +[feature.casadi] +dependencies = { casadi = ">=3.6.7" } +activation = { env = { PINOCCHIO_CASADI_SUPPORT = "ON" } } + +[feature.autodiff] +dependencies = { cppad = ">=20230000.0", pycppad = ">=1.2.4" } +activation = { env = { PINOCCHIO_AUTODIFF_SUPPORT = "ON" } } + +# Not supported by Windows +[feature.codegen] +[feature.codegen.target.unix] +dependencies = { cppadcodegen = ">=2.4.3" } +activation = { env = { PINOCCHIO_CODEGEN_SUPPORT = "ON" } } + +[feature.mpfr] +dependencies = { mpfr = ">=4.2.1" } +activation = { env = { PINOCCHIO_MPFR_SUPPORT = "ON" } } + +[feature.extra.target.win] +dependencies = { qhull = ">=2020.2" } +activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } } +[feature.extra.target.unix] +dependencies = { qhull = ">=2020.2", qhull-static = ">=2020.2" } +activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } } + +# Not supported by Windows (because of conda-forge issue) +[feature.openmp] +[feature.openmp.target.linux] +dependencies = { libgomp = ">=14.2" } +activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } } +[feature.openmp.target.osx] +dependencies = { llvm-openmp = ">=19.1" } +activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } } + +# Accelerate only work on Apple ARM platform +[feature.accelerate] +[feature.accelerate.target.osx-arm64] +activation = { env = { PINOCCHIO_ACCELERATE_SUPPORT = "ON" } } + +[feature.py312.dependencies] +python = "3.12.*" + +[feature.py39.dependencies] +python = "3.9.*" + +# Use clang-cl on Windows. +# We must use scripts instead of env to setup CC and CXX +# to avoid cxx-compiler to overwrite them. +[feature.clang-cl] +platforms = ["win-64"] +activation = { scripts = ["scripts/activation_clang_cl.bat"] } + +# Use clang on GNU/Linux. +# We must use scripts instead of env to setup CC and CXX +# to avoid cxx-compiler to overwrite them. +[feature.clang] +platforms = ["linux-64"] +activation = { scripts = ["scripts/activation_clang.sh"] } +dependencies = { clangxx = "*" } + +[environments] +default = { features = ["py312"], solve-group = "py312" } +clang = { features = ["clang", "py312"] } +lint = { features = ["lint"], solve-group = "py312" } +collision = { features = ["collision", "py312"], solve-group = "py312" } +accelerate = { features = ["accelerate", "py312"], solve-group = "py312" } +casadi = { features = ["casadi", "py312"], solve-group = "py312" } +autodiff = { features = ["autodiff", "py312"], solve-group = "py312" } +extra = { features = ["extra", "py312"], solve-group = "py312" } +openmp = { features = ["openmp", "py312"], solve-group = "py312" } +codegen = { features = ["codegen", "py312"], solve-group = "py312" } +mpfr = { features = ["mpfr", "py312"], solve-group = "py312" } +sdf = { features = ["sdf", "py312"], solve-group = "py312" } +py39 = { features = ["py39"], solve-group = "py39" } +# Accelerate will only work in Eigen next release +all = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "py312", +], solve-group = "py312" } +all-py39 = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "py39", +], solve-group = "py39" } +all-clang-cl = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "clang-cl", + "py312", +], solve-group = "py312" } diff --git a/scripts/activation.bat b/scripts/activation.bat new file mode 100644 index 0000000000..a0b664c39a --- /dev/null +++ b/scripts/activation.bat @@ -0,0 +1,21 @@ +:: Setup ccache +set CMAKE_CXX_COMPILER_LAUNCHER=ccache + +:: Create compile_commands.json for language server +set CMAKE_EXPORT_COMPILE_COMMANDS=1 + +:: Activate color output with Ninja +set CMAKE_COLOR_DIAGNOSTICS=1 + +# Set default build value only if not previously set +if not defined PINOCCHIO_BUILD_TYPE (set PINOCCHIO_BUILD_TYPE=Release) +if not defined PINOCCHIO_PYTHON_STUBS (set PINOCCHIO_PYTHON_STUBS=ON) +if not defined PINOCCHIO_COLLISION_SUPPORT (set PINOCCHIO_COLLISION_SUPPORT=OFF) +if not defined PINOCCHIO_ACCELERATE_SUPPORT (set PINOCCHIO_ACCELERATE_SUPPORT=OFF) +if not defined PINOCCHIO_CASADI_SUPPORT (set PINOCCHIO_CASADI_SUPPORT=OFF) +if not defined PINOCCHIO_AUTODIFF_SUPPORT (set PINOCCHIO_AUTODIFF_SUPPORT=OFF) +if not defined PINOCCHIO_EXTRA_SUPPORT (set PINOCCHIO_EXTRA_SUPPORT=OFF) +if not defined PINOCCHIO_OPENMP_SUPPORT (set PINOCCHIO_OPENMP_SUPPORT=OFF) +if not defined PINOCCHIO_CODEGEN_SUPPORT (set PINOCCHIO_CODEGEN_SUPPORT=OFF) +if not defined PINOCCHIO_SDF_SUPPORT (set PINOCCHIO_SDF_SUPPORT=OFF) +if not defined PINOCCHIO_MPFR_SUPPORT (set PINOCCHIO_MPFR_SUPPORT=OFF) diff --git a/scripts/activation.sh b/scripts/activation.sh new file mode 100644 index 0000000000..335141f9c8 --- /dev/null +++ b/scripts/activation.sh @@ -0,0 +1,45 @@ +#! /bin/bash +# Activation script + +# Remove flags setup from cxx-compiler +unset CFLAGS +unset CPPFLAGS +unset CXXFLAGS +unset DEBUG_CFLAGS +unset DEBUG_CPPFLAGS +unset DEBUG_CXXFLAGS +unset LDFLAGS + +if [[ $host_alias == *"apple"* ]]; +then + # On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one. + # If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory + export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +elif [[ $host_alias == *"linux"* ]]; +then + # On GNU/Linux, I don't know if these flags are mandatory with g++ but + # it allow to use clang++ as compiler + export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +fi + +# Setup ccache +export CMAKE_CXX_COMPILER_LAUNCHER=ccache + +# Create compile_commands.json for language server +export CMAKE_EXPORT_COMPILE_COMMANDS=1 + +# Activate color output with Ninja +export CMAKE_COLOR_DIAGNOSTICS=1 + +# Set default build value only if not previously set +export PINOCCHIO_BUILD_TYPE=${PINOCCHIO_BUILD_TYPE:=Release} +export PINOCCHIO_PYTHON_STUBS=${PINOCCHIO_PYTHON_STUBS:=ON} +export PINOCCHIO_COLLISION_SUPPORT=${PINOCCHIO_COLLISION_SUPPORT:=OFF} +export PINOCCHIO_ACCELERATE_SUPPORT=${PINOCCHIO_ACCELERATE_SUPPORT:=OFF} +export PINOCCHIO_CASADI_SUPPORT=${PINOCCHIO_CASADI_SUPPORT:=OFF} +export PINOCCHIO_AUTODIFF_SUPPORT=${PINOCCHIO_AUTODIFF_SUPPORT:=OFF} +export PINOCCHIO_EXTRA_SUPPORT=${PINOCCHIO_EXTRA_SUPPORT:=OFF} +export PINOCCHIO_OPENMP_SUPPORT=${PINOCCHIO_OPENMP_SUPPORT:=OFF} +export PINOCCHIO_CODEGEN_SUPPORT=${PINOCCHIO_CODEGEN_SUPPORT:=OFF} +export PINOCCHIO_SDF_SUPPORT=${PINOCCHIO_SDF_SUPPORT:=OFF} +export PINOCCHIO_MPFR_SUPPORT=${PINOCCHIO_MPFR_SUPPORT:=OFF} diff --git a/scripts/activation_clang.sh b/scripts/activation_clang.sh new file mode 100644 index 0000000000..10f91fe3c1 --- /dev/null +++ b/scripts/activation_clang.sh @@ -0,0 +1,5 @@ +#! /bin/bash +# Clang activation script + +export CC=clang +export CXX=clang++ diff --git a/scripts/activation_clang_cl.bat b/scripts/activation_clang_cl.bat new file mode 100644 index 0000000000..bdd7db87e6 --- /dev/null +++ b/scripts/activation_clang_cl.bat @@ -0,0 +1,3 @@ +:: Setup clang-cl compiler +set CC=clang-cl +set CXX=clang-cl From 0644de0c28c6b0178ce618de112ef366b8a24d32 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:04:04 +0200 Subject: [PATCH 02/13] ci: Add a workflow that use Pixi and remove conda workflow --- .../conda/environment_macos_linux.yml | 27 --- .../workflows/conda/environment_windows.yml | 25 --- ...conda.yml => macos-linux-windows-pixi.yml} | 67 +++--- .../scripts/get_compilation_flags.js | 199 ++++++++++-------- .github/workflows/windows-conda.yml | 145 ------------- 5 files changed, 142 insertions(+), 321 deletions(-) delete mode 100644 .github/workflows/conda/environment_macos_linux.yml delete mode 100644 .github/workflows/conda/environment_windows.yml rename .github/workflows/{macos-linux-conda.yml => macos-linux-windows-pixi.yml} (68%) delete mode 100644 .github/workflows/windows-conda.yml diff --git a/.github/workflows/conda/environment_macos_linux.yml b/.github/workflows/conda/environment_macos_linux.yml deleted file mode 100644 index 9673c1fe5b..0000000000 --- a/.github/workflows/conda/environment_macos_linux.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: pinocchio -channels: - - conda-forge -dependencies: - - eigen=3.4.0 - - hpp-fcl - - numpy - - boost - - eigenpy - - urdfdom - - python - - cmake - - ccache - - pkg-config - - ninja - - llvm-openmp - - cxx-compiler - - meshcat-python - - casadi - - cppad<=20230000 - - cppadcodegen - - pycppad - - matplotlib - - mpfr - - qhull - - qhull-static - - libsdformat diff --git a/.github/workflows/conda/environment_windows.yml b/.github/workflows/conda/environment_windows.yml deleted file mode 100644 index 99569b5795..0000000000 --- a/.github/workflows/conda/environment_windows.yml +++ /dev/null @@ -1,25 +0,0 @@ -name: pinocchio-windows -channels: - - conda-forge -dependencies: - - eigen=3.4.0 - - hpp-fcl - - numpy - - boost - - eigenpy - - urdfdom - - python - - cmake - - ccache - - pkg-config - - ninja - - cxx-compiler - - meshcat-python - - casadi - - cppad<=20230000 - - cppadcodegen - - pycppad - - matplotlib - - mpfr - - qhull - - libsdformat diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-windows-pixi.yml similarity index 68% rename from .github/workflows/macos-linux-conda.yml rename to .github/workflows/macos-linux-windows-pixi.yml index b14fa92fdd..47aa3fdf46 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-windows-pixi.yml @@ -1,4 +1,4 @@ -name: CI - OSX/Linux via Conda +name: CI - MacOS/Linux/Windows via Pixi on: schedule: @@ -28,8 +28,8 @@ concurrency: cancel-in-progress: true jobs: - pinocchio-conda: - name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda + pinocchio-pixi: + name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }} runs-on: ${{ matrix.os }} env: CCACHE_BASEDIR: ${GITHUB_WORKSPACE} @@ -41,20 +41,32 @@ jobs: strategy: fail-fast: false matrix: - os: [ubuntu-latest, macos-latest] + os: [ubuntu-latest, macos-latest, macos-13] + environment: [all, all-py39] build_type: [Release, Debug] - python-version: ['3.8', '3.12'] include: + # Disable BUILD_ADVANCED_TESTING as the test can take many time to run - os: ubuntu-latest BUILD_ADVANCED_TESTING: OFF - # Disable BUILD_ADVANCED_TESTING as the test can take many time to run - os: macos-latest BUILD_ADVANCED_TESTING: OFF + - os: macos-13 + BUILD_ADVANCED_TESTING: OFF + - os: windows-latest + environment: all + build_type: Release + BUILD_ADVANCED_TESTING: OFF + - os: windows-latest + environment: all-clang-cl + build_type: Release + BUILD_ADVANCED_TESTING: OFF + steps: # extract branch name or checkout devel branch for scheduled events - name: Get branch name or checkout devel + shell: bash -el {0} run: | if [ "${{ github.event_name }}" == "schedule" ]; then echo "BRANCH_NAME=devel" >> $GITHUB_ENV @@ -71,18 +83,16 @@ jobs: - uses: actions/cache@v4 with: path: .ccache - save-always: true key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }} restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}- - - uses: conda-incubator/setup-miniconda@v3 + - uses: prefix-dev/setup-pixi@v0.8.1 with: - activate-environment: pinocchio-linux - auto-update-conda: true - environment-file: .github/workflows/conda/environment_macos_linux.yml - python-version: ${{ matrix.python-version }} - auto-activate-base: false + pixi-version: v0.33.0 + cache: true + environments: ${{ matrix.environment }} + # Avoid filling all disk space with debug symbols - name: Setup CMAKE_TOOLCHAIN_FILE if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') run: | @@ -99,38 +109,31 @@ jobs: await script({github, context, core}) result-encoding: string - - name: Build Pinocchio + - name: Build Pinocchio [MacOS/Linux/Windows] shell: bash -el {0} + env: + CMAKE_BUILD_PARALLEL_LEVEL: 2 + PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }} run: | - conda list - echo $CONDA_PREFIX - - mkdir build - cd build - - cmake .. \ - -G "Ninja" \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ - -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ - -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ + # Launch configure but overwrite default options + pixi run -e ${{ matrix.environment }} configure \ -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \ ${{ steps.get_labels.outputs.cmakeFlags }} - cmake --build . -j2 - ctest --output-on-failure - cmake --install . + pixi run -e ${{ matrix.environment }} cmake --build build --target all + pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure + pixi run -e ${{ matrix.environment }} cmake --install build - name: Uninstall Pinocchio shell: bash -el {0} run: | - cd build - cmake --build . --target uninstall + cmake --build build --target uninstall check: if: always() - name: check-macos-linux-conda + name: check-macos-linux-windows-pixi needs: - - pinocchio-conda + - pinocchio-pixi runs-on: Ubuntu-latest diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 75e46d9b68..cf7e41693d 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -1,102 +1,117 @@ -// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master -module.exports = async ({github, context, core}) => { - const getPullRequestNumber = (ref) => { - core.debug(`Parsing ref: ${ref}`); - // This assumes that the ref is in the form of `refs/pull/:prNumber/merge` - const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1'); - return parseInt(prNumber, 10); +// Create the default CMakeOptions +function CMakeOptions() { + this.BUILD_WITH_COLLISION_SUPPORT = "OFF"; + this.BUILD_WITH_CASADI_SUPPORT = "OFF"; + this.BUILD_WITH_AUTODIFF_SUPPORT = "OFF"; + this.BUILD_WITH_EXTRA_SUPPORT = "OFF"; + this.BUILD_WITH_CODEGEN_SUPPORT = "OFF"; + this.BUILD_WITH_OPENMP_SUPPORT = "OFF"; + this.BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT = "OFF"; + this.INSTALL_DOCUMENTATION = "ON"; + this.GENERATE_PYTHON_STUBS = "ON"; + this.BUILD_WITH_ACCELERATE_SUPPORT = "OFF"; + this.BUILD_WITH_SDF_SUPPORT = "OFF"; +} + +// Return an object with an association between labels and +// options that should be set to ON +function makeLabelToOptions() { + const os = process.env.RUNNER_OS; + if(os == "Windows") { + return { + build_all: [ + 'BUILD_WITH_COLLISION_SUPPORT', + 'BUILD_WITH_CASADI_SUPPORT', + 'BUILD_WITH_AUTODIFF_SUPPORT', + 'BUILD_WITH_EXTRA_SUPPORT', + 'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT', + 'BUILD_WITH_SDF_SUPPORT' + ], + build_collision: ['BUILD_WITH_COLLISION_SUPPORT'], + build_casadi: ['BUILD_WITH_CASADI_SUPPORT'], + build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'], + build_extra: ['BUILD_WITH_EXTRA_SUPPORT'], + build_codegen: [], + build_openmp: [], + build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'], + build_sdf: ['BUILD_WITH_SDF_SUPPORT'], + build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT'] + }; + } else { + return { + build_all: [ + 'BUILD_WITH_COLLISION_SUPPORT', + 'BUILD_WITH_CASADI_SUPPORT', + 'BUILD_WITH_AUTODIFF_SUPPORT', + 'BUILD_WITH_EXTRA_SUPPORT', + 'BUILD_WITH_CODEGEN_SUPPORT', + 'BUILD_WITH_OPENMP_SUPPORT', + 'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT', + 'BUILD_WITH_SDF_SUPPORT' + ], + build_collision: ['BUILD_WITH_COLLISION_SUPPORT'], + build_casadi: ['BUILD_WITH_CASADI_SUPPORT'], + build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'], + build_extra: ['BUILD_WITH_EXTRA_SUPPORT'], + build_codegen: ['BUILD_WITH_CODEGEN_SUPPORT'], + build_openmp: ['BUILD_WITH_OPENMP_SUPPORT'], + build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'], + build_sdf: ['BUILD_WITH_SDF_SUPPORT'], + build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT'] }; + } +} + +function getPullRequestNumber(ref) { + // This assumes that the ref is in the form of `refs/pull/:prNumber/merge` + const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1'); + return parseInt(prNumber, 10); +} + +// Get activated labels +async function getLabelNames(github, context) { + const {LABELS} = process.env; + if(LABELS) { + return [LABELS]; + } else { const prNumber = context.issue.number || getPullRequestNumber(context.ref); - let cmakeFlags = ''; - // get os process is run on - const os = process.env.RUNNER_OS; - var labelFlags; - if(os == "Windows") - { - labelFlags = { - build_all: [ - ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - ' -DBUILD_WITH_CASADI_SUPPORT=ON', - ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - ' -DINSTALL_DOCUMENTATION=ON', - ' -DGENERATE_PYTHON_STUBS=ON', - ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF', - ' -DBUILD_WITH_SDF_SUPPORT=ON' - ], - build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON', - build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON', - build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON' - }; - } - else - { - labelFlags = { - build_all: [ - ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - ' -DBUILD_WITH_CASADI_SUPPORT=ON', - ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - ' -DBUILD_WITH_OPENMP_SUPPORT=ON', - ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - ' -DINSTALL_DOCUMENTATION=ON', - ' -DBUILD_WITH_CODEGEN_SUPPORT=ON', - ' -DGENERATE_PYTHON_STUBS=ON', - ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF', - ' -DBUILD_WITH_SDF_SUPPORT=ON' - ], - build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON', - build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON', - build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON', - build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON', - build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON' - }; + if(isNaN(prNumber)) { + return []; } - // Get the GitHub event name that triggered the workflow - const {LABELS} = process.env; - var labelNames; - if(LABELS) - { - labelNames=[LABELS]; - } - else - { - if(isNaN(prNumber)) - { - core.setOutput("cmakeFlags", cmakeFlags); - return; - } + const { data } = await github.rest.pulls.get({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + }); + return data.labels.map(label => label.name); + } +} - const { data } = await github.rest.pulls.get({ - owner: context.repo.owner, - repo: context.repo.repo, - pull_number: prNumber, - }); - labelNames = data.labels.map(label => label.name); +// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master +module.exports = async ({github, context, core}) => { + const labelToOptions = makeLabelToOptions(); + const labelNames = await getLabelNames(github, context); + let options = new CMakeOptions(); + + // Turn CMake options ON + for (let label of labelNames) { + if (labelToOptions[label]) { + for (let x of labelToOptions[label]) { + options[x] = "ON"; + } } + } - labelNames.forEach(label => { - if (labelFlags[label]) { - if (Array.isArray(labelFlags[label])) { - cmakeFlags += labelFlags[label].join(' '); - } else { - cmakeFlags += labelFlags[label]; - } - } - }); - console.log(cmakeFlags); - core.setOutput("cmakeFlags", cmakeFlags); - return; + // Transform options object into command line output + let cmakeFlags = ''; + for (let [k, v] of Object.entries(options)) { + cmakeFlags += `-D${k}=${v} `; + } + + console.log(cmakeFlags); + core.setOutput("cmakeFlags", cmakeFlags); + return; } diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml deleted file mode 100644 index 85469f9306..0000000000 --- a/.github/workflows/windows-conda.yml +++ /dev/null @@ -1,145 +0,0 @@ -name: CI - Windows via Conda -on: - schedule: - - cron: '0 0 * * 1' - push: - paths-ignore: - - doc/** - - .gitlab-ci.yml - - .gitignore - - '*.md' - - CITATION.* - - COPYING.LESSER - - colcon.pkg - - .pre-commit-config.yaml - pull_request: - paths-ignore: - - doc/** - - .gitlab-ci.yml - - .gitignore - - '*.md' - - CITATION.* - - COPYING.LESSER - - colcon.pkg - - .pre-commit-config.yaml -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda - runs-on: ${{ matrix.os }} - env: - CCACHE_BASEDIR: ${GITHUB_WORKSPACE} - CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache - CCACHE_COMPRESS: true - CCACHE_COMPRESSLEVEL: 5 - - strategy: - fail-fast: false - matrix: - os: [windows-2019] - compiler: [cl, clang-cl] - - steps: - # Extract branch name or set 'devel' branch for scheduled events - - name: Get branch name or checkout devel - shell: bash - run: | - if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then - echo "BRANCH_NAME=devel" >> $GITHUB_ENV - echo "LABELS=build_all" >> $GITHUB_ENV - else - branchName=${GITHUB_REF#refs/heads/} - echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV - fi - - - uses: actions/checkout@v4 - with: - ref: ${{ env.BRANCH_NAME }} - submodules: recursive - - - uses: actions/cache@v4 - with: - path: .ccache - save-always: true - key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }} - restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}- - - - uses: conda-incubator/setup-miniconda@v3 - with: - activate-environment: pinocchio - auto-update-conda: true - environment-file: .github/workflows/conda/environment_windows.yml - python-version: '3.10' - auto-activate-base: false - - - name: Get Compilation Flags - id: get_labels - uses: actions/github-script@v7 - env: - LABELS: ${{ env.LABELS }} - with: - script: | - const script = require('./.github/workflows/scripts/get_compilation_flags.js'); - await script({github, context, core}) - result-encoding: string - - - name: Build Pinocchio - shell: cmd /C CALL {0} - run: | - :: Set compiler to use. - :: This must be done here and not in env since - :: cxx-compiler activation script set this variable - :: and is called before. - set CC=${{ matrix.compiler }}.exe - set CXX=${{ matrix.compiler }}.exe - echo Compiler set to: %CC% - - call conda list - - :: Create build directory - mkdir build - pushd build - - :: Configure (Ninja use CC and CXX to determine the compiler) - cmake ^ - -G "Ninja" ^ - -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^ - -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^ - -DCMAKE_BUILD_TYPE=Release ^ - ${{ steps.get_labels.outputs.cmakeFlags }} ^ - .. - - :: Build - cmake --build . -j2 - if errorlevel 1 exit 1 - - :: Testing - ctest --output-on-failure - if errorlevel 1 exit 1 - - :: Install - cmake --install . - - :: Test Python import - cd .. - python -c "import pinocchio" - if errorlevel 1 exit 1 - - check: - if: always() - name: check-windows-conda - - needs: - - build - - runs-on: Ubuntu-latest - - steps: - - name: Decide whether the needed jobs succeeded or failed - uses: re-actors/alls-green@release/v1 - with: - jobs: ${{ toJSON(needs) }} From 6555def826be9fab9b8ab8ee2ebb8354c919081e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:05:02 +0200 Subject: [PATCH 03/13] =?UTF-8?q?python:=20Avoid=20Python=20bindings=20cra?= =?UTF-8?q?sh=20on=20OSX=C2=A0in=20Debug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bindings/python/CMakeLists.txt | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt index ca8792bd1a..a582747cef 100644 --- a/bindings/python/CMakeLists.txt +++ b/bindings/python/CMakeLists.txt @@ -44,8 +44,16 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name) endif() add_dependencies(${PROJECT_NAME}-python ${PYTHON_LIB_NAME}) - # Remove lib prefix for the target and use the right define for DLLAPI definition - set_target_properties(${PYTHON_LIB_NAME} PROPERTIES PREFIX "" DEFINE_SYMBOL "${PYWRAP}_EXPORTS") + # Remove lib prefix for the target and use the right define for DLLAPI definition. + # + # Set inlined function visibility to hidden by default. This avoid bug on OSX where two symbol + # from two different binding (`pinocchio::python::exposeSpecificTypeFeatures`) can be wrongly + # loaded (see https://github.com/stack-of-tasks/pinocchio/issues/2462). + set_target_properties( + ${PYTHON_LIB_NAME} + PROPERTIES PREFIX "" + DEFINE_SYMBOL "${PYWRAP}_EXPORTS" + VISIBILITY_INLINES_HIDDEN ON) # Do not report: # From 08c1254d211d7b76fb5e17720fbb0b5f10259c5e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:05:57 +0200 Subject: [PATCH 04/13] cppad: Fix cppad build with last version --- bindings/python/CMakeLists.txt | 6 ++++-- include/pinocchio/autodiff/cppad.hpp | 1 + include/pinocchio/codegen/cppadcg.hpp | 1 + src/CMakeLists.txt | 6 ++++-- 4 files changed, 10 insertions(+), 4 deletions(-) diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt index a582747cef..3ddebe60c6 100644 --- a/bindings/python/CMakeLists.txt +++ b/bindings/python/CMakeLists.txt @@ -172,7 +172,8 @@ if(BUILD_PYTHON_INTERFACE) target_compile_definitions( ${PYWRAP}_cppad PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PYWRAP}_cppad SYSTEM PUBLIC ${cppad_INCLUDE_DIR}) + target_include_directories(${PYWRAP}_cppad SYSTEM + PUBLIC $) target_link_libraries(${PYWRAP}_cppad PUBLIC ${cppad_LIBRARY}) list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppad") @@ -186,7 +187,8 @@ if(BUILD_PYTHON_INTERFACE) target_compile_definitions( ${PYWRAP}_cppadcg PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PYWRAP}_cppadcg SYSTEM PUBLIC ${cppadcg_INCLUDE_DIR}) + target_include_directories(${PYWRAP}_cppadcg SYSTEM + PUBLIC $) target_link_libraries(${PYWRAP}_cppadcg PUBLIC ${cppadcg_LIBRARY} ${cppad_LIBRARY}) list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppadcg") diff --git a/include/pinocchio/autodiff/cppad.hpp b/include/pinocchio/autodiff/cppad.hpp index de37bed2ee..3004c751f5 100644 --- a/include/pinocchio/autodiff/cppad.hpp +++ b/include/pinocchio/autodiff/cppad.hpp @@ -15,6 +15,7 @@ #define EIGEN_MATRIXBASE_PLUGIN +#include #include #include diff --git a/include/pinocchio/codegen/cppadcg.hpp b/include/pinocchio/codegen/cppadcg.hpp index 62ba80746a..5ceba8cf9c 100644 --- a/include/pinocchio/codegen/cppadcg.hpp +++ b/include/pinocchio/codegen/cppadcg.hpp @@ -10,6 +10,7 @@ #include "pinocchio/math/fwd.hpp" #include +#include #include #include "pinocchio/autodiff/cppad.hpp" diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index d645cb85c9..aeb1902cdd 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -302,7 +302,8 @@ if(BUILD_WITH_CODEGEN_SUPPORT) # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program. # This can happen when Pinocchio is build in Debug mode using another library using cppad. target_compile_definitions(${PROJECT_NAME}_cppadcg PUBLIC CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} ${cppadcg_INCLUDE_DIR}) + target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} + $) target_link_libraries(${PROJECT_NAME}_cppadcg ${CPPADCG_SCOPE} ${cppadcg_LIBRARY} ${cppad_LIBRARY}) endif() @@ -313,7 +314,8 @@ if(BUILD_WITH_AUTODIFF_SUPPORT) # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program. # This can happen when Pinocchio is build in Debug mode using another library using cppad. target_compile_definitions(${PROJECT_NAME}_cppad PUBLIC CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} ${cppad_INCLUDE_DIR}) + target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} + $) target_link_libraries(${PROJECT_NAME}_cppad ${CPPAD_SCOPE} ${cppad_LIBRARY}) endif() From 8b47341a4836f3139747d4c0fd095c8646c7c6c0 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:06:16 +0200 Subject: [PATCH 05/13] mjcf: Fix unit test with last Boost version --- unittest/mjcf.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/unittest/mjcf.cpp b/unittest/mjcf.cpp index e6a8887112..1c1f6e5a12 100644 --- a/unittest/mjcf.cpp +++ b/unittest/mjcf.cpp @@ -483,7 +483,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath) - + )"); #else @@ -517,7 +517,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath) // Test Meshes pinocchio::mjcf::details::MjcfMesh mesh = graph.mapOfMeshes.at("mesh"); #ifdef _WIN32 - BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C://auto/mesh.obj"); + BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C:/auto/mesh.obj"); #else BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "/auto/mesh.obj"); #endif From e7148f88704bf4d5464176ddab39e6f1d4abe865 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:06:36 +0200 Subject: [PATCH 06/13] =?UTF-8?q?core:=C2=A0Initialize=20all=20RigidConstr?= =?UTF-8?q?aintDataTpl=20values?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- include/pinocchio/algorithm/contact-info.hpp | 56 +++++++++++++++----- 1 file changed, 44 insertions(+), 12 deletions(-) diff --git a/include/pinocchio/algorithm/contact-info.hpp b/include/pinocchio/algorithm/contact-info.hpp index cbb648e9eb..2d60a3ff26 100644 --- a/include/pinocchio/algorithm/contact-info.hpp +++ b/include/pinocchio/algorithm/contact-info.hpp @@ -901,11 +901,43 @@ namespace pinocchio /// \brief Default constructor RigidConstraintDataTpl() + : contact_force(Force::Zero()) + , oMc1(SE3::Identity()) + , oMc2(SE3::Identity()) + , c1Mc2(SE3::Identity()) + , contact_placement_error(Motion::Zero()) + , contact1_velocity(Motion::Zero()) + , contact2_velocity(Motion::Zero()) + , contact_velocity_error(Motion::Zero()) + , contact_acceleration(Motion::Zero()) + , contact_acceleration_desired(Motion::Zero()) + , contact_acceleration_error(Motion::Zero()) + , contact1_acceleration_drift(Motion::Zero()) + , contact2_acceleration_drift(Motion::Zero()) + , contact_acceleration_deviation(Motion::Zero()) + , extended_motion_propagators_joint1() + , lambdas_joint1() + , extended_motion_propagators_joint2() + , dv1_dq(6, 0) + , da1_dq(6, 0) + , da1_dv(6, 0) + , da1_da(6, 0) + , dv2_dq(6, 0) + , da2_dq(6, 0) + , da2_dv(6, 0) + , da2_da(6, 0) + , dvc_dq() + , dac_dq() + , dac_dv() + , dac_da() { } explicit RigidConstraintDataTpl(const ContactModel & contact_model) : contact_force(Force::Zero()) + , oMc1(SE3::Identity()) + , oMc2(SE3::Identity()) + , c1Mc2(SE3::Identity()) , contact_placement_error(Motion::Zero()) , contact1_velocity(Motion::Zero()) , contact2_velocity(Motion::Zero()) @@ -919,18 +951,18 @@ namespace pinocchio , extended_motion_propagators_joint1(contact_model.depth_joint1, Matrix6::Zero()) , lambdas_joint1(contact_model.depth_joint1, Matrix6::Zero()) , extended_motion_propagators_joint2(contact_model.depth_joint2, Matrix6::Zero()) - , dv1_dq(6, contact_model.nv) - , da1_dq(6, contact_model.nv) - , da1_dv(6, contact_model.nv) - , da1_da(6, contact_model.nv) - , dv2_dq(6, contact_model.nv) - , da2_dq(6, contact_model.nv) - , da2_dv(6, contact_model.nv) - , da2_da(6, contact_model.nv) - , dvc_dq(contact_model.size(), contact_model.nv) - , dac_dq(contact_model.size(), contact_model.nv) - , dac_dv(contact_model.size(), contact_model.nv) - , dac_da(contact_model.size(), contact_model.nv) + , dv1_dq(Matrix6x::Zero(6, contact_model.nv)) + , da1_dq(Matrix6x::Zero(6, contact_model.nv)) + , da1_dv(Matrix6x::Zero(6, contact_model.nv)) + , da1_da(Matrix6x::Zero(6, contact_model.nv)) + , dv2_dq(Matrix6x::Zero(6, contact_model.nv)) + , da2_dq(Matrix6x::Zero(6, contact_model.nv)) + , da2_dv(Matrix6x::Zero(6, contact_model.nv)) + , da2_da(Matrix6x::Zero(6, contact_model.nv)) + , dvc_dq(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_dq(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_dv(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_da(MatrixX::Zero(contact_model.size(), contact_model.nv)) { } From 2ac76cf0e6ac8f321f66037e94c9e17c181468ff Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:07:08 +0200 Subject: [PATCH 07/13] unittest: Fix sincos on OSX in Debug mode --- unittest/sincos.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/unittest/sincos.cpp b/unittest/sincos.cpp index eaf583343a..276758dfe4 100644 --- a/unittest/sincos.cpp +++ b/unittest/sincos.cpp @@ -19,7 +19,9 @@ namespace template<> inline float sinCosTolerance() { - return 1e-7f; + // I don't know how tolerance has been calculated. + // 1e-7 doesn't work on ARM + Debug architecture. + return 1.5e-7f; } template<> From da9767163ea5efbc25c333972791d7c3573a2742 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:09 +0200 Subject: [PATCH 08/13] readme: Add Pixi build instruction --- README.md | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/README.md b/README.md index c4a8895040..9d841cf437 100644 --- a/README.md +++ b/README.md @@ -190,6 +190,23 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th | | |      | **Humble** | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | | | |      | **Rolling** | [![](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | +## Build/install from source with Pixi + +To build **Pinocchio** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation). + +[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that +will install all required dependencies in `.pixi` directory. +It's used by our CI agent so you have the guarantee to get the right dependencies. + +Run the following command to install dependencies, configure, build and test the project: + +```bash +pixi run test +``` + +The project will be built in the `build` directory. +You can run `pixi shell` and build the project with `cmake` and `ninja` manually. + ## Visualization **Pinocchio** provides support for many open-source and free visualizers: From b45de4fa0b8c6c58019f2346fa482fbb405aa18f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:15 +0200 Subject: [PATCH 09/13] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index d142af2f0e..6878bbc5eb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402)) - Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431)) - Add Pseudo inertia and Log-cholesky parametrization ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) +- Add Pixi support ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) ### Fixed - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400)) From e2f19294346c9c640862d52cc6969c36b1548e1e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:25 +0200 Subject: [PATCH 10/13] ci: Add auto lockfile update workflow --- .github/workflows/update_pixi_lockfile.yml | 50 ++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 .github/workflows/update_pixi_lockfile.yml diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml new file mode 100644 index 0000000000..bc6a192758 --- /dev/null +++ b/.github/workflows/update_pixi_lockfile.yml @@ -0,0 +1,50 @@ +name: CI - Update Pixi lockfile +permissions: + contents: write + pull-requests: write + +on: + workflow_dispatch: + schedule: + - cron: 0 5 1 * * + +jobs: + pixi-update: + runs-on: ubuntu-latest + + steps: + - uses: actions/create-github-app-token@v1 + id: generate-token + with: + app-id: ${{ secrets.APP_ID }} + private-key: ${{ secrets.APP_PRIVATE_KEY }} + + - uses: actions/checkout@v4 + with: + token: ${{ steps.generate-token.outputs.token }} + ref: devel + # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config + persist-credentials: false + + - name: Set up pixi + uses: prefix-dev/setup-pixi@v0.8.1 + with: + run-install: false + + - name: Update lockfile + run: | + set -o pipefail + pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md + + - name: Create pull request + uses: peter-evans/create-pull-request@v7 + with: + token: ${{ steps.generate-token.outputs.token }} + commit-message: 'pixi: Update pixi lockfile' + title: Update pixi lockfile + body-path: diff.md + branch: topic/update-pixi + base: devel + labels: pixi + delete-branch: true + add-paths: pixi.lock From 9bd21b6c17e42cd23b09da556821a932f95a5d37 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 17:02:28 +0200 Subject: [PATCH 11/13] pixi: Move all scripts inside build_scripts/pixi/ --- {scripts => build_scripts/pixi}/activation.bat | 0 {scripts => build_scripts/pixi}/activation.sh | 0 {scripts => build_scripts/pixi}/activation_clang.sh | 0 {scripts => build_scripts/pixi}/activation_clang_cl.bat | 0 pixi.toml | 8 ++++---- 5 files changed, 4 insertions(+), 4 deletions(-) rename {scripts => build_scripts/pixi}/activation.bat (100%) rename {scripts => build_scripts/pixi}/activation.sh (100%) rename {scripts => build_scripts/pixi}/activation_clang.sh (100%) rename {scripts => build_scripts/pixi}/activation_clang_cl.bat (100%) diff --git a/scripts/activation.bat b/build_scripts/pixi/activation.bat similarity index 100% rename from scripts/activation.bat rename to build_scripts/pixi/activation.bat diff --git a/scripts/activation.sh b/build_scripts/pixi/activation.sh similarity index 100% rename from scripts/activation.sh rename to build_scripts/pixi/activation.sh diff --git a/scripts/activation_clang.sh b/build_scripts/pixi/activation_clang.sh similarity index 100% rename from scripts/activation_clang.sh rename to build_scripts/pixi/activation_clang.sh diff --git a/scripts/activation_clang_cl.bat b/build_scripts/pixi/activation_clang_cl.bat similarity index 100% rename from scripts/activation_clang_cl.bat rename to build_scripts/pixi/activation_clang_cl.bat diff --git a/pixi.toml b/pixi.toml index 054e1e20fe..7d15868ded 100644 --- a/pixi.toml +++ b/pixi.toml @@ -26,10 +26,10 @@ meshcat-python = ">=0.3" matplotlib = ">=3.9.2" [activation] -scripts = ["scripts/activation.sh"] +scripts = ["build_scripts/pixi/activation.sh"] [target.win-64.activation] -scripts = ["scripts/activation.bat"] +scripts = ["build_scripts/pixi/activation.bat"] [tasks] # We must avoid to set CMAKE_CXX_FLAGS because of WIN32 @@ -125,14 +125,14 @@ python = "3.9.*" # to avoid cxx-compiler to overwrite them. [feature.clang-cl] platforms = ["win-64"] -activation = { scripts = ["scripts/activation_clang_cl.bat"] } +activation = { scripts = ["build_scripts/pixi/activation_clang_cl.bat"] } # Use clang on GNU/Linux. # We must use scripts instead of env to setup CC and CXX # to avoid cxx-compiler to overwrite them. [feature.clang] platforms = ["linux-64"] -activation = { scripts = ["scripts/activation_clang.sh"] } +activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] } dependencies = { clangxx = "*" } [environments] From a84ef5d776f0f32a5b001a46818274c50f17bc97 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Mon, 28 Oct 2024 11:42:32 +0100 Subject: [PATCH 12/13] changelog: Add entries --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6878bbc5eb..69c90dae5e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -26,6 +26,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` ([#2443](https://github.com/stack-of-tasks/pinocchio/pull/2443)) +- Fix build with CppAd 2024 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix mixing library symbols between Pinocchio scalar bindings ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) ### Changed From 141925c39957ab9adfcc20b9065117cf82da5c3c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Mon, 28 Oct 2024 11:43:46 +0100 Subject: [PATCH 13/13] ci: Don't launch CI on CHANGELOG.md --- .github/workflows/linux.yml | 2 ++ .github/workflows/macos-linux-windows-pixi.yml | 2 ++ .github/workflows/ros-ci.yml | 2 ++ 3 files changed, 6 insertions(+) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index 4cdcc70aae..ec81bb7ece 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -11,6 +11,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -21,6 +22,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/macos-linux-windows-pixi.yml b/.github/workflows/macos-linux-windows-pixi.yml index 47aa3fdf46..dbf14969de 100644 --- a/.github/workflows/macos-linux-windows-pixi.yml +++ b/.github/workflows/macos-linux-windows-pixi.yml @@ -13,6 +13,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -23,6 +24,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index fa0a40a096..c9da083b58 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -14,6 +14,7 @@ on: - CITATION.* - COPYING.LESSER - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -23,6 +24,7 @@ on: - CITATION.* - COPYING.LESSER - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true