Merge branch 'master' into learned_base_pose_sudden_joint_fix

.github/labeler.yml

@@ -19,6 +19,7 @@
 ':hammer: component: SimplifiedModelControllers': src/SimplifiedModelControllers/**/*
 ':hammer: component: System': src/System/**/*
 ':hammer: component: TSID': src/TSID/**/*
+':hammer: component: TestUtils': src/TestUtils/**/*
 ':hammer: component: TextLogging': src/TextLogging/**/*
 ':hammer: component: YarpUtilities': src/YarpUtilities/**/*
 ':school: Examples': examples/**/*

.github/workflows/changelog-checker.yml

@@ -1,20 +1,14 @@
-name: Changelog Checker
-
+name: Check Changelog
 on:
   pull_request:
     types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
     branches:
       - master
 jobs:
-  build:
-    name: Check Actions
-    runs-on: ubuntu-latest
+  Check-Changelog:
+    name: Check Changelog Action
+    runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v1
-      - name: Changelog check
-        uses: Zomzog/changelog-checker@14fa5f86a23c48fddade9c0e0331b90844a8ea20
+      - uses: tarides/changelog-check-action@v2
         with:
-          fileName: CHANGELOG.md
-          noChangelogLabel: '[disable changelog ci]'
-        env:
-          GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
+          changelog: CHANGELOG.md

.github/workflows/ci.yml

@@ -14,16 +14,16 @@ env:
   vcpkg_robotology_TAG: v0.11.0
   YCM_TAG: v0.15.3
   YARP_TAG: v3.8.0
-  iDynTree_TAG: v8.0.0
+  iDynTree_TAG: v12.3.3
   CasADi_TAG: 3.5.5.2
-  manif_TAG: 0.0.4
-  matioCpp_TAG: v0.2.0
+  manif_TAG: 0.0.5
+  matioCpp_TAG: v0.2.5
   LieGroupControllers_TAG: v0.2.0
-  osqp_TAG: v0.6.2
+  osqp_TAG: v0.6.3
   OsqpEigen_TAG: v0.7.0
   tomlplusplus_TAG: v3.0.1
   icub_models_TAG: v2.4.0
-  UnicyclePlanner_TAG: d3f6c80afe21a9958da769c8dd8a2bbfee5ea922
+  UnicyclePlanner_TAG: v0.7.0
   telemetry_TAG: v1.2.0
   bayes_filters_TAG: 53124b1d85fc00c8cd44d572a1e482d7e58c0f50
 
@@ -38,7 +38,7 @@ jobs:
     name: Find Trailing Whitespace
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Find Trailing Whitespace
         run: |
           set +e
@@ -58,11 +58,11 @@ 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:
-    - uses: actions/checkout@master
+    - uses: actions/checkout@v4
 
     # Print environment variables to simplify development and debugging
     - name: Environment Variables
@@ -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: |
@@ -134,18 +115,17 @@ jobs:
         sudo apt-get install librealsense2-dev
 
     # Get the number of cores
-    - name: Get number of cores to speed up cmake build [Windows]
+    - name: Get number of cores to speed up cmake build and test to skip [Windows]
       if: matrix.os == 'windows-2019'
       run: |
          echo "NUM_CORES_FOR_CMAKE_BUILD=$((Get-CimInstance Win32_ComputerSystem).NumberOfLogicalProcessors)" >> $env:GITHUB_ENV
+         echo "BLF_TEST_TO_SKIP=YarpRobotLoggerDeviceUnitTests" >> $env:GITHUB_ENV
 
-    - name: Get number of cores to speed up cmake build [Ubuntu]
+    - name: Get number of cores to speed up cmake build and test to suppress [Ubuntu]
       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
+      run: |
+           echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV
+           echo "BLF_TEST_TO_SKIP=" >> $env:GITHUB_ENV
 
     - name: Cache Source-based Dependencies
       id: cache-source-deps
@@ -179,7 +159,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
-              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF \
+              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
         # Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3
@@ -339,8 +319,8 @@ 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: |
 
@@ -370,7 +350,7 @@ jobs:
         git checkout ${YARP_TAG}
         mkdir -p build
         cd build
-        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
+        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON ..
         cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
 
         # iDynTree
@@ -425,7 +405,7 @@ jobs:
         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 +482,6 @@ 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 +526,6 @@ 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
@@ -596,4 +554,4 @@ jobs:
       run: |
         cd build
         export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
-        ctest --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} .
+        ctest -E "${BLF_TEST_TO_SKIP}" --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} .

.github/workflows/conda-forge-ci.yml

@@ -10,6 +10,11 @@ on:
   # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
+# Workaround for https://github.com/conda-forge/mumps-feedstock/issues/125
+# and https://github.com/conda-forge/mumps-feedstock/pull/126#issuecomment-2355357834
+env:
+  OMP_NUM_THREADS: 1
+
 jobs:
   build:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
@@ -21,11 +26,11 @@ jobs:
       fail-fast: false
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
-        miniforge-variant: Mambaforge
+        miniforge-variant: Miniforge3
         miniforge-version: latest
         channels: conda-forge,robostack-staging
         channel-priority: true
@@ -36,42 +41,40 @@ jobs:
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Dependencies
-        mamba install cmake compilers make ninja pkg-config \
-                      "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
+        conda install cmake compilers make ninja pkg-config \
+                      "idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
                       liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \
                       nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
                       tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \
-                      ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib
+                      ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')
       shell: bash -l {0}
       run: |
-        mamba install manifpy 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
+        conda install manifpy mesa-libgl-devel-cos7-x86_64
 
     - name: Windows-only Dependencies [Windows]
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
-        # Compilation related dependencies
-        mamba install vs2019_win-64
+        conda install vs2019_win-64
 
-    - name: Remove icub-models and pcl [Windows]
+    - name: Windows-workarounds [Windows]
       if: contains(matrix.os, 'windows')
-      shell: bash -l {0}
+      shell: cmd /C CALL {0}
       run: |
-        # Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18
-        # pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836
-        # pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0
-        mamba remove icub-models pcl
+        :: Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18
+        :: pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836
+        :: pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0
+        :: pybind11 constrained as workaround for https://github.com/conda-forge/pybind11-feedstock/issues/95
+        conda install "pybind11<2.12.0"
+        conda remove icub-models pcl
 
     - name: Print used environment
       shell: bash -l {0}
       run: |
-        mamba list
+        conda list
         env
 
     - name: Configure [Linux&macOS]
@@ -80,8 +83,8 @@ 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=${{ matrix.build_type }} ..
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
     - name: Build [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -103,7 +106,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
     - name: Build [Windows]
       if: contains(matrix.os, 'windows')
@@ -118,3 +121,10 @@ jobs:
       run: |
         cd build
         ctest --output-on-failure -C ${{ matrix.build_type }}
+
+    - name: Install and test installed package
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+        cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework

.github/workflows/gh-pages.yml

@@ -9,11 +9,11 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@master
+      - uses: actions/checkout@v4
 
       - uses: conda-incubator/setup-miniconda@v2
         with:
-          miniforge-variant: Mambaforge
+          miniforge-variant: Miniforge3
           miniforge-version: latest
           channels: conda-forge
           channel-priority: true
@@ -33,7 +33,7 @@ jobs:
           conda config --remove channels defaults
 
           # Dependencies
-          mamba install doxygen=1.9.1 toml pygments docutils jinja2
+          conda install doxygen=1.9.1 toml pygments docutils jinja2
 
       - name: Fetch m.css
         shell: bash -l {0}
@@ -51,7 +51,7 @@ jobs:
           python3 ./generate_website.py --mcss_path ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py
 
       - name: Archive artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: site
           path: docs/site

.github/workflows/update-labeler-file.yml

@@ -10,7 +10,7 @@ jobs:
   get-version:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Update the labeler file
         run: |
           cd ./.ci

.gitignore

@@ -12,6 +12,8 @@ build*
 # IDEs
 .idea*
 .vscode*
+.vs*
+CMakeSettings.json
 
 # ======
 # Python (https://github.com/github/gitignore/blob/master/Python.gitignore)
@@ -155,3 +157,6 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
+
+# compile commands file for resolving includes
+compile_commands.json