Merge wearables in human-dynamics-estimation?

[traversaro]

Hello everyone, given that:

• Both wearables and human-dynamics-estimation do not have a well define maintainer, with people (mainly me, @S-Dafarra and @dariosortino) handling PRs and/or tags and released when needed.
• We would like to have human-dynamics-estimation conda packages with python bindings enabled on linux-aarch64, to test the recent work of team X on Nvidia SoC systems like Jetson, and the easiest way to get this done (see Investigate generation of conda binaries for linux-aarch64 robotology-superbuild#738) is to bring the related packages in conda-forge.

I thought that to simplify mantainance of the repo, we could merge wearables in human-dynamics-estimation so that:

• They can be packaged and mantained as a single package on conda-forge
• If we need to do a change and released them, this can be done with a single PR that modify both, and if a release/tag is necessary a single one can be done.

Anyone has any specific opinion on this? If people agree, I will be glad to do the change myself. Note that if there is someone that only need wearables, I plan to add specific CMake options so that you could still build only the existing wearables code out of the human-dynamics-estimation repo.

To give you an idea of the current state of dependencies, this is the current tree of dependencies in robotology-superbuild (generated via dot -Tpdf robotology-superbuild.dot -o view.pdf in the build of the superbuild):

[dariosortino]

I never worked directly on wearables but I think that for iFeel applications is not a problem. Let us know if there is something to update in whatever is used by human-dynamics-estimation and wearables

[traversaro]

PR ready for the migration:

• Merge wearables repo in human-dynamics-estimation human-dynamics-estimation#395
• Merge wearables in human-dynamics-estimation robotology-superbuild#1720

[traversaro]

The plan is:

• Get the green light of @dariosortino and @S-Dafarra (see Merge wearables repo in human-dynamics-estimation human-dynamics-estimation#395 (comment))
• Merge Merge wearables repo in human-dynamics-estimation human-dynamics-estimation#395 and Merge wearables in human-dynamics-estimation robotology-superbuild#1720
• Tag human-dynamics-estimation 4.0.0 (major bump to easily detect before and after the merge)
• Package human-dynamics-estimation 4.0.0 in conda-forge (currently blocked by Add recipe for icub-firmware-shared packages conda-forge/staged-recipes#27675 and Add recipe for icub-main packages conda-forge/staged-recipes#27692)

Once this is done, we should have everything to run the online inference/ML part of Team X demos in conda-forge, including linux-aarch64 packages. fyi @GiulioRomualdi @giotherobot @carloscp3009

[traversaro]

* [ ]  Package human-dynamics-estimation 4.0.0 in conda-forge (currently blocked by [Add recipe for icub-firmware-shared packages conda-forge/staged-recipes#27675](https://github.com/conda-forge/staged-recipes/pull/27675) and [Add recipe for icub-main packages conda-forge/staged-recipes#27692](https://github.com/conda-forge/staged-recipes/pull/27692))

In progress in conda-forge/staged-recipes#27723 .

[traversaro]

* [ ]  Package human-dynamics-estimation 4.0.0 in conda-forge (currently blocked by [Add recipe for icub-firmware-shared packages conda-forge/staged-recipes#27675](https://github.com/conda-forge/staged-recipes/pull/27675) and [Add recipe for icub-main packages conda-forge/staged-recipes#27692](https://github.com/conda-forge/staged-recipes/pull/27692))

In progress in conda-forge/staged-recipes#27723 .

PR ready, just waiting for review now.

[traversaro]

PR merged, the last step is to swich the conda generation pipeline for robotology channel to use the new packages, see robotology/robotology-superbuild#1727 .

[traversaro]

Great, with just ~5 days of delay we have robotology packages built against the latest hde 4.0.0 on conda-forge: https://github.com/robotology/robotology-superbuild/actions/runs/11170548014 . At this point I think I can do a nice announcement and close this issue.

[traversaro]

Announcement done: https://github.com/orgs/robotology/discussions/717 .