dartsim v6.11.0

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Dependency Analysis

We couldn't run dependency analysis due to an internal error in the bot. :( Help is very welcome!

[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

Build is failing in some test compilation:

[ 86%] Building CXX object unittests/unit/CMakeFiles/test_Optimizer.dir/test_Optimizer.cpp.o
In file included from /home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/Icosphere.hpp:104,
                 from /home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/unittests/unit/test_Icosphere.cpp:34:
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/detail/Icosphere-impl.hpp: In instantiation of 'static std::pair<std::vector<typename dart::math::TriMesh<S>::Vector3>, std::vector<typename dart::math::TriMesh<S>::Triangle> > dart::math::Icosphere<S_>::computeIcosahedron(dart::math::Icosphere<S_>::S) [with S_ = double; typename dart::math::TriMesh<S>::Triangle = Eigen::Matrix<long unsigned int, 3, 1, 0, 3, 1>; typename dart::math::TriMesh<S>::Vector3 = Eigen::Matrix<double, 3, 1>; dart::math::Icosphere<S_>::S = double]':
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/detail/Icosphere-impl.hpp:134:67:   required from 'void dart::math::Icosphere<S_>::build() [with S_ = double]'
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/detail/Icosphere-impl.hpp:110:3:   required from 'dart::math::Icosphere<S_>::Icosphere(dart::math::Icosphere<S_>::S, std::size_t) [with S_ = double; dart::math::Icosphere<S_>::S = double; std::size_t = long unsigned int]'
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/unittests/unit/test_Icosphere.cpp:48:59:   required from here
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/detail/Icosphere-impl.hpp:78:24: error: converting to 'Eigen::Matrix<double, 3, 1>' from initializer list would use explicit constructor 'Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const std::initializer_list<std::initializer_list<typename Eigen::internal::traits<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >::Scalar> >&) [with _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1; typename Eigen::internal::traits<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >::Scalar = double]'
   78 |   std::vector<Vector3> vertices = {{{-x, 0, z},
      |                        ^~~~~~~~
/home/conda/feedstock_root/build_artifacts/dartsim_1633859965598/work/dart/math/detail/Icosphere-impl.hpp:91:32: error: converting to 'Eigen::Matrix<long unsigned int, 3, 1, 0, 3, 1>' from initializer list would use explicit constructor 'Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const std::initializer_list<std::initializer_list<typename Eigen::internal::traits<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >::Scalar> >&) [with _Scalar = long unsigned int; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1; typename Eigen::internal::traits<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >::Scalar = long unsigned int]'
   91 |   static std::vector<Triangle> triangles
      |                                ^~~~~~~~~
make[3]: *** [unittests/unit/CMakeFiles/test_Icosphere.dir/build.make:76: unittests/unit/CMakeFiles/test_Icosphere.dir/test_Icosphere.cpp.o] Error 1
make[2]: *** [CMakeFiles/Makefile2:3180: unittests/unit/CMakeFiles/test_Icosphere.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
[ 86%] Linking CXX executable test_Optimizer
[ 86%] Built target test_Optimizer
make[1]: *** [CMakeFiles/Makefile2:2155: unittests/CMakeFiles/tests.dir/rule] Error 2
make: *** [Makefile:426: tests] Error 2
Traceback (most recent call last):

Sound like a Eigen 3.4 compilation problem.

[traversaro]

New error:

/home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/work/unittests/unit/test_Signal.cpp: In member function 'virtual void Signal_NonStaticMemberFunction_Test::TestBody()':
/home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/work/unittests/unit/test_Signal.cpp:142:9: error: reference to 'placeholders' is ambiguous
  142 |   using placeholders::_1;
      |         ^~~~~~~~~~~~
                 from /home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/work/build/dart/common/common.hpp:26,
                 from /home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/work/dart/dart.hpp:35,
                 from /home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/work/unittests/unit/test_Signal.cpp:36:
/home/conda/feedstock_root/build_artifacts/dartsim_1633884461620/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pla/include/boost/mpl/aux_/preprocessed/gcc/placeholders.hpp:42:16: note:   'mpl_::_2'
   42 | typedef arg<2> _2;
      |                ^~

[traversaro]

All the build are not working, the only problems are the following Windows tests that are failing:

The following tests FAILED:
      2 - test_CollisionGroups (Failed)
      3 - test_ContactConstraint (Failed)
     21 - test_FileInfoWorld (Failed)
     23 - test_MjcfParser (Failed)
     24 - test_SdfParser (Failed)
     25 - test_SkelParser (Failed)

[traversaro]

It seems that this test are passing in Dart vcpkg-based upstream Windows CI: https://github.com/dartsim/dart/runs/3654028003 .

[traversaro]

I was able to reproduce this failure on latest dart (https://github.com/dartsim/dart/commit/7e3db63a07f7fcabd577efbd0487c6cd99e31c34):

The following tests FAILED:
          2 - test_CollisionGroups (Failed)
          3 - test_ContactConstraint (Failed)
         21 - test_FileInfoWorld (Failed)
         23 - test_MjcfParser (Failed)
         24 - test_SdfParser (Failed)
         25 - test_SkelParser (Failed)

conda list:

~~~ (dartdev) C:\src\dart\build>conda list # packages in environment at C:\Users\STraversaro\AppData\Local\mambaforge\envs\dartdev: # # Name Version Build Channel assimp 5.0.1 hc2aa0de_6 conda-forge boost-cpp 1.74.0 h5b4e17d_5 conda-forge bullet-cpp 3.17 hf5e1058_1 conda-forge bzip2 1.0.8 h8ffe710_4 conda-forge ca-certificates 2021.10.8 h5b45459_0 conda-forge cmake 3.21.3 h39d44d4_0 conda-forge console_bridge 1.0.1 h5362a0b_0 conda-forge eigen 3.4.0 h2d74725_0 conda-forge fcl 0.6.1 hbf27b1e_3 conda-forge flann 1.9.1 h075982a_1009 conda-forge freeglut 3.2.1 h0e60522_2 conda-forge gettext 0.19.8.1 ha2e2712_1008 conda-forge hdf5 1.12.1 nompi_h57737ce_101 conda-forge krb5 1.19.2 h6da9e4a_3 conda-forge libccd 2.1 h0e60522_1 conda-forge libcurl 7.80.0 h789b8ee_0 conda-forge libffi 3.4.2 h8ffe710_5 conda-forge libglib 2.70.0 h3be07f2_1 conda-forge libiconv 1.16 he774522_0 conda-forge libode 0.16.2 h8a704f9_9 conda-forge libssh2 1.10.0 h9a1e1f7_2 conda-forge libzlib 1.2.11 h8ffe710_1013 conda-forge lz4-c 1.9.3 h8ffe710_1 conda-forge ninja 1.10.2 h2d74725_1 conda-forge octomap 1.9.7 h5362a0b_0 conda-forge openssl 3.0.0 h8ffe710_2 conda-forge pcre 8.45 h0e60522_0 conda-forge perl 5.32.1.1 1_h57928b3_strawberry conda-forge pip 21.3.1 pyhd8ed1ab_0 conda-forge pkg-config 0.29.2 h2bf4dc2_1008 conda-forge python 3.10.0 hcf16a7b_2_cpython conda-forge python_abi 3.10 2_cp310 conda-forge setuptools 58.5.3 py310h5588dad_0 conda-forge sqlite 3.36.0 h8ffe710_2 conda-forge tinyxml 2.6.2 h2d74725_2 conda-forge tinyxml2 9.0.0 h39d44d4_1 conda-forge tk 8.6.11 h8ffe710_1 conda-forge tzdata 2021e he74cb21_0 conda-forge ucrt 10.0.20348.0 h57928b3_0 conda-forge urdfdom 2.3.5 h2d74725_0 conda-forge urdfdom_headers 1.0.5 h5362a0b_2 conda-forge vc 14.2 hb210afc_5 conda-forge vs2015_runtime 14.29.30037 h902a5da_5 conda-forge vs2019_win-64 19.29.30037 h774bd60_5 conda-forge vswhere 2.8.4 h57928b3_0 conda-forge wheel 0.37.0 pyhd8ed1ab_1 conda-forge xz 5.2.5 h62dcd97_1 conda-forge zlib 1.2.11 h8ffe710_1013 conda-forge zstd 1.5.0 h6255e5f_0 conda-forge ~~~

[traversaro]

The test are fixed once one installs eigen 3.3.9, that was the version with which fcl 0.6.1 was compiled. So it seems that indeed there are Eigen ABI problems related to different Eigen minor versions, as it was suggested by ceres developers in https://github.com/conda-forge/ceres-solver-feedstock/issues/19 . For some reason this problem emerge just on Windows. The long term solution is to add proper run_export('eigen') to all libraries (like fcl and dart) that use Eigen in their public interfaces, but in the short term the easier solution is just to rebuild fcl with Eigen 3.4.0 .

[traversaro]

but in the short term the easier solution is just to rebuild fcl with Eigen 3.4.0 .

Related to this, at this point better to wait for https://github.com/conda-forge/fcl-feedstock/pull/11 to get merged, and then we can restart the CI of this PR and hopefully merge it.

[traversaro]

Indeed, after merging https://github.com/conda-forge/fcl-feedstock/pull/11 that uses Eigen 3.4.0 the tests on Windows are working fine.