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 (dartsim/dart@7e3db63):

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 conda-forge/ceres-solver-feedstock#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 conda-forge/fcl-feedstock#11 to get merged, and then we can restart the CI of this PR and hopefully merge it.

[traversaro]

Indeed, after merging conda-forge/fcl-feedstock#11 that uses Eigen 3.4.0 the tests on Windows are working fine.