Merge branch 'main' into Investigate_Issue_1654

dartsim · Dec 21, 2024 · 7ce709a · 7ce709a
2 parents aee3429 + 306b289
commit 7ce709a
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diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml
@@ -22,38 +22,13 @@ on:
 
 jobs:
   build:
-    name: ${{ matrix.os }}-${{ matrix.build_type }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [macos-latest]
-        build_type: [Release]
-        enable_simd: [ON]
-    env:
-      COMPILER: clang
-      BUILD_TYPE: ${{ matrix.build_type }}
-      BUILD_DARTPY: OFF
-      DART_USE_SYSTEM_IMGUI: OFF
-      IN_CI: ON
-      ENABLE_SIMD: ${{ matrix.enable_simd }}
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Install Dependencies
-        env:
-          INSTALL_OSG_HEAD: OFF # To avoid building OSG, until 3.7 is released.
-        run: scripts/install_osx.sh
-      - name: Build
-        run: sudo -E scripts/build.sh
-
-  build_on_pixi:
-    name: ${{ matrix.os }}-pixi
+    name: ${{ matrix.os == 'macos-latest-large' && 'x86_64' || 'arm64' }}-${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [macos-latest]
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -64,12 +39,19 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
 
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -21,20 +21,13 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_on_docker:
+  coverage:
     if: github.event_name != 'workflow_dispatch'
-    name: linux-docker-${{ matrix.os }}-${{ matrix.build_type }}
+    name: coverage
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        # Supported LTS versions
-        os: [ubuntu-jammy, ubuntu-noble, ubuntu-oracular]
-        build_type: [Release]
-        codecov: [OFF]
-        check_format: [OFF]
-        build_dartpy: [ON]
-        enable_simd: [ON]
         include:
           # For code coverage report to Codecov
           - os: ubuntu-jammy
@@ -79,9 +72,13 @@ jobs:
             $DART_DEV_IMAGE:$DOCKER_TAG \
             /bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh"
 
-  build_on_pixi:
-    name: ubuntu-pixi
+  build:
+    name: ${{ matrix.build_type }}
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -97,12 +94,19 @@ jobs:
           version: 1.0
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
-  
+
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -22,80 +22,12 @@ on:
 
 jobs:
   build:
-    name: win-${{ matrix.build_type }}
+    name: ${{ matrix.build_type }}
     runs-on: windows-latest
     strategy:
       fail-fast: false
       matrix:
-        toolset: [""]
-        build_type: [Release]
-        build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - uses: johnwason/vcpkg-action@v6
-        with:
-          # TODO: Add ode and coin-or-ipopt
-          pkgs: >
-            assimp
-            eigen3
-            fcl
-            fmt
-            spdlog
-            bullet3
-            freeglut
-            glfw3
-            imgui[opengl2-binding]
-            nlopt
-            opengl
-            osg
-            pagmo2
-            tinyxml2
-            tracy
-            urdfdom
-          triplet: x64-windows
-          revision: "2024.06.15"
-          github-binarycache: true
-          token: ${{ github.token }}
-
-      - name: Install Python dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U pytest
-
-      - name: Build
-        shell: cmd
-        run: |
-          cmake ^
-            -S . ^
-            -B build ^
-            -G "Visual Studio 17 2022" ^
-            -A x64 ^
-            -Wno-dev ${{ matrix.toolset }} ^
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
-            -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
-            -DDART_MSVC_DEFAULT_OPTIONS=ON ^
-            -DDART_VERBOSE=ON ^
-            -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
-            -DDART_USE_SYSTEM_IMGUI=ON ^
-            || exit /b
-          cmake ^
-            --build build ^
-            --config ${{ matrix.build_type }} ^
-            --target ALL_BUILD ^
-            --parallel ^
-            || exit /b
-          ctest ^
-            --test-dir build ^
-            --output-on-failure ^
-            --build-config ${{ matrix.build_type }} ^
-            || exit /b
-
-  build_on_pixi:
-    name: win-pixi
-    runs-on: windows-latest
+        build_type: ["Release"] # TODO: Add Debug
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -106,12 +38,17 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
-          pixi run test # TODO: Change to test-all
-  
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
+          pixi run test-all
+
       - name: Install
         run: |
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
           pixi run install
diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml
@@ -124,7 +124,7 @@ jobs:
 
       - name: Build wheels
         if: ${{ matrix.os != 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }}
-        uses: pypa/cibuildwheel@v2.19.2
+        uses: pypa/cibuildwheel@v2.22.0
         env:
           # macOS
           MACOSX_DEPLOYMENT_TARGET: 14.0
@@ -134,7 +134,7 @@ jobs:
 
       - name: Build wheels (Windows)
         if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }}
-        uses: pypa/cibuildwheel@v2.19.2
+        uses: pypa/cibuildwheel@v2.22.0
         env:
           # macOS
           MACOSX_DEPLOYMENT_TARGET: 14.0
@@ -183,7 +183,7 @@ jobs:
       - name: List files in dist
         run: ls -lR dist/
 
-      - uses: pypa/gh-action-pypi-publish@v1.9.0
+      - uses: pypa/gh-action-pypi-publish@v1.12.3
         with:
           user: __token__
           password: ${{ secrets.PYPI_TOKEN }}

diff --git a/.github/workflows/update_lockfiles.yml b/.github/workflows/update_lockfiles.yml
@@ -12,8 +12,13 @@ on:
 jobs:
   pixi-update:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        base: [main, release-6.14]
     steps:
       - uses: actions/checkout@v4
+        with:
+          ref: ${{ matrix.base }}
       - name: Set up pixi
         uses: prefix-dev/[email protected]
         with:
@@ -23,14 +28,14 @@ jobs:
           pixi global install pixi-diff-to-markdown
           pixi update --json --no-install | pixi-diff-to-markdown >> diff.md
       - name: Create pull request
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           commit-message: Update pixi lockfile
           title: Update pixi lockfile
           body-path: diff.md
-          branch: update-pixi
-          base: main
+          branch: update-pixi-${{ matrix.base }}
+          base: ${{ matrix.base }}
           labels: pixi
           delete-branch: true
           add-paths: pixi.lock
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,7 +2,7 @@
 
 ## DART 6
 
-### [DART 6.15.0 (TBD)](https://github.com/dartsim/dart/milestone/77?closed=1)
+### [DART 6.15.0 (2024-11-15)](https://github.com/dartsim/dart/milestone/77?closed=1)
 
 * Tested Platforms
 
@@ -13,9 +13,22 @@
   * Windows / MSVC 19.40 / x86_64
 
 * Build
-  * Set DART_BUILD_DARTPY=OFF by default
-  * Enabled building dartpy with multi-core support in setup.py
-  * Added DART_USE_SYSTEM_GOOGLETEST option
+  * Added ImGui 1.91.5 support: [#1872](https://github.com/dartsim/dart/pull/1872)
+  * Added nlopt 2.9.0 support: [#1875](https://github.com/dartsim/dart/pull/1875)
+  * Fixed imgui is not added as transitive dependency: [#1877](https://github.com/dartsim/dart/pull/1877)
+
+### [DART 6.14.5 (2024-09-08)](https://github.com/dartsim/dart/milestone/82?closed=1)
+
+* Tested Platforms
+
+  * Linux
+    * Ubuntu 22.04 LTS / GCC 11.4 / x86_64
+    * Ubuntu 24.04 LTS / GCC 13.2 / x86_64
+  * macOS 14 / Clang 15 / arm64
+  * Windows / MSVC 19.40 / x86_64
+
+* Fixed missing parentheses in config.hpp: [#1838](https://github.com/dartsim/dart/pull/1838)
+* Allowed negative scale for MeshShape: [#1841](https://github.com/dartsim/dart/pull/1841)
 
 ### [DART 6.14.4 (2024-07-06)](https://github.com/dartsim/dart/milestone/81?closed=1)