From 86709d0707a5b8c49653f0b652745f5a7ae07508 Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Fri, 26 Jan 2024 13:27:46 +0100 Subject: [PATCH] [math/{py-,}pinocchio] Update to v2.7.0 Upstream changes: ## [2.7.0] - 2024-01-23 ### Added - Add `GeometryObject::meshMaterial` attribute (https://github.com/stack-of-tasks/pinocchio/issues/2084) ### Fixed - Use bp::ssize_t for recent version of Windows compilers (https://github.com/stack-of-tasks/pinocchio/pull/2102) - Fix missing include for Boost >= 1.83 (https://github.com/stack-of-tasks/pinocchio/pull/2103) - Remove f-strings to fix install with python 2 (https://github.com/stack-of-tasks/pinocchio/pull/2110) - CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available (https://github.com/stack-of-tasks/pinocchio/pull/2112) - Fix malloc issue in CRBA algo (https://github.com/stack-of-tasks/pinocchio/pull/2126) - Fix build cppad and cppadcg with Boost < 1.77 (https://github.com/stack-of-tasks/pinocchio/pull/2132) --- math/pinocchio/Makefile | 3 ++- math/pinocchio/distinfo | 6 ++--- math/py-pinocchio/Makefile | 2 +- math/py-pinocchio/PLIST | 1 + math/py-pinocchio/distinfo | 9 ++++---- math/py-pinocchio/patches/patch-2110 | 33 ---------------------------- math/py-pinocchio/patches/patch-ag | 8 +++---- 7 files changed, 15 insertions(+), 47 deletions(-) delete mode 100644 math/py-pinocchio/patches/patch-2110 diff --git a/math/pinocchio/Makefile b/math/pinocchio/Makefile index bd11995f1..8f265fb78 100644 --- a/math/pinocchio/Makefile +++ b/math/pinocchio/Makefile @@ -4,7 +4,7 @@ ORG= stack-of-tasks NAME= pinocchio -VERSION= 2.6.21 +VERSION= 2.7.0 CATEGORIES= math COMMENT= Efficient rigid body dynamics @@ -40,6 +40,7 @@ include ../../math/eigen3/depend.mk include ../../path/hpp-fcl/depend.mk include ../../mapping/octomap/depend.mk include ../../pkgtools/pkg-config/depend.mk +include ../../sysutils/console-bridge/depend.mk include ../../mk/sysdep/cmake.mk include ../../mk/language/c.mk include ../../mk/language/c++11.mk diff --git a/math/pinocchio/distinfo b/math/pinocchio/distinfo index 73716bf02..959909ae7 100644 --- a/math/pinocchio/distinfo +++ b/math/pinocchio/distinfo @@ -1,5 +1,5 @@ -SHA1 (pinocchio-2.6.21.tar.gz) = be3fb8ba663703a4dbb340a3478ce9382502a3c2 -RMD160 (pinocchio-2.6.21.tar.gz) = 418e7d173a7053a1ea6bbffddbbf4fb5c1785fea -Size (pinocchio-2.6.21.tar.gz) = 62788418 bytes +SHA1 (pinocchio-2.7.0.tar.gz) = 87bd6f978b654c36addc1ca15109e552258dcbb0 +RMD160 (pinocchio-2.7.0.tar.gz) = 0ffde8f54f77de1c355abc9db71895737d80e53c +Size (pinocchio-2.7.0.tar.gz) = 62795168 bytes SHA1 (patch-an) = fae437ed4e631debeee19e2aeb11932658bcd5ae SHA1 (patch-ao) = 1159bb5ef693a8d1a9fc0d82ab181238cafc9c04 diff --git a/math/py-pinocchio/Makefile b/math/py-pinocchio/Makefile index aa2e0aef6..49f8f587e 100644 --- a/math/py-pinocchio/Makefile +++ b/math/py-pinocchio/Makefile @@ -4,7 +4,7 @@ ORG= stack-of-tasks NAME= pinocchio -VERSION= 2.6.21 +VERSION= 2.7.0 CATEGORIES= math COMMENT= Efficient rigid body dynamics (python bindings) diff --git a/math/py-pinocchio/PLIST b/math/py-pinocchio/PLIST index 76530d2b2..a3e6a87b1 100644 --- a/math/py-pinocchio/PLIST +++ b/math/py-pinocchio/PLIST @@ -15,3 +15,4 @@ ${PYTHON_SITELIB}/pinocchio/visualize/gepetto_visualizer.py ${PYTHON_SITELIB}/pinocchio/visualize/meshcat_visualizer.py ${PYTHON_SITELIB}/pinocchio/visualize/panda3d_visualizer.py ${PYTHON_SITELIB}/pinocchio/visualize/rviz_visualizer.py +${PYTHON_SITELIB}/pinocchio/windows_dll_manager.py diff --git a/math/py-pinocchio/distinfo b/math/py-pinocchio/distinfo index e60419581..702461998 100644 --- a/math/py-pinocchio/distinfo +++ b/math/py-pinocchio/distinfo @@ -1,8 +1,7 @@ -SHA1 (pinocchio-2.6.21.tar.gz) = be3fb8ba663703a4dbb340a3478ce9382502a3c2 -RMD160 (pinocchio-2.6.21.tar.gz) = 418e7d173a7053a1ea6bbffddbbf4fb5c1785fea -Size (pinocchio-2.6.21.tar.gz) = 62788418 bytes -SHA1 (patch-2110) = fb68f77911dc99eb23225d066c563192ba303973 +SHA1 (pinocchio-2.7.0.tar.gz) = 87bd6f978b654c36addc1ca15109e552258dcbb0 +RMD160 (pinocchio-2.7.0.tar.gz) = 0ffde8f54f77de1c355abc9db71895737d80e53c +Size (pinocchio-2.7.0.tar.gz) = 62795168 bytes SHA1 (patch-af) = 9b5ce426d4e373598310f9861eb05247d4ab5e30 -SHA1 (patch-ag) = 1c6dd98f92528773698a835c19e1e5d0700306cb +SHA1 (patch-ag) = f182489c4b4144f3fb64ea9eebc75e091d17b55c SHA1 (patch-ah) = 96b1b614a62b92e0077d803a8bf52548572c733d SHA1 (patch-ak) = 13d5a86b847b0e5ca1eb3c43fb18986e0ccf6272 diff --git a/math/py-pinocchio/patches/patch-2110 b/math/py-pinocchio/patches/patch-2110 deleted file mode 100644 index 821734102..000000000 --- a/math/py-pinocchio/patches/patch-2110 +++ /dev/null @@ -1,33 +0,0 @@ -fix for python 2, ref https://github.com/stack-of-tasks/pinocchio/pull/2110 - ---- bindings/python/pinocchio/visualize/meshcat_visualizer.py -+++ bindings/python/pinocchio/visualize/meshcat_visualizer.py -@@ -618,7 +618,7 @@ def initializeFrames(self, frame_ids=None, axis_length=0.2, axis_width=2): - - for fid, frame in enumerate(self.model.frames): - if frame_ids is None or fid in frame_ids: -- frame_viz_name = f"{self.viewerFramesGroupName}/{frame.name}" -+ frame_viz_name = "%s/%s" % (self.viewerFramesGroupName, frame.name) - self.viewer[frame_viz_name].set_object( - mg.LineSegments( - mg.PointsGeometry( -@@ -640,7 +640,7 @@ def updateFrames(self): - pin.updateFramePlacements(self.model, self.data) - for fid in self.frame_ids: - frame_name = self.model.frames[fid].name -- frame_viz_name = f"{self.viewerFramesGroupName}/{frame_name}" -+ frame_viz_name = "%s/%s" % (self.viewerFramesGroupName, frame_name) - self.viewer[frame_viz_name].set_transform( - self.data.oMf[fid].homogeneous - ) ---- examples/update-model-after-urdf.py -+++ examples/update-model-after-urdf.py -@@ -23,7 +23,7 @@ - - - def check_limb_lengths(limb_length: float) -> bool: -- print(f"Checking that limbs are {limb_length} m long... ", end="") -+ print("Checking that limbs are %s m long... " % limb_length, end="") - for side in ("left", "right"): - for joint in ("knee", "wheel"): - joint_id = model.getJointId(f"{side}_{joint}") diff --git a/math/py-pinocchio/patches/patch-ag b/math/py-pinocchio/patches/patch-ag index abb856f83..c9ad326ec 100644 --- a/math/py-pinocchio/patches/patch-ag +++ b/math/py-pinocchio/patches/patch-ag @@ -34,14 +34,14 @@ py-pinocchio needs pinocchio MODERNIZE_TARGET_LINK_LIBRARIES(${TEST_NAME} SCOPE PRIVATE TARGETS Boost::unit_test_framework LIBRARIES ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY}) ---- examples/CMakeLists.txt.orig 2022-08-09 15:11:05.000000000 +0200 -+++ examples/CMakeLists.txt 2022-08-16 12:17:21.391920703 +0200 +--- examples/CMakeLists.txt.orig 2024-01-23 22:01:53.000000000 +0100 ++++ examples/CMakeLists.txt 2024-01-26 14:31:14.946856249 +0100 @@ -6,7 +6,7 @@ GET_FILENAME_COMPONENT(EXAMPLE_NAME ${EXAMPLE} NAME) SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}") ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp") - TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME}) + TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}) - ENDFUNCTION() - SET(${PROJECT_NAME}_EXAMPLES + # There is no RPATH in Windows, then we must use the PATH to find the DLL + IF(WIN32)