Adding dartsim #12863

traversaro · 2020-10-10T15:05:43Z

Checklist

Title of this PR is meaningful: e.g. "Adding my_nifty_package", not "updated meta.yaml"
License file is packaged (see here for an example)
Source is from official source
Package does not vendor other packages. (If a package uses the source of another package, they should be separate packages or the licenses of all packages need to be packaged)
If static libraries are linked in, the license of the static library is packaged.
Build number is 0
A tarball (url) rather than a repo (e.g. git_url) is used in your recipe (see here for more details)
GitHub users listed in the maintainer section have posted a comment confirming they are willing to be listed there

@wolfv @Tobias-Fischer feel free to reply if you like to be added as maintainers, thanks!

conda-forge-linter · 2020-10-10T15:05:49Z

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 (recipes/dartsim) and found it was in an excellent condition.

wolfv · 2020-10-10T15:32:36Z

Sweet! I’d be happy to be added!

conda-forge-linter · 2020-10-10T16:51:34Z

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

I wanted to let you know that I linted all conda-recipes in your PR (recipes/dartsim) and found some lint.

Here's what I've got...

For recipes/dartsim:

There are 1 too many lines. There should be one empty line at the end of the file.

traversaro · 2020-10-10T16:51:47Z

Sweet! I’d be happy to be added!

Done!

conda-forge-linter · 2020-10-10T16:52:39Z

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 (recipes/dartsim) and found it was in an excellent condition.

traversaro · 2020-10-11T08:48:57Z

The win_64 build is working correctly on a clean environment locally, so I suspect there are some difference due to the specific version of VS2017 used. Do you have any suggestions on how to debug the CI failure? There is any simple process to download the C:/Miniconda/conda-bld/dartsim_1602369457250/work/build/CMakeFiles/CMakeOutput.log and C:/Miniconda/conda-bld/dartsim_1602369457250/work/build/CMakeFiles/CMakeError.log ?

traversaro · 2020-10-11T08:55:18Z

In a4cb25c I tried a shot in the dark by compiling with the (MSVC ABI compatible) clang-cl compiler.

traversaro · 2020-10-11T10:28:38Z

In a4cb25c I tried a shot in the dark by compiling with the (MSVC ABI compatible) clang-cl compiler.

This was failing even locally with the error:

-- Build files have been written to: C:/Users/STraversaro/Miniconda3/conda-bld/dartsim_1602411808657/work/build

Microsoft (R) Program Maintenance Utility Version 14.16.27032.1
Copyright (C) Microsoft Corporation.  All rights reserved.

Scanning dependencies of target dart-external-odelcpsolver
[  1%] Building CXX object dart/external/odelcpsolver/CMakeFiles/dart-external-odelcpsolver.dir/error.cpp.obj
clang-cl.exe: error: no such file or directory: '/permissive-'
NMAKE : fatal error U1077: 'C:\Users\STraversaro\Miniconda3\Library\bin\clang-cl.exe' : return code '0x1'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\bin\HostX64\x64\nmake.exe"' : return code '0x2'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\bin\HostX64\x64\nmake.exe"' : return code '0x2'
Stop.

traversaro · 2020-10-12T19:29:27Z

I was able to display CMakeOutput.log and CMakeError.log, but I could not find anything different w.r.t. to the equivalent version that I had locally. Anyhow, I noticed that a lot of check_cxx_source_compiles tests were actually failing even if they should not, and then I realized that dart is hardcoding the MSVC names for most of its dependencies (see https://github.com/dartsim/dart/blob/e18046107679ff71a0da75dbbf2982b5650ff490/cmake/Findassimp.cmake#L29). So, even if that is not the cause of the failure, is better to fix that.

In a4cb25c I tried a shot in the dark by compiling with the (MSVC ABI compatible) clang-cl compiler.

This was failing even locally with the error:

This was just before you did not added clang to the build dependencies, so an old clang 5.0 was used.

wolfv · 2020-10-13T09:07:07Z

I jsut tried locally with MSVC and the issues appears to be in the urdf_sensor/sensor.h header file. far (and near?) appear to be reserved words in MSVC?

I added #undef far; #undef near to the sensor.h header, and then it works.

Next problem is missing freeglut on windows. I am looking into that rn.

wolfv · 2020-10-13T09:07:26Z

@traversaro how should we handle this? Patch urdfdom_headers?

wolfv · 2020-10-13T09:12:04Z

adding - freeglut # [win] to host and run seems to make it work.

wolfv · 2020-10-13T11:32:14Z

cython/cython#1959 this is the issue we're hitting on urdfdom_headers. Going to send a patch to there as well.

traversaro · 2020-10-13T12:19:59Z

@traversaro how should we handle this? Patch urdfdom_headers?

For the windows.h nasty macro collision, typically the best solution is to avoid as much as possible the inclusion of windows.h, and when it is included in a compilation unit make sure that the compilation unit is as small as possible and windows.h is included as the last include. In this case, I am not sure in which compilation unit you had the near/far problem. However, until it creates problem the patch in conda-forge/urdfdom_headers-feedstock#7 is ok for me.

traversaro · 2020-10-13T12:23:41Z

adding - freeglut # [win] to host and run seems to make it work.

Unless I am missing something, freeglut is an optional dependency also on other platforms (see https://github.com/dartsim/dart/blob/185fbc2a171e364a00be49c5fe1e5ffb945429c5/dart/gui/CMakeLists.txt#L15), so I think it is better if we either enable it on all platforms, or we disable it everywhere. However, the CI builds continues to fail always at the same point during configuration even with this modifications.

traversaro · 2020-10-13T12:29:10Z

Note that even if the build works correctly on win_64, we noticed some problems that basically prevent to link the resulting static library in any executable, see gazebosim/gz-physics#87 (comment) . I fixed them in dartsim/dart#1510, but applying that patch exposes an assimp issue (conda-forge/assimp-feedstock#12), as the build fails with:

[ 53%] Linking CXX executable test_Distance.exe
LINK: command "C:\PROGRA~2\MIB055~1\2017\ENTERP~1\VC\Tools\MSVC\14.16.27023\bin\Hostx64\x64\link.exe /nologo @CMakeFiles\test_Distance.dir\objects1.rsp /out:test_Distance.exe /implib:test_Distance.lib /pdb:C:\Users\STraversaro\Miniconda3\envs\dart-deps\src\dart\build-ninja\unittests\comprehensive\test_Distance.pdb /version:0.0 /machine:x64 /LTCG /INCREMENTAL:NO /subsystem:console ..\..\lib\dart.lib ..\..\lib\gtest.lib ..\gtest_main.lib ..\..\lib\dart-collision-bullet.lib ..\..\lib\gtest.lib ..\..\lib\dart.lib ..\..\dart\external\odelcpsolver\dart-external-odelcpsolver.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\fcl.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\ccd.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\bin\assimp-vc141-mt.dll C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\boost_system.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\boost_filesystem.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\octomap.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\octomath.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\BulletDynamics.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\BulletCollision.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\LinearMath.lib C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\lib\BulletSoftBody.lib kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib /MANIFEST /MANIFESTFILE:test_Distance.exe.manifest" failed (exit code 1107) with the following output:
C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\bin\assimp-vc141-mt.dll : fatal error LNK1107: invalid or corrupt file: cannot read at 0x300
NMAKE : fatal error U1077: 'C:\Users\STraversaro\Miniconda3\envs\dart-deps\Library\bin\cmake.exe' : return code '0xffffffff'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\bin\HostX64\x64\nmake.exe"' : return code '0x2'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\bin\HostX64\x64\nmake.exe"' : return code '0x2'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\bin\HostX64\x64\nmake.exe"' : return code '0x2'

At this point, I wonder if it makes more sense to just merge this with skip: true # [win] and then work on Windows support in the feedstock.

wolfv · 2020-10-13T12:51:06Z

yeah I am not sure why it locally works for me. It seems to me that the compiler checks are buggy. Next thing I'd try is to patch the dartsim CMake to remove the compiler checks and see if that fixes everything :)

wolfv · 2020-10-13T12:56:28Z

yeah but why not merge this as is, and then we can do stuff over on the feedstock. That might be easier :)
We can also try to motivate some core-dartsim people by opening an issue over there.

traversaro · 2020-10-13T12:59:06Z

yeah but why not merge this as is, and then we can do stuff over on the feedstock. That might be easier :)

👍

wolfv · 2020-10-13T15:39:47Z

@traversaro do you want to push with skip: true # [win]?

wolfv · 2020-10-13T15:39:57Z

and maybe squash the commits :)

conda-forge-linter · 2020-10-13T15:52:51Z

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

I wanted to let you know that I linted all conda-recipes in your PR (recipes/dartsim) and found some lint.

Here's what I've got...

For recipes/dartsim:

Selectors are suggested to take a <two spaces>#<one space>[<expression>] form. See lines [15]

conda-forge-linter · 2020-10-13T15:53:43Z

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 (recipes/dartsim) and found it was in an excellent condition.

traversaro · 2020-10-13T15:54:20Z

@traversaro do you want to push with skip: true # [win]?

and maybe squash the commits :)

Ok, do you prefer that I squash them myself or that you merge with squash at GitHub level? Both are fine for me.

wolfv · 2020-10-13T16:33:12Z

thanks, awesome! Squashing isn't enabled for this repo but I think it's fine.

traversaro · 2020-10-14T07:23:12Z

thanks, awesome! Squashing isn't enabled for this repo but I think it's fine.

Thanks, good to know about the squashing.

traversaro added 2 commits October 10, 2020 17:02

Add recipe for dartsim

277d7a4

Update license file

eaf3472

Add missing tinyxml2 dependency

f090db6

Address CI failures

36cfb10

cleanup

f05f5d1

traversaro added 5 commits October 10, 2020 19:39

Address CI failures

fdc170c

Update build.sh

f136355

Address CI failures

3da9d99

Update build.sh

3358421

Update bld.bat

7e3f0a9

Update bld.bat

a4cb25c

traversaro added 5 commits October 11, 2020 12:29

Update bld.bat

a7592b9

Update meta.yaml

090f17f

Update bld.bat

939e7cf

Update bld.bat

0c380f2

Update meta.yaml

4d3e79a

add freeglut

8622f75

Update meta.yaml

d46ab0c

Update meta.yaml

720ceff

wolfv merged commit 2f6b138 into conda-forge:master Oct 13, 2020

traversaro mentioned this pull request Oct 17, 2020

Windows support conda-forge/dartsim-feedstock#2

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Adding dartsim #12863

Adding dartsim #12863

traversaro commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

wolfv commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

traversaro commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 12, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 13, 2020

traversaro commented Oct 13, 2020

traversaro commented Oct 13, 2020 •

edited

Loading

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

conda-forge-linter commented Oct 13, 2020

conda-forge-linter commented Oct 13, 2020

traversaro commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 14, 2020

Adding dartsim #12863

Adding dartsim #12863

Conversation

traversaro commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

wolfv commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

traversaro commented Oct 10, 2020

conda-forge-linter commented Oct 10, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 11, 2020

traversaro commented Oct 12, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 13, 2020

traversaro commented Oct 13, 2020

traversaro commented Oct 13, 2020 • edited Loading

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 13, 2020

wolfv commented Oct 13, 2020

wolfv commented Oct 13, 2020

conda-forge-linter commented Oct 13, 2020

conda-forge-linter commented Oct 13, 2020

traversaro commented Oct 13, 2020

wolfv commented Oct 13, 2020

traversaro commented Oct 14, 2020

traversaro commented Oct 13, 2020 •

edited

Loading