bipedal-locomotion-framework v0.13.0

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Pending Dependency Version Updates

Here is a list of all the pending dependency version updates for this repo. Please double check all dependencies before merging.

Name	Upstream Version	Current Version
bipedal-locomotion-framework	0.13.0
casadi	3104
pip	23.1.1

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Packages found by source code inspection but not in the meta.yaml:

• lxml
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Packages found in the meta.yaml but not found by source code inspection:

• manif
• libbipedal-locomotion-framework

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[github-actions]

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I considered the following status checks when analyzing this PR:

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[traversaro]

On Linux all python tests are failing with error:

E   ImportError: generic_type: cannot initialize type "Verbosity": an object with that name is already defined

While on macOS/Windows:

================================== FAILURES ===================================
__________________________ test_fixed_foot_detector ___________________________

    def test_fixed_foot_detector():
        dt = 0.01
    
        parameters_handler = blf.parameters_handler.StdParametersHandler()
        parameters_handler.set_parameter_float("sampling_time", dt)
    
        detector = blf.contacts.FixedFootDetector()
>       assert (detector.initialize(parameters_handler))
E       assert False
E        +  where False = <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x0000028E451C8DF0>>(sampling_time )
E        +    where <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x0000028E451C8DF0>> = <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x0000028E451C8DF0>.initialize

python\Contacts\tests\test_fixed_foot_detector.py:17: AssertionError
---------------------------- Captured stdout call -----------------------------
[2023-04-22 12:18:13.377] [thread: 6540] [blf] [error] [FixedFootDetector::customInitialization] Unable to find the 'sampling_time' parameter.

[traversaro]

It turns out that the Python bindings were not running upstream, see ami-iit/bipedal-locomotion-framework#657 . Let's see if the failures are also there.

[traversaro]

Actually the linux test also fails with:

2023-04-26T17:52:15.7380592Z ../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.11/site-packages/bipedal_locomotion_framework/__init__.py:1: in <module>
2023-04-26T17:52:15.7381035Z     from .bindings import *
2023-04-26T17:52:15.7381686Z E   ImportError: arg(): could not convert default argument 'mixed_velocity: manif::SE3Tangent<double>' in method '<class 'bipedal_locomotion_framework.bindings.ik.SE3Task'>.set_set_point' into a Python object (type not registered yet?)

And actually the compiler version is updated, so the issue could be the usual conda-forge/pybind11-feedstock#77, ami-iit/bipedal-locomotion-framework#386, conda-forge/manif-feedstock#19 and similar.

[traversaro]

Ok, with the manifpy rebuild we were able to get rid of the complete testsuite failure on Linux, now also linux fails with:

2023-04-27T14:28:19.7388642Z =================================== FAILURES ===================================
2023-04-27T14:28:19.7389233Z ___________________________ test_fixed_foot_detector ___________________________
2023-04-27T14:28:19.7389450Z 
2023-04-27T14:28:19.7389702Z     def test_fixed_foot_detector():
2023-04-27T14:28:19.7389956Z         dt = 0.01
2023-04-27T14:28:19.7390196Z     
2023-04-27T14:28:19.7390515Z         parameters_handler = blf.parameters_handler.StdParametersHandler()
2023-04-27T14:28:19.7390849Z         parameters_handler.set_parameter_float("sampling_time", dt)
2023-04-27T14:28:19.7391113Z     
2023-04-27T14:28:19.7391373Z         detector = blf.contacts.FixedFootDetector()
2023-04-27T14:28:19.7391663Z >       assert (detector.initialize(parameters_handler))
2023-04-27T14:28:19.7391943Z E       assert False
2023-04-27T14:28:19.7392305Z E        +  where False = <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>>(sampling_time )
2023-04-27T14:28:19.7392875Z E        +    where <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>> = <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>.initialize
2023-04-27T14:28:19.7393254Z 
2023-04-27T14:28:19.7393535Z python/Contacts/tests/test_fixed_foot_detector.py:17: AssertionError
2023-04-27T14:28:19.7394166Z ----------------------------- Captured stderr call -----------------------------
2023-04-27T14:28:19.7394762Z [ERROR] [2023-04-27 14:28:15.350] [thread: 3718] [blf] [FixedFootDetector::customInitialization] Unable to find the 'sampling_time' parameter.

[traversaro]

Ok, with the manifpy rebuild we were able to get rid of the complete testsuite failure on Linux, now also linux fails with:

2023-04-27T14:28:19.7388642Z =================================== FAILURES ===================================
2023-04-27T14:28:19.7389233Z ___________________________ test_fixed_foot_detector ___________________________
2023-04-27T14:28:19.7389450Z 
2023-04-27T14:28:19.7389702Z     def test_fixed_foot_detector():
2023-04-27T14:28:19.7389956Z         dt = 0.01
2023-04-27T14:28:19.7390196Z     
2023-04-27T14:28:19.7390515Z         parameters_handler = blf.parameters_handler.StdParametersHandler()
2023-04-27T14:28:19.7390849Z         parameters_handler.set_parameter_float("sampling_time", dt)
2023-04-27T14:28:19.7391113Z     
2023-04-27T14:28:19.7391373Z         detector = blf.contacts.FixedFootDetector()
2023-04-27T14:28:19.7391663Z >       assert (detector.initialize(parameters_handler))
2023-04-27T14:28:19.7391943Z E       assert False
2023-04-27T14:28:19.7392305Z E        +  where False = <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>>(sampling_time )
2023-04-27T14:28:19.7392875Z E        +    where <bound method PyCapsule.initialize of <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>> = <bipedal_locomotion_framework.bindings.contacts.FixedFootDetector object at 0x7fe27ec89ef0>.initialize
2023-04-27T14:28:19.7393254Z 
2023-04-27T14:28:19.7393535Z python/Contacts/tests/test_fixed_foot_detector.py:17: AssertionError
2023-04-27T14:28:19.7394166Z ----------------------------- Captured stderr call -----------------------------
2023-04-27T14:28:19.7394762Z [ERROR] [2023-04-27 14:28:15.350] [thread: 3718] [blf] [FixedFootDetector::customInitialization] Unable to find the 'sampling_time' parameter.

This turned out to be a test that was not updated with the latest changes in API in ami-iit/bipedal-locomotion-framework#630, and that was accidentally not run in the upstream CI: ami-iit/bipedal-locomotion-framework#658 .

[github-actions]

Hi! This is the friendly conda-forge automerge bot!

Commits were made to this PR after the automerge label was added. For security reasons, I have disabled automerge by removing the automerge label. Please add the automerge label again (or ask a maintainer to do so) if you'd like to enable automerge again!

[traversaro]

As the bug is just in the test, I just disabled it in the CI.

[traversaro]

Ok, we are good to go!