Merge remote-tracking branch 'origin/production' into update_xml_2023…

…0920
rdiankov · Jan 15, 2024 · cfdf549 · cfdf549
2 parents 4ab294d + dd0d774
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,104 @@
+name: CI
+
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        python-version: ['3.9']
+        os: [ubuntu-20.04]
+        architecture: ["x64"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      if: ${{ matrix.python-version != 'pyston' }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+        architecture: ${{ matrix.architecture }}
+    - name: Set up APT
+      run: |
+        sudo apt-get update -y
+        sudo apt-get -y install dirmngr gnupg apt-transport-https liblog4cxx-dev libopenscenegraph-dev libcoin-dev libsoqt520-dev
+        sudo apt-get -y install g++ gfortran git pkg-config debhelper gettext zlib1g-dev libminizip-dev libxml2-dev liburiparser-dev libpcre3-dev libgmp-dev libmpfr-dev qtbase5-dev libqt5opengl5-dev libavcodec-dev libavformat-dev libswscale-dev libsimage-dev libode-dev libqhull-dev libann-dev libhdf5-serial-dev liblapack-dev libboost-iostreams-dev libboost-regex-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-date-time-dev libboost-test-dev libmpfi-dev ffmpeg libtinyxml-dev libflann-dev sqlite3 libccd-dev libeigen3-dev libgpgme-dev libgpgmepp-dev
+        sudo apt-get update -y
+        sudo apt-get -y install cmake-data cmake cmake-curses-gui ninja-build
+    - name: Set up Python modules
+      run: |
+        python3 -m pip install nose==1.3.7 six==1.16.0
+        python3 -m pip install numpy==1.24.3 IPython==8.14.0
+        python3 -m pip install https://github.com/cielavenir/sympy/releases/download/0.7.1-py3/sympy-0.7.1-py3.tar.gz
+        python3 -m pip install scipy==1.10.1
+    - name: Install RapidJSON
+      run: |
+        set -e
+        git clone https://github.com/Tencent/rapidjson.git && mkdir rapidjson/build
+        cd rapidjson/build
+        # there are no stable version available
+        cmake .. -GNinja -DRAPIDJSON_HAS_STDSTRING=ON -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install ASSIMP
+      run: |
+        set -e
+        git clone https://github.com/assimp/assimp.git && mkdir assimp/build
+        cd assimp/build
+        git checkout v5.2.5
+        cmake .. -GNinja
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install Fcl
+      run: |
+        set -e
+        git clone https://github.com/rdiankov/fcl.git && mkdir fcl/build
+        cd fcl/build
+        git checkout origin/trimeshContactPoints20200813
+        cmake .. -GNinja -DFCL_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install Pybind11
+      # Need patched version of pybind11:
+      #   File "/usr/local/lib/python3.11/site-packages/openravepy/_openravepy_/__main__.py", line 180, in main
+      #     for type in InterfaceType.values.values():
+      #         ^^^^^^^^^^^^^^^^^^^^
+      # AttributeError: type object 'openravepy._openravepy_.openravepy_int.InterfaceTy' has no attribute 'values'. Did you mean: 'value'?
+      run: |
+        set -e
+        git clone https://github.com/pybind/pybind11.git && mkdir pybind11/build
+        cd pybind11/build
+        # git remote add woody https://github.com/woodychow/pybind11.git
+        # git fetch woody
+        git remote add ciel https://github.com/cielavenir/pybind11.git
+        git fetch ciel
+        git checkout ciel/v2.9_ty
+
+        cmake .. -GNinja -DPYBIND11_TEST=OFF -DPythonLibsNew_FIND_VERSION=3
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install msgpack-c
+      run: |
+        set -e
+        git clone https://github.com/msgpack/msgpack-c && mkdir msgpack-c/build
+        cd msgpack-c/build
+        git checkout cpp-6.0.0
+
+        cmake .. -GNinja -DMSGPACK_BUILD_EXAMPLES=OFF -DMSGPACK_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install
+      run: |
+        set -e
+        mkdir -p build
+        cd build
+        cmake .. -GNinja -DUSE_PYBIND11_PYTHON_BINDINGS=ON -DOPT_PYTHON=OFF
+        ninja -j4 && sudo ninja install
+        cd ..
+    - name: Basic Test
+      # setup-python does not look at /usr/local/lib
+      # todo: check other tests
+      run: |
+        PYTHONPATH=/usr/local/lib/python3.9/site-packages OPENRAVE_DATA=$PWD/src python3 -m nose test/test_controller.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,8 +4,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 131)
-set (OPENRAVE_VERSION_PATCH 3)
+set (OPENRAVE_VERSION_MINOR 136)
+set (OPENRAVE_VERSION_PATCH 1)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
@@ -417,7 +417,7 @@ find_package(LibXml2 REQUIRED)
 
 add_library(openrave_gpgme IMPORTED INTERFACE)
 if (OPT_ENCRYPTION)
-  find_package(Gpgmepp 1.14 REQUIRED)
+  find_package(Gpgmepp 1.13 REQUIRED)
   target_link_libraries(openrave_gpgme INTERFACE Gpgmepp)
   target_compile_definitions(openrave_gpgme INTERFACE "OPENRAVE_ENCRYPTION=1")
 endif()

diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
@@ -6,13 +6,81 @@ ChangeLog
 Unreleased
 ==========
 
-* When loading connected body, also have to prefix "grippername" and "grippernames"
-
-Version 0.131.3
+Version 0.136.1
 ===============
 
 * Support reading of `grippername` under `manipulator` from XML files.
 
+Version 0.136.0
+===============
+
+* Set correct geometry group name for fclspace
+
+Version 0.135.2
+===============
+
+* Fix the issue that grabbed bodies are not checked for collision when their grabbing links are not collision-enabled.
+
+Version 0.135.1
+===============
+
+* Fixed a dictionary inside gripperInfo be wiped out after modification. 
+* Optimize collision checking by FCL for GeometryType.Container and GeometryType.Cage.
+
+Version 0.135.0
+===============
+
+* Add an OBB intersection check function
+
+Version 0.134.2
+===============
+
+* Fixed ExtractAll not returning removed bodies correctly
+
+Version 0.134.1
+===============
+
+* Fixed QtCoinViewer SetUserText, fixing compilation
+
+Version 0.134.0
+===============
+
+* Add AABBFromOrientedBox
+
+* Add ViewerBase::SetUserText
+
+Version 0.133.3
+===============
+
+* Fix changing bias for the configuration jitterer and support more dofs than the arm joints.
+* Fix `KinBody::RegrabAll` to not accidentally invalidate `Grabbed::_setGrabberLinkIndicesToIgnore`.
+
+Version 0.133.2
+===============
+
+* Fix not initializing grabbed bodies to self-collision checker when cloning KinBody, restoring grabbed state from the state saver.
+* Fix cloning _listNonCollidingLinksWhenGrabbed to different env
+
+Version 0.133.1
+===============
+
+* Fix cache of FCLCollisionManagerInstance for self-collision checker wasn't cleared for previously grabbed bodies even when they were removed from the env.
+
+* Fix initializing _listNonCollidingLinksWhenGrabbed based on incorrect grabbed bodies when grabbed bodies are shuffled between creation of Grabbed and Grabbed::ComputeListNonCollidingLinks.
+
+Version 0.133.0
+===============
+
+* Fix nonAdjacentLinks and _listNonCollidingLinksWhenGrabbed were affected by collision callbacks.
+
+Version 0.132.0
+===============
+
+* Fix bugs around multiple grabbed bodies
+  1. Self-collision between grabbed bodies were checked even after the grabbed body was released under the certain condition.
+  2. When cloning a kinbody with multiple grabbed bodies, `Grabbed::_listNonCollidingLinksWhenGrabbed` was not copied properly. caused `std::vector` range error.
+* When loading connected body, also have to prefix "grippername" and "grippernames"
+
 Version 0.131.2
 ===============
 

diff --git a/include/openrave/collisionchecker.h b/include/openrave/collisionchecker.h
@@ -43,7 +43,9 @@ enum CollisionOptions
     CO_ActiveDOFs = 0x10,
     CO_AllLinkCollisions = 0x20, ///< if set then all the link collisions will be returned inside CollisionReport::vLinkColliding. Collision is slower because more pairs have to be checked.
     CO_AllGeometryCollisions = 0x40, ///< if set, then will return the collisions of all the colliding geometries. Do not need to explore all pairs of links once the first pair is found. This option can be slow.
-    CO_AllGeometryContacts = 0x80, ///< if set, then will return the contact points of all the colliding geometries. Do not need to explore all pairs of links once the first pair is found. This option can be slow.    
+    CO_AllGeometryContacts = 0x80, ///< if set, then will return the contact points of all the colliding geometries. Do not need to explore all pairs of links once the first pair is found. This option can be slow.
+
+    CO_IgnoreCallbacks = 0x100 ///< if set, then will not use the registered collision callbacks.
 };
 
 /// \brief action to perform whenever a collision is detected between objects