Merge branch 'master' into feature/convex-decomp-app

tesseract-robotics · Jan 17, 2024 · 93af772 · 93af772
2 parents 0b4b6a9 + 4b4b9e1
commit 93af772
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Showing 4 changed files with 46 additions and 25 deletions.
diff --git a/.github/workflows/conda.yml b/.github/workflows/conda.yml
@@ -17,6 +17,9 @@ on:
 jobs:
   conda-win:
     runs-on: windows-2019
+    defaults:
+      run:
+        shell: powershell
     steps:
     - uses: actions/checkout@v3
       with:
@@ -28,30 +31,31 @@ jobs:
     - name: vcs import
       run: >
         vcs import --input "${{ github.workspace }}/workspace/src/tesseract/.github/workflows/windows_dependencies.repos" workspace/src/
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        miniforge-variant: Mambaforge
-        channel-priority: true
-        channels: conda-forge
+        channel-priority: strict
+        environment-file: workspace/src/tesseract/.github/workflows/conda/environment.yml       
         use-mamba: true
-    - name: conda install
-      run: |
-        mamba activate test
-        mamba update --all  -y
-        mamba install boa conda-smithy -y
+        auto-update-conda: true
+        activate-environment: tesseract-build
     - name: build and test
       run: |
-        mamba activate test
+        conda info
+        conda list
+
         mkdir conda
         xcopy /E workspace\src\tesseract\.github\workflows\conda conda
         cd conda
         New-Item -Name conda-forge.yml -ItemType File
         conda smithy regenerate
         
-        mamba mambabuild -m .ci_support/win_64_.yaml .
+        conda mambabuild -m .ci_support/win_64_.yaml .
 
   conda-linux:
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash -el {0}
     steps:
     - uses: actions/checkout@v3
       with:
@@ -62,22 +66,21 @@ jobs:
     - name: vcs import
       run: >
         vcs import --input "${{ github.workspace }}/workspace/src/tesseract/.github/workflows/windows_dependencies.repos" workspace/src/
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        miniforge-variant: Mambaforge
-        channel-priority: true
-        channels: conda-forge
-        python-version: "3.10"
+        channel-priority: strict
+        environment-file: workspace/src/tesseract/.github/workflows/conda/environment.yml
         use-mamba: true
-    - name: conda install
-      run: |
-        mamba update --all  -y
-        mamba install boa conda-smithy -y
+        auto-update-conda: true
+        activate-environment: tesseract-build
     - name: build and test
       run: |
+        conda info
+        conda list
+        
         cp -r workspace/src/tesseract/.github/workflows/conda ./conda
         cd conda
         touch conda-forge.yml
         conda smithy regenerate
         
-        mamba mambabuild -m .ci_support/linux_64_.yaml .
+        conda mambabuild -m .ci_support/linux_64_.yaml .
diff --git a/.github/workflows/conda/environment.yml b/.github/workflows/conda/environment.yml
@@ -0,0 +1,6 @@
+name: tesseract-build
+channels:
+  - conda-forge
+dependencies:
+  - boa
+  - conda-smithy
diff --git a/tesseract_collision/core/include/tesseract_collision/core/types.h b/tesseract_collision/core/include/tesseract_collision/core/types.h
@@ -448,7 +448,7 @@ struct CollisionCheckConfig
   /** @brief Used to configure the contact manager prior to a series of checks */
   ContactManagerConfig contact_manager_config;
 
-  /** @brief ContactRequest that will be used for this check. Default test type: FIRST*/
+  /** @brief ContactRequest that will be used for this check. Default test type: ALL*/
   ContactRequest contact_request;
 
   /** @brief Specifies the type of collision check to be performed. Default: DISCRETE */

diff --git a/tesseract_urdf/src/urdf_parser.cpp b/tesseract_urdf/src/urdf_parser.cpp
@@ -63,6 +63,18 @@ tesseract_scene_graph::SceneGraph::UPtr parseURDFString(const std::string& urdf_
     std::throw_with_nested(
         std::runtime_error("URDF: Failed parsing attribute 'version' for robot '" + robot_name + "'!"));
 
+  if (urdf_version != 1)
+    std::throw_with_nested(
+        std::runtime_error("URDF: 'version' for robot '" + robot_name + "' is set to `" + std::to_string(urdf_version) +
+                           "', this is not supported, please set it to 1.0. If you want to use a different tesseract "
+                           "URDF parsing version use `tesseract_version=\"2\"`"));
+
+  int tesseract_urdf_version = 1;
+  auto tesseract_version_status = robot->QueryIntAttribute("tesseract_version", &tesseract_urdf_version);
+  if (tesseract_version_status != tinyxml2::XML_NO_ATTRIBUTE && tesseract_version_status != tinyxml2::XML_SUCCESS)
+    std::throw_with_nested(
+        std::runtime_error("URDF: Failed parsing attribute 'tesseract_version' for robot '" + robot_name + "'!"));
+
   auto sg = std::make_unique<tesseract_scene_graph::SceneGraph>();
   sg->setName(robot_name);
 
@@ -74,7 +86,7 @@ tesseract_scene_graph::SceneGraph::UPtr parseURDFString(const std::string& urdf_
     std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_material;
     try
     {
-      m = parseMaterial(material, empty_material, true, urdf_version);
+      m = parseMaterial(material, empty_material, true, tesseract_urdf_version);
     }
     catch (...)
     {
@@ -91,7 +103,7 @@ tesseract_scene_graph::SceneGraph::UPtr parseURDFString(const std::string& urdf_
     tesseract_scene_graph::Link::Ptr l = nullptr;
     try
     {
-      l = parseLink(link, locator, available_materials, urdf_version);
+      l = parseLink(link, locator, available_materials, tesseract_urdf_version);
     }
     catch (...)
     {
@@ -119,7 +131,7 @@ tesseract_scene_graph::SceneGraph::UPtr parseURDFString(const std::string& urdf_
     tesseract_scene_graph::Joint::Ptr j = nullptr;
     try
     {
-      j = parseJoint(joint, urdf_version);
+      j = parseJoint(joint, tesseract_urdf_version);
     }
     catch (...)
     {