[python/viewer] Initial support of 'panda3d-qt' rendering backend. (#313

)

* [python/viewer] Improve video recording efficiency using panda3d backend. (#309)
* [misc] Avoid copying irrelevant files when build wheels.
* [misc] To need to install wheels twice anymore thanks to new pip dependency resolver.
* [python/dynamics] Add XYZQuat to XYZRPY position and velocity converters.
* [python/viewer] Use 'av' package instead of 'cv2' to export video. It is faster and support web-compatible 'h264' codec.
* [python/viewer] Improve video recording speed even further by disabling panda3d framerate limit during recording.
* [python/viewer] Restore default window size.
* [python/viewer] Update collision geometry placement only once and only if necessary.
* [python/viewer] Raise warning if 'enable_clock' is true and 'panda3d' backend is not used.
* [python/dynamics] Minor performance improvement of newly introduced 'velocityXYZQuatToXYZRPY' converter.
* [python/viewer] Reduce video quality: ~15mo for 1min. Raise helpful exception if 'replay' called with wrong urdf color.
* [python/viewer] Reorder and remove some keyword arguments of 'Viewer.__init__'  and 'play_trajectories'. 
* [python/viewer] Rename 'urdf_rgba' to 'robot_color' for clarity. Add 's' suffix to list arguments.
* [python/viewer] Replace 'window_name' argument by static 'Viewer' attribute.
* [misc] Update dependencies to latest version available.
* [misc] Fix support of Ninja Cmake generator.
* [misc] Fix support of Cmake 3.20 on windows 10 CI.
* [python/viewer] Initial support of 'panda3d-qt' rendering backend.
* [python/viewer] Select panda3d Qt backend automatically. Only refresh panda3d scene when needed.
* [python/viewer] Add method to update robot color on-the-fly (only supported by panda3d).
* [python/viewer] Fix panda3d screenshot wrongly removing alpha channel for '.png'.
* [python/viewer] Fix panda3d scene sometimes not updated before capturing frame.
* [gym/common/envs] Fix opening onscreen window at env reset if offscreen window is already available.
* [misc] Update hpp-fcl to 1.7.1 to fix Ubuntu CI.
* [misc] Update panda3d units tests screenshots.
* [misc] Clearer Cmake warnings for Ubuntu 18 legacy mode.
* [python/viewer] Add support of 'capture_frame' as raw data for panda3d.
* [misc] Update panda3d units tests screenshots.
* [misc] Fix Window scripts cmake targets.
* [misc] Update release patch tag.

Co-authored-by: Alexis Duburcq <[email protected]>

.github/workflows/win.yml

@@ -57,11 +57,11 @@ jobs:
         $ErrorActionPreference = "Stop"
         Set-PSDebug -Trace 1
 
-        $RootDir = "${Env:GITHUB_WORKSPACE}" -replace '\\', '/'
+        $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/'
         $InstallDir = "$RootDir/install"
 
-        if (Test-Path Env:/Boost_ROOT) {
-          Remove-Item Env:/Boost_ROOT
+        if (Test-Path env:Boost_ROOT) {
+          Remove-Item env:Boost_ROOT
         }
 
         if (-not (Test-Path -PathType Container $RootDir/build)) {
@@ -77,7 +77,7 @@ jobs:
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.python-version }}" `
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
               -DCMAKE_CXX_FLAGS="/EHsc /bigobj /Zc:__cplusplus -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
-        cmake --build . --config "${Env:BUILD_TYPE}" --parallel 2
+        cmake --build . --target ALL_BUILD --config "${env:BUILD_TYPE}" --parallel 2
 
         if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py")) {
           New-Item -ItemType "directory" -Force -Path "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
@@ -86,14 +86,14 @@ jobs:
                   -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
 
         $env:Path += ";$InstallDir/lib"
-        cmake --build . --target INSTALL --config "${Env:BUILD_TYPE}" --parallel 2
+        cmake --build . --target INSTALL --config "${env:BUILD_TYPE}"
 
     #####################################################################################
 
     - name: Generating the Python Pip wheels
       if: success() && github.repository == 'duburcqa/jiminy'
       run: |
-        $RootDir = "${Env:GITHUB_WORKSPACE}" -replace '\\', '/'
+        $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/'
         $InstallDir = "$RootDir/install"
 
         $env:Path += ";$InstallDir/lib"
@@ -124,9 +124,9 @@ jobs:
 
     - name: Running unit tests
       run: |
-        $RootDir = "${Env:GITHUB_WORKSPACE}" -replace '\\', '/'
+        $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/'
 
-        & "$RootDir/build/unit\${Env:BUILD_TYPE}/unit.exe"
+        & "$RootDir/build/unit\${env:BUILD_TYPE}/unit.exe"
 
         Set-Location -Path "$RootDir/unit_py"
         python -m unittest discover -v

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.6.7)
+set(BUILD_VERSION 1.6.8)
 
 # Add definition of Jiminy version for C++ headers
 add_definitions("-DJIMINY_VERSION=\"${BUILD_VERSION}\"")

INSTALL.md

@@ -70,9 +70,9 @@ Installing the Python packages `ray==1.0.0` are required to run some of the prov
 python -m pip install gym-jiminy
 ```
 
-## Build Jiminy from source on Ubuntu 18 (excluding dependencies)
+## Build Jiminy from source on Ubuntu 18/20 (excluding dependencies)
 
-First, one must install the pre-compiled libraries of the dependencies. Most of them are available on `robotpkg` APT repository. Just run the bash script to install them automatically for Ubuntu 18. It should be straightforward to adapt it to any other distribution for which `robotpkg` is available.
+First, one must install the pre-compiled libraries of the dependencies. Most of them are available on `robotpkg` APT repository. Just run the bash script to install them automatically for Ubuntu 18/20. It should be straightforward to adapt it to any other distribution for which `robotpkg` is available.
 
 ```bash
 sudo ./build_tools/easy_install_deps_ubuntu18.sh
@@ -211,7 +211,7 @@ python -m pip install wheel "numpy<1.20"
 Now you can simply run the powershell script already available.
 
 ```
-$Env:BUILD_TYPE = "Release"
+$env:BUILD_TYPE = "Release"
 & './build_tools/build_install_deps_windows.ps1'
 ```
 
@@ -222,12 +222,12 @@ You are finally ready to build Jiminy itself.
 ```
 $RootDir = ".... The location of jiminy repository ...."
 
-$Env:BUILD_TYPE = "Release"
+$env:BUILD_TYPE = "Release"
 $RootDir = $RootDir -replace '\\', '/'
 $InstallDir = "$RootDir/install"
 
-if (Test-Path Env:/Boost_ROOT) {
-  Remove-Item Env:/Boost_ROOT
+if (Test-Path env:Boost_ROOT) {
+  Remove-Item env:Boost_ROOT
 }
 
 if (-not (Test-Path -PathType Container $RootDir/build)) {
@@ -241,7 +241,7 @@ cmake "$RootDir" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM
       -DBoost_USE_STATIC_LIBS=OFF `
       -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
       -DCMAKE_CXX_FLAGS="/EHsc /bigobj -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DURDFDOM_STATIC"
-cmake --build . --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target all --config "${env:BUILD_TYPE}" --parallel 8
 
 if (-not (Test-Path -PathType Container "$RootDir/build/PyPi/jiminy_py/src/jiminy_py/core")) {
   New-Item -ItemType "directory" -Force -Path "$RootDir/build/PyPi/jiminy_py/src/jiminy_py/core"
@@ -253,5 +253,5 @@ Copy-Item -Path "$InstallDir/lib/boost_python*.dll" `
 Copy-Item -Path "$InstallDir/lib/site-packages/*" `
           -Destination "$RootDir/build/PyPi/jiminy_py/src/jiminy_py" -Recurse
 
-cmake --build . --target INSTALL --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target install --config "${env:BUILD_TYPE}"
 ```

build_tools/build_install_deps_linux.sh

@@ -54,7 +54,7 @@ if [ ! -d "$RootDir/eigenpy" ]; then
 fi
 cd "$RootDir/eigenpy"
 git reset --hard
-git checkout --force "v2.6.0"
+git checkout --force "v2.6.2"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/eigenpy.patch"
@@ -108,7 +108,7 @@ if [ ! -d "$RootDir/hpp-fcl" ]; then
 fi
 cd "$RootDir/hpp-fcl"
 git reset --hard
-git checkout --force "v1.6.0"
+git checkout --force "v1.7.1"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/hppfcl.patch"

build_tools/build_install_deps_windows.ps1

@@ -5,8 +5,8 @@ $ErrorActionPreference = "Continue"
 Set-PSDebug -Trace 1
 
 ### Set the build type to "Release" if undefined
-if (-not (Test-Path Env:BUILD_TYPE)) {
-  $Env:BUILD_TYPE = "Release"
+if (-not (Test-Path env:BUILD_TYPE)) {
+  $env:BUILD_TYPE = "Release"
 }
 
 ### Get the fullpath of Jiminy project
@@ -24,8 +24,8 @@ if (-not (Test-Path -PathType Container "$InstallDir")) {
 $PYTHON_EXECUTABLE = ( python -c "import sys; sys.stdout.write(sys.executable)" )
 
 ### Remove the preinstalled boost library from search path
-if (Test-Path Env:/Boost_ROOT) {
-  Remove-Item Env:/Boost_ROOT
+if (Test-Path env:Boost_ROOT) {
+  Remove-Item env:Boost_ROOT
 }
 
 ################################## Checkout the dependencies ###########################################
@@ -54,7 +54,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
 }
 Set-Location -Path "$RootDir/eigenpy"
 git reset --hard
-git checkout --force "v2.6.0"
+git checkout --force "v2.6.2"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
@@ -110,7 +110,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
 }
 Set-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
-git checkout --force "v1.6.0"
+git checkout --force "v1.7.1"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
@@ -154,7 +154,7 @@ Set-Location -Path "$RootDir/boost"
 #   C++ runtime  library Windows (aka (U)CRT) ships as part of Windows 10.
 #   Note that static linkage is still possible on windows but Jamroot must be edited
 #   to remove line "<conditional>@handle-static-runtime".
-$BuildTypeB2 = ${Env:BUILD_TYPE}.ToLower()
+$BuildTypeB2 = ${env:BUILD_TYPE}.ToLower()
 if (-not (Test-Path -PathType Container "$RootDir/boost/build")) {
   New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
 }
@@ -180,7 +180,7 @@ cmake "$RootDir/eigen3" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GE
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=OFF `
       -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ################################### Build and install eigenpy ##########################################
 
@@ -198,7 +198,7 @@ cmake "$RootDir/eigenpy" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_G
       -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus $(
 )     -DBOOST_ALL_NO_LIB -DEIGENPY_STATIC"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ################################## Build and install tinyxml ###########################################
 
@@ -211,7 +211,7 @@ cmake "$RootDir/tinyxml" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_G
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus $(
 )     -DTIXML_USE_STL"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ############################## Build and install console_bridge ########################################
 
@@ -224,7 +224,7 @@ cmake "$RootDir/console_bridge" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -D
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ############################### Build and install urdfdom_headers ######################################
 
@@ -236,7 +236,7 @@ Set-Location -Path "$RootDir/urdfdom_headers/build"
 cmake "$RootDir/urdfdom_headers" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ################################## Build and install urdfdom ###########################################
 
@@ -251,7 +251,7 @@ cmake "$RootDir/urdfdom" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_G
       -DBUILD_TESTING=OFF `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus $(
 )     -D_USE_MATH_DEFINES -DURDFDOM_STATIC"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ###################################### Build and install assimp ########################################
 
@@ -267,7 +267,7 @@ cmake "$RootDir/assimp" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GE
       -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF -DASSIMP_INSTALL_PDB=OFF `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DNDEBUG /O2 /Zc:__cplusplus $(
 )     -D_USE_MATH_DEFINES"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ############################# Build and install qhull and hpp-fcl ######################################
 
@@ -279,7 +279,7 @@ Set-Location -Path "$RootDir/hpp-fcl/third-parties/qhull/build"
 cmake "$RootDir/hpp-fcl/third-parties/qhull" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DCMAKE_CXX_FLAGS="/EHsc /bigobj /Zc:__cplusplus" -DCMAKE_C_FLAGS="/EHsc /bigobj"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ### Build hpp-fcl
 if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl/build")) {
@@ -296,7 +296,7 @@ cmake "$RootDir/hpp-fcl" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_G
       -DINSTALL_DOCUMENTATION=OFF -DENABLE_PYTHON_DOXYGEN_AUTODOC=OFF -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj /wd4068 /wd4267 /permissive- /Zc:__cplusplus $(
 )     -DBOOST_ALL_NO_LIB -D_USE_MATH_DEFINES -DEIGENPY_STATIC -DHPP_FCL_STATIC"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2
 
 ################################ Build and install Pinocchio ##########################################
 
@@ -315,4 +315,4 @@ cmake "$RootDir/pinocchio" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE
       -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj /wd4068 /wd4715 /wd4834 /permissive- /Zc:__cplusplus $(
 )     -DBOOST_ALL_NO_LIB -D_USE_MATH_DEFINES -DNOMINMAX -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
-cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" --parallel 2

build_tools/cmake/base.cmake

@@ -1,8 +1,11 @@
 # Minimum version required
 cmake_minimum_required (VERSION 3.10)
 
-# Check if network is available for compiling gtest
-if(NOT WIN32)
+# Check if network is available before compiling external projects
+if(WIN32)
+    find_program(HAS_PING "ping")
+endif()
+if(HAS_PING)
     unset(BUILD_OFFLINE)
     unset(BUILD_OFFLINE CACHE)
     execute_process(COMMAND bash -c
@@ -13,7 +16,7 @@ else()
     set(BUILD_OFFLINE 0)
 endif()
 if(${BUILD_OFFLINE})
-    message(STATUS "No internet connection. Not building external projects.")
+    message(WARNING "No internet connection. Not building external projects.")
 endif()
 
 # Set default warning flags
@@ -70,7 +73,9 @@ if(LEGACY_MODE)
     if(WIN32)
         message(FATAL_ERROR "Boost >= 1.71.0 required.")
     else()
-        message(STATUS "Old boost version detected. Fallback to Ubuntu 18 legacy mode. Make sure depedencies have been installed using apt-get.")
+        message(WARNING "Boost version < 1.71.0 detected. Falling back to Ubuntu 18 legacy mode. "
+                        "Make sure depedencies have been installed via `apt-get`, and building "
+                        "against Pinocchio >= 2.5.2, and Hpp-Fcl >= 1.5.4.")
     endif()
 endif()
 

build_tools/cmake/buildPythonWheel.cmake

@@ -27,10 +27,12 @@ function(buildPythonWheel)
                       )
                       list(FILTER src_file_list EXCLUDE REGEX \".*\.egg-info\")
                       list(FILTER src_file_list EXCLUDE REGEX \"unit\")
+                      list(FILTER src_file_list EXCLUDE REGEX \"__pycache__\")
+                      list(FILTER src_file_list EXCLUDE REGEX \"mypy_cache\")
                       foreach(src_file \${src_file_list})
                           get_filename_component(src_file_real \"\${src_file}\" REALPATH
                                                   BASE_DIR \"${CMAKE_SOURCE_DIR}/${TARGET_DIR}\")
-                          if(src_file_real MATCHES \".*\\.(txt|py|md|in)\$\")
+                          if(src_file_real MATCHES \".*\\.(txt|py|md|in|js|html|toml|json|urdf|xacro)\$\")
                               configure_file(\"\${src_file_real}\"
                                              \"${CMAKE_BINARY_DIR}/pypi/\${src_file}\" @ONLY)
                           else()
@@ -41,10 +43,10 @@ function(buildPythonWheel)
             )
 
         # TODO: Use add_custom_command instead of install to enable auto-cleanup of copied files
-    #     add_custom_command(
-    #         OUTPUT  ${CMAKE_BINARY_DIR}/pypi
-    #         COMMAND ${CMAKE_COMMAND} -E copy_directory \"${CMAKE_SOURCE_DIR}/${TARGET_PATH}\" \"${CMAKE_BINARY_DIR}/pypi\"
-    #     )
+        # add_custom_command(
+        #     OUTPUT  ${CMAKE_BINARY_DIR}/pypi
+        #     COMMAND ${CMAKE_COMMAND} -E copy_directory \"${CMAKE_SOURCE_DIR}/${TARGET_PATH}\" \"${CMAKE_BINARY_DIR}/pypi\"
+        # )
 
         install(FILES ${CMAKE_SOURCE_DIR}/README.md
                 DESTINATION "${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME}"

build_tools/cmake/docs.cmake

@@ -3,7 +3,7 @@ macro(create_component_docs)
     find_package(Doxygen COMPONENTS dot)
     find_package(Sphinx)
     if (NOT Sphinx_FOUND OR NOT Doxygen_FOUND)
-        message(STATUS "Doxygen or Sphinx not available. Not creating 'docs' cmake component.")
+        message(WARNING "Doxygen or Sphinx not available. Not creating 'docs' cmake component.")
         return()
     endif()
 
@@ -70,6 +70,6 @@ macro(create_component_docs)
                 COMPONENT docs
                 EXCLUDE_FROM_ALL)
     else()
-        message(STATUS "Doxygen with Dot component not found. Documentation generation disabled.")
+        message(WARNING "Doxygen with Dot component not found. Documentation generation disabled.")
     endif()
 ENDMACRO()

build_tools/cmake/setupPython.cmake

@@ -63,7 +63,8 @@ endif()
 if(${HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB})
     set(PYTHON_INSTALL_FLAGS " --user ")
     set(PYTHON_SITELIB "${PYTHON_USER_SITELIB}")
-    message(STATUS "No right on Python system site-packages: ${PYTHON_SYS_SITELIB}. Installing on user site as fallback.")
+    message(STATUS "No right on Python system site-packages: ${PYTHON_SYS_SITELIB}.\n"
+                   "--   Installing on user site as fallback.")
 else()
     set(PYTHON_SITELIB "${PYTHON_SYS_SITELIB}")
 endif()
@@ -125,9 +126,7 @@ message(STATUS "Boost Python Libs: ${BOOST_PYTHON_LIB}")
 function(deployPythonPackage)
     # The input arguments are [TARGET_NAME...]
     foreach(TARGET_NAME IN LISTS ARGN)
-        install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} .
-                                      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})
-                      execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} --upgrade --no-deps --force-reinstall .
+        install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} --upgrade .
                                       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})")
     endforeach()
 endfunction()

build_tools/easy_install_deps_ubuntu.sh

@@ -54,9 +54,9 @@ if ! [ -d "/opt/openrobots/lib/${PYTHON_BIN}/site-packages/" ] ; then
 
     # apt-get must be used instead of apt to support wildcard in package name on Ubuntu 20
     apt-get install -y --allow-downgrades --allow-unauthenticated \
-        robotpkg-urdfdom=1.0.3 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.6.0 robotpkg-pinocchio=2.5.4 \
+        robotpkg-urdfdom=1.0.3 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
         robotpkg-py3*-qt5-gepetto-viewer=4.10.1r1 robotpkg-py3*-qt5-gepetto-viewer-corba=5.5.1 robotpkg-py3*-omniorbpy=4.2.4 \
-        robotpkg-py3*-eigenpy=2.5.0 robotpkg-py3*-hpp-fcl=1.6.0 robotpkg-py3*-pinocchio=2.5.4
+        robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
 
     sudo -H -u $(id -nu "$SUDO_UID") bash -c " \
     echo 'export LD_LIBRARY_PATH=\"/opt/openrobots/lib:\${LD_LIBRARY_PATH}\"' >> \$HOME/.bashrc && \

build_tools/patch_deps_linux/eigenpy.patch

@@ -2,7 +2,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 index 0ddc96b..b978939 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -171,7 +171,7 @@ SET(${PROJECT_NAME}_SOURCES
+@@ -172,7 +172,7 @@ SET(${PROJECT_NAME}_SOURCES
    src/version.cpp
  )