From e768e639247c2c19c5cc85579d9f08428f3299e8 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sat, 16 Mar 2024 07:16:43 -0700 Subject: [PATCH] [ci][dartpy] Clean up publishing dartpy (cherry picked from commit 8cefb0b1f14c35a1aa5490ec42dba9597f29a117) --- .github/workflows/cache_docker.yml | 80 +++----------- .github/workflows/publish_dartpy.yml | 58 ++-------- dart/CMakeLists.txt | 11 ++ .../v6.14/Dockerfile.manylinux2014_aarch64 | 19 ---- .../Dockerfile.manylinux2014_aarch64-min | 102 ------------------ .../v6.14/Dockerfile.manylinux2014_ppc64le | 19 ---- .../Dockerfile.manylinux2014_ppc64le-min | 95 ---------------- .../dev/v6.14/Dockerfile.manylinux2014_s390x | 17 --- .../v6.14/Dockerfile.manylinux2014_s390x-min | 72 ------------- .../dev/v6.14/Dockerfile.manylinux2014_x86_64 | 97 ----------------- pyproject.toml | 15 ++- setup.py | 1 + 12 files changed, 40 insertions(+), 546 deletions(-) delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_aarch64 delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_s390x delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min delete mode 100644 docker/dev/v6.14/Dockerfile.manylinux2014_x86_64 diff --git a/.github/workflows/cache_docker.yml b/.github/workflows/cache_docker.yml index 4b4a619d5882f..3d82f5ba0b5f8 100644 --- a/.github/workflows/cache_docker.yml +++ b/.github/workflows/cache_docker.yml @@ -153,61 +153,33 @@ jobs: strategy: fail-fast: false matrix: - dockerfile: [Dockerfile.manylinux2014_x86_64] - base_image: [quay.io/pypa/manylinux2014_x86_64] - image: [manylinux2014_x86_64] + dockerfile: [Dockerfile.manylinux_2_28_x86_64] + base_image: [quay.io/pypa/manylinux_2_28_x86_64] + image: [manylinux_2_28_x86_64] platforms: ["linux/amd64"] dart_version: [v6.14] experimental: [false] include: - - dockerfile: Dockerfile.manylinux2014_aarch64-min - base_image: quay.io/pypa/manylinux2014_aarch64 - image: manylinux2014_aarch64-min - platforms: "linux/arm64" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux2014_ppc64le-min - base_image: quay.io/pypa/manylinux2014_ppc64le - image: manylinux2014_ppc64le-min - platforms: "linux/ppc64le" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux2014_s390x-min - base_image: quay.io/pypa/manylinux2014_s390x - image: manylinux2014_s390x-min - platforms: "linux/s390x" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux_2_28_x86_64 - base_image: quay.io/pypa/manylinux_2_28_x86_64 - image: manylinux_2_28_x86_64 - platforms: "linux/amd64" - dart_version: v6.14 - experimental: false - - dockerfile: Dockerfile.manylinux_2_28_aarch64-min base_image: quay.io/pypa/manylinux_2_28_aarch64 image: manylinux_2_28_aarch64-min platforms: "linux/arm64" dart_version: v6.14 - experimental: true + experimental: false - dockerfile: Dockerfile.manylinux_2_28_ppc64le-min base_image: quay.io/pypa/manylinux_2_28_ppc64le image: manylinux_2_28_ppc64le-min platforms: "linux/ppc64le" dart_version: v6.14 - experimental: true + experimental: false - dockerfile: Dockerfile.manylinux_2_28_s390x-min base_image: quay.io/pypa/manylinux_2_28_s390x image: manylinux_2_28_s390x-min platforms: "linux/s390x" dart_version: v6.14 - experimental: true + experimental: false steps: # https://github.com/marketplace/actions/docker-setup-qemu - name: Set up QEMU @@ -243,54 +215,26 @@ jobs: strategy: fail-fast: false matrix: - dockerfile: [Dockerfile.manylinux2014_x86_64] - base_image: [quay.io/pypa/manylinux2014_x86_64] - image: [manylinux2014_x86_64] - platforms: ["linux/amd64"] + dockerfile: [Dockerfile.manylinux_2_28_aarch64] + base_image: ["jslee02/dart-dev:manylinux_2_28_aarch64-min-v6.14"] + image: [manylinux_2_28_aarch64] + platforms: ["linux/arm64"] dart_version: [v6.14] experimental: [false] include: - - dockerfile: Dockerfile.manylinux2014_aarch64 - base_image: jslee02/dart-dev:manylinux2014_aarch64-min-v6.14 - image: manylinux2014_aarch64 - platforms: "linux/arm64" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux2014_ppc64le - base_image: jslee02/dart-dev:manylinux2014_ppc64le-min-v6.14 - image: manylinux2014_ppc64le - platforms: "linux/ppc64le" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux2014_s390x - base_image: jslee02/dart-dev:manylinux2014_s390x-min-v6.14 - image: manylinux2014_s390x - platforms: "linux/s390x" - dart_version: v6.14 - experimental: true - - - dockerfile: Dockerfile.manylinux_2_28_aarch64 - base_image: jslee02/dart-dev:manylinux_2_28_aarch64-min-v6.14 - image: manylinux_2_28_aarch64 - platforms: "linux/arm64" - dart_version: v6.14 - experimental: true - - dockerfile: Dockerfile.manylinux_2_28_ppc64le base_image: jslee02/dart-dev:manylinux_2_28_ppc64le-min-v6.14 image: manylinux_2_28_ppc64le platforms: "linux/ppc64le" dart_version: v6.14 - experimental: true + experimental: false - dockerfile: Dockerfile.manylinux_2_28_s390x base_image: jslee02/dart-dev:manylinux_2_28_s390x-min-v6.14 image: manylinux_2_28_s390x platforms: "linux/s390x" dart_version: v6.14 - experimental: true + experimental: false steps: # https://github.com/marketplace/actions/docker-setup-qemu - name: Set up QEMU diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml index 21e00a7b3fc5f..d176d38e08392 100644 --- a/.github/workflows/publish_dartpy.yml +++ b/.github/workflows/publish_dartpy.yml @@ -48,81 +48,36 @@ jobs: fail-fast: false matrix: os: [ubuntu-latest] - build: ["cp37-manylinux_x86_64"] + build: ["cp38-manylinux_x86_64"] experimental: [false] - release_only: [true] + release_only: [false] include: - - os: ubuntu-latest - build: "cp38-manylinux_x86_64" - experimental: false - release_only: true - - os: ubuntu-latest build: "cp39-manylinux_x86_64" experimental: false - release_only: true + release_only: false - os: ubuntu-latest build: "cp310-manylinux_x86_64" experimental: false - release_only: true + release_only: false - os: ubuntu-latest build: "cp311-manylinux_x86_64" experimental: false - release_only: true + release_only: false - os: ubuntu-latest build: "cp312-manylinux_x86_64" experimental: false release_only: false - - os: macos-latest - build: "cp38-macosx_x86_64" - experimental: false - release_only: true - - - os: macos-latest - build: "cp39-macosx_x86_64" - experimental: false - release_only: true - - - os: macos-latest - build: "cp310-macosx_x86_64" - experimental: false - release_only: true - - - os: macos-latest - build: "cp311-macosx_x86_64" - experimental: false - release_only: true - - os: macos-latest build: "cp312-macosx_x86_64" experimental: false release_only: false - - os: windows-latest - build: "cp38-win_amd64" - experimental: false - release_only: true - - - os: windows-latest - build: "cp39-win_amd64" - experimental: false - release_only: true - - - os: windows-latest - build: "cp310-win_amd64" - experimental: false - release_only: true - - - os: windows-latest - build: "cp311-win_amd64" - experimental: false - release_only: true - - os: windows-latest build: "cp312-win_amd64" experimental: false @@ -130,7 +85,7 @@ jobs: - os: windows-latest build: "cp312-win_arm64" - experimental: true + experimental: false release_only: false env: @@ -162,7 +117,6 @@ jobs: # Windows CMAKE_TOOLCHAIN_FILE: "" - - name: Build wheels (Windows) if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }} uses: pypa/cibuildwheel@v2.17.0 diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt index 8c8476b37248f..9fecd972fce6b 100644 --- a/dart/CMakeLists.txt +++ b/dart/CMakeLists.txt @@ -182,6 +182,17 @@ if(DART_ENABLE_SIMD) elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") target_compile_options(dart PUBLIC -march=native -faligned-new) endif() +else() + # TODO: Improve this part to detect the system's architecture and apply the + # appropriate SIMD instructions. + if(CMAKE_SYSTEM_PROCESSOR MATCHES "arm64") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpmath=neon") + # Remove SSE flags if set elsewhere + string(REPLACE "-msse" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + string(REPLACE "-msse2" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + string(REPLACE "-msse3" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + string(REPLACE "-mssse3" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + endif() endif() # Active log level diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64 b/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64 deleted file mode 100644 index 0aff7a75e1172..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64 +++ /dev/null @@ -1,19 +0,0 @@ -ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_aarch64-min-v6.14 -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt -# nlopt -# spdlog - -# openscenegraph -RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \ - && mkdir -p OpenSceneGraph/build \ - && cmake OpenSceneGraph -B OpenSceneGraph/build \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_OSG_APPLICATIONS=OFF \ - -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \ - && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \ - && rm -rf OpenSceneGraph diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min b/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min deleted file mode 100644 index affda1148b8d2..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min +++ /dev/null @@ -1,102 +0,0 @@ -ARG BASE_IMAGE=quay.io/pypa/manylinux2014_aarch64 -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt -# nlopt -# spdlog - -RUN yum install -y glew-devel boost-devel python3-devel - -# fmt -RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \ - && mkdir -p fmt/build \ - && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \ - && cmake --build fmt/build --target install -j${NUM_CORES} \ - && rm -rf fmt - -# assimp -RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \ - && mkdir -p assimp/build \ - && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \ - && cmake --build assimp/build --target install -j${NUM_CORES} \ - && rm -rf assimp - -# eigen -RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \ - && mkdir -p eigen/build \ - && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \ - && cmake --build eigen/build --target install -j${NUM_CORES} \ - && rm -rf eigen - -# octomap -RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \ - && mkdir -p octomap/build \ - && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \ - && cmake --build octomap/build --target install -j${NUM_CORES} \ - && rm -rf octomap - -# libccd -RUN git clone https://github.com/danfis/libccd.git -b 'v2.1' \ - && mkdir -p libccd/build \ - && cmake libccd -B libccd/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build libccd/build --target install -j${NUM_CORES} \ - && rm -rf libccd - -# fcl -RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \ - && mkdir -p fcl/build \ - && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build fcl/build --target install -j${NUM_CORES} \ - && rm -rf fcl - -# Bullet -RUN git clone https://github.com/bulletphysics/bullet3.git -b 3.25 \ - && mkdir -p bullet3/build \ - && cmake bullet3 -B bullet3/build -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=OFF -DBUILD_CPU_DEMOS=OFF -DBUILD_BULLET2_DEMOS=OFF \ - && cmake --build bullet3/build --target install -j${NUM_CORES} \ - && rm -rf bullet3 - -# tinyxml -# RUN wget https://sourceforge.net/projects/tinyxml/files/tinyxml/2.6.2/tinyxml_2_6_2.tar.gz \ -# && tar -xzf tinyxml_2_6_2.tar.gz \ -# && cd tinyxml \ -# && make \ -# && make install \ -# && cd .. \ -# && rm -rf tinyxml -RUN git clone https://github.com/jslee02/tinyxml.git \ - && mkdir -p tinyxml/build \ - && cmake tinyxml -B tinyxml/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build tinyxml/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml - -# tinyxml2 -RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \ - && mkdir -p tinyxml2/build \ - && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ - && cmake --build tinyxml2/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml2 - -# console_bridge -RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \ - && mkdir -p console_bridge/build \ - && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build console_bridge/build --target install -j${NUM_CORES} \ - && rm -rf console_bridge - -# urdfdom_headers -RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \ - && mkdir -p urdfdom_headers/build \ - && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom_headers - -# urdfdom -RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \ - && mkdir -p urdfdom/build \ - && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le b/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le deleted file mode 100644 index 11a36f2c83f2b..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le +++ /dev/null @@ -1,19 +0,0 @@ -ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_ppc64le-min-v6.14 -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt -# nlopt -# spdlog - -# openscenegraph -RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \ - && mkdir -p OpenSceneGraph/build \ - && cmake OpenSceneGraph -B OpenSceneGraph/build \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_OSG_APPLICATIONS=OFF \ - -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \ - && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \ - && rm -rf OpenSceneGraph diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min b/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min deleted file mode 100644 index 5897b5f36d5af..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min +++ /dev/null @@ -1,95 +0,0 @@ -ARG BASE_IMAGE=quay.io/pypa/manylinux2014_ppc64le -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt -# nlopt -# spdlog - -RUN yum install -y glew-devel boost-devel python3-devel - -# fmt -RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \ - && mkdir -p fmt/build \ - && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \ - && cmake --build fmt/build --target install -j${NUM_CORES} \ - && rm -rf fmt - -# assimp -RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \ - && mkdir -p assimp/build \ - && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \ - && cmake --build assimp/build --target install -j${NUM_CORES} \ - && rm -rf assimp - -# eigen -RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \ - && mkdir -p eigen/build \ - && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \ - && cmake --build eigen/build --target install -j${NUM_CORES} \ - && rm -rf eigen - -# octomap -RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \ - && mkdir -p octomap/build \ - && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \ - && cmake --build octomap/build --target install -j${NUM_CORES} \ - && rm -rf octomap - -# libccd -RUN git clone https://github.com/danfis/libccd.git -b 'v2.1' \ - && mkdir -p libccd/build \ - && cmake libccd -B libccd/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build libccd/build --target install -j${NUM_CORES} \ - && rm -rf libccd - -# fcl -RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \ - && mkdir -p fcl/build \ - && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build fcl/build --target install -j${NUM_CORES} \ - && rm -rf fcl - -# Bullet -RUN git clone https://github.com/bulletphysics/bullet3.git -b 3.25 \ - && mkdir -p bullet3/build \ - && cmake bullet3 -B bullet3/build -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=OFF -DBUILD_CPU_DEMOS=OFF -DBUILD_BULLET2_DEMOS=OFF \ - && cmake --build bullet3/build --target install -j${NUM_CORES} \ - && rm -rf bullet3 - -# tinyxml -RUN git clone https://github.com/jslee02/tinyxml.git \ - && mkdir -p tinyxml/build \ - && cmake tinyxml -B tinyxml/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build tinyxml/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml - -# tinyxml2 -RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \ - && mkdir -p tinyxml2/build \ - && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ - && cmake --build tinyxml2/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml2 - -# console_bridge -RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \ - && mkdir -p console_bridge/build \ - && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build console_bridge/build --target install -j${NUM_CORES} \ - && rm -rf console_bridge - -# urdfdom_headers -RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \ - && mkdir -p urdfdom_headers/build \ - && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom_headers - -# urdfdom -RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \ - && mkdir -p urdfdom/build \ - && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x b/docker/dev/v6.14/Dockerfile.manylinux2014_s390x deleted file mode 100644 index 03abadc95b84d..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x +++ /dev/null @@ -1,17 +0,0 @@ -ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_s390x-min-v6.14 -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt - -# openscenegraph -RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \ - && mkdir -p OpenSceneGraph/build \ - && cmake OpenSceneGraph -B OpenSceneGraph/build \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_OSG_APPLICATIONS=OFF \ - -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \ - && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \ - && rm -rf OpenSceneGraph diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min b/docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min deleted file mode 100644 index 9649fa6c540e0..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min +++ /dev/null @@ -1,72 +0,0 @@ -ARG BASE_IMAGE=quay.io/pypa/manylinux2014_s390x -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -# Missing optional dependencies: -# ipopt - -RUN yum install -y glew-devel libccd-devel boost-devel bullet-devel nlopt-devel spdlog-devel tinyxml-devel python3-devel - -# fmt -RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \ - && mkdir -p fmt/build \ - && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \ - && cmake --build fmt/build --target install -j${NUM_CORES} \ - && rm -rf fmt - -# assimp -RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \ - && mkdir -p assimp/build \ - && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \ - && cmake --build assimp/build --target install -j${NUM_CORES} \ - && rm -rf assimp - -# eigen -RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \ - && mkdir -p eigen/build \ - && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \ - && cmake --build eigen/build --target install -j${NUM_CORES} \ - && rm -rf eigen - -# octomap -RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \ - && mkdir -p octomap/build \ - && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \ - && cmake --build octomap/build --target install -j${NUM_CORES} \ - && rm -rf octomap - -# fcl -RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \ - && mkdir -p fcl/build \ - && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build fcl/build --target install -j${NUM_CORES} \ - && rm -rf fcl - -# tinyxml2 -RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \ - && mkdir -p tinyxml2/build \ - && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ - && cmake --build tinyxml2/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml2 - -# console_bridge -RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \ - && mkdir -p console_bridge/build \ - && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build console_bridge/build --target install -j${NUM_CORES} \ - && rm -rf console_bridge - -# urdfdom_headers -RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \ - && mkdir -p urdfdom_headers/build \ - && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom_headers - -# urdfdom -RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \ - && mkdir -p urdfdom/build \ - && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_x86_64 b/docker/dev/v6.14/Dockerfile.manylinux2014_x86_64 deleted file mode 100644 index 2cb8cc569e135..0000000000000 --- a/docker/dev/v6.14/Dockerfile.manylinux2014_x86_64 +++ /dev/null @@ -1,97 +0,0 @@ -ARG BASE_IMAGE=quay.io/pypa/manylinux2014_x86_64 -FROM $BASE_IMAGE - -ARG NUM_CORES=14 - -RUN yum install -y \ - boost-devel \ - bullet-devel \ - coin-or-Ipopt-devel \ - doxygen \ - fmt-devel \ - freeglut-devel \ - glew-devel \ - libccd-devel \ - python3-devel \ - spdlog-devel \ - tinyxml-devel - -# assimp -RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \ - && mkdir -p assimp/build \ - && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \ - && cmake --build assimp/build --target install -j${NUM_CORES} \ - && rm -rf assimp - -# eigen -RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \ - && mkdir -p eigen/build \ - && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \ - && cmake --build eigen/build --target install -j${NUM_CORES} \ - && rm -rf eigen - -# nlopt -RUN git clone https://github.com/stevengj/nlopt.git -b 'v2.7.1' \ - && mkdir -p nlopt/build \ - && cmake nlopt -B nlopt/build -DCMAKE_BUILD_TYPE=Release \ - && cmake --build nlopt/build --target install -j${NUM_CORES} \ - && rm -rf nlopt - -# octomap -RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \ - && mkdir -p octomap/build \ - && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \ - && cmake --build octomap/build --target install -j${NUM_CORES} \ - && rm -rf octomap - -# fcl -RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \ - && mkdir -p fcl/build \ - && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build fcl/build --target install -j${NUM_CORES} \ - && rm -rf fcl - -# ODE -RUN git clone https://bitbucket.org/odedevs/ode.git -b '0.16.3' \ - && mkdir -p ode/build \ - && cmake ode -B ode/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build ode/build --target install -j${NUM_CORES} \ - && rm -rf ode - -# tinyxml2 -RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \ - && mkdir -p tinyxml2/build \ - && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ - && cmake --build tinyxml2/build --target install -j${NUM_CORES} \ - && rm -rf tinyxml2 - -# console_bridge -RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \ - && mkdir -p console_bridge/build \ - && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build console_bridge/build --target install -j${NUM_CORES} \ - && rm -rf console_bridge - -# urdfdom_headers -RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \ - && mkdir -p urdfdom_headers/build \ - && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom_headers - -# urdfdom -RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \ - && mkdir -p urdfdom/build \ - && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \ - && cmake --build urdfdom/build --target install -j${NUM_CORES} \ - && rm -rf urdfdom - -# openscenegraph -RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \ - && mkdir -p OpenSceneGraph/build \ - && cmake OpenSceneGraph -B OpenSceneGraph/build \ - -DCMAKE_BUILD_TYPE=Release \ - -DBUILD_OSG_APPLICATIONS=OFF \ - -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \ - && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \ - && rm -rf OpenSceneGraph diff --git a/pyproject.toml b/pyproject.toml index 648424ad563bc..f43d753c73d57 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -47,27 +47,32 @@ skip = [ # Linux "*musllinux*", "cp36-*linux*", + "cp37-*linux*", # macOS "cp36-macosx*", "cp37-macosx*", - - # macOS (arm64) - "cp39-macosx_arm64", + "cp38-macosx*", + "cp39-macosx*", + "cp310-macosx*", + "cp311-macosx*", # Windows "cp*-win32", "cp36-win*", "cp37-win*", + "cp38-win*", + "cp39-win*", + "cp310-win*", + "cp311-win*", ] [tool.cibuildwheel.linux] -# archs = ["x86_64", "aarch64"] archs = ["x86_64"] environment-pass = ["DART_IN_CI"] [tool.cibuildwheel.macos] -archs = ["auto64"] +archs = ["auto64"] # TODO: Add universal2 and arm64 environment = { HOMEBREW_NO_INSTALL_CLEANUP = 1 } before-all = [ "brew update > /dev/null", diff --git a/setup.py b/setup.py index cbaa4295e04d8..9a7955863cf9b 100644 --- a/setup.py +++ b/setup.py @@ -74,6 +74,7 @@ def build_extension(self, ext: CMakeExtension) -> None: f"-DDART_ENABLE_SIMD=OFF", f"-DDART_BUILD_WHEELS=ON", f"-DDART_TREAT_WARNINGS_AS_ERRORS=OFF", + f"-DDART_VERBOSE=ON", ] build_args = [] # Adding CMake arguments set as environment variable