Had to force PYTHONPATH to update during build because setup script i…

…s not created yet to run.

CMakeLists.txt

@@ -77,12 +77,15 @@ if(OPENSIM2REAL_USES_PYTHON)
   message(STATUS "OPENSIM2REAL_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH: ${OPENSIM2REAL_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH}")
 
 endif()
+set(PYTHONPATHS "${YCM_EP_INSTALL_DIR}/${OPENSIM2REAL_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH}:\
+${YCM_EP_INSTALL_DIR}/${IDYNTREE_PYTHON_INSTALL_DIR_SETUP_SH}")
 
 # If scenario is enabled. make sure gym ignition and scenario are uninstalled
 IF(OPENSIM2REAL_USES_PYTHON)
     # Make sure gym-ignition and scenario is uninstalled before running
     execute_process(
-        COMMAND "${Python3_EXECUTABLE}"  -c "import sys; from contextlib import suppress; import os; import importlib; \
+        COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHONPATHS} "${Python3_EXECUTABLE}" -c "import sys; \
+        from contextlib import suppress; import os; import importlib; \
         PYPATHS = [] if 'PYTHONPATH' not in os.environ else os.environ['PYTHONPATH'].split(':'); \
         sys.path = [p for p in sys.path if p not in [os.path.abspath(x) for x in PYPATHS]]; \
         print(importlib.util.find_spec('idyntree'))"
@@ -99,7 +102,8 @@ IF(OPENSIM2REAL_USES_PYTHON)
     endif()
     # Make sure Scenario is uninstalled before Runinng
     execute_process(
-        COMMAND "${Python3_EXECUTABLE}" -c "import sys; from contextlib import suppress; import os; import importlib; \
+        COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHONPATHS} "${Python3_EXECUTABLE}" -c "import sys; \
+        from contextlib import suppress; import os; import importlib; \
         PYPATHS = [] if 'PYTHONPATH' not in os.environ else os.environ['PYTHONPATH'].split(':'); \
         sys.path = [p for p in sys.path if p not in [os.path.abspath(x) for x in PYPATHS]]; \
         print(importlib.util.find_spec('scenario'))"
@@ -116,7 +120,8 @@ IF(OPENSIM2REAL_USES_PYTHON)
     endif()
     # Make sure gym-ignition and scenario is uninstalled before running
     execute_process(
-        COMMAND "${Python3_EXECUTABLE}" -c "import sys; from contextlib import suppress; import os; import importlib; \
+        COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHONPATHS} "${Python3_EXECUTABLE}" -c "import sys; \
+        from contextlib import suppress; import os; import importlib; \
         PYPATHS = [] if 'PYTHONPATH' not in os.environ else os.environ['PYTHONPATH'].split(':'); \
         sys.path = [p for p in sys.path if p not in [os.path.abspath(x) for x in PYPATHS]]; \
         print(importlib.util.find_spec('gym_ignition'))"

cmake/Buildgym-ignition.cmake

@@ -25,8 +25,9 @@ if(OPENSIM2REAL_USES_PYTHON)
   set(EGG_BASE_PATH_SCENARIO "${YCM_EP_INSTALL_DIR}/${OPENSIM2REAL_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH}")
   message(STATUS "Using \'${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH_SCENARIO}\' To create each egg info for python modules sceanrio and gym-ignition.")
   add_custom_command(TARGET gym-ignition POST_BUILD
-      COMMAND ${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH_SCENARIO}
+      COMMAND  ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHONPATHS} ${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH_SCENARIO}
       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/src/gym-ignition/scenario
+      DEPENDS iDynTree
       COMMENT "Installing egg files for scenario..."
   )
 
@@ -45,11 +46,14 @@ if(OPENSIM2REAL_USES_PYTHON)
   set(gym_ignition_install_dir ${EGG_BASE_PATH_SCENARIO}/gym_ignition)
   add_custom_command(TARGET gym-ignition POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E copy_directory ${PROJECT_SOURCE_DIR}/src/gym-ignition ${gym_ignition_install_dir}
+    DEPENDS iDynTree
     COMMENT "Moving gym-ignition into build python directory ${gym_ignition_install_dir}...")
 
   add_custom_command(TARGET gym-ignition POST_BUILD
-    VERBATIM COMMAND ${Python3_EXECUTABLE} -c "import setuptools;import site;import sys;site.ENABLE_USER_SITE = 1;sys.argv[1:]=[\"develop\",\"--user\"];setuptools.setup()"
+    VERBATIM COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${PYTHONPATHS} ${Python3_EXECUTABLE} -c "import setuptools; \
+    import site;import sys;site.ENABLE_USER_SITE = 1;sys.argv[1:]=[\"develop\",\"--user\"];setuptools.setup()"
     WORKING_DIRECTORY ${gym_ignition_install_dir}
+    DEPENDS iDynTree
     COMMENT "Installing egg files link for gym-ignition..."
   )
 

cmake/BuildiDynTree.cmake

@@ -25,9 +25,9 @@ ycm_ep_helper(iDynTree TYPE GIT
 
 if(OPENSIM2REAL_USES_PYTHON)
     # Status message
-    message(STATUS "Using \'${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH}\' To create each egg info for idyntree python modules.")
-
     set(EGG_BASE_PATH_IDYNTREE "${YCM_EP_INSTALL_DIR}/${IDYNTREE_PYTHON_INSTALL_DIR_SETUP_SH}")
+    message(STATUS "Using \'${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH_IDYNTREE}\' To create each egg info for idyntree python modules.")
+
     add_custom_command(TARGET iDynTree POST_BUILD
         COMMAND ${Python3_EXECUTABLE} setup.py egg_info --egg-base=${EGG_BASE_PATH_IDYNTREE}
         WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/src/iDynTree

cmake/OpenSim2RealSuperbuildLogic.cmake

@@ -21,6 +21,7 @@ endif()
 
 # Robot scenario packages
 if(OPENSIM2REAL_ENABLE_SCENARIO)
+  find_or_build_package(iDynTree)
   find_or_build_package(gym-ignition)
   # find_or_build_package(scenario_monopod)
 endif()

cmake/template/setup.sh.in

@@ -1,26 +1,26 @@
 # Automatically generated setup file for @PROJECT_NAME@
-export BAESIANBALANCER_SUPERBUILD_SOURCE_DIR=@PROJECT_SOURCE_DIR_SETUP_SH@
-export BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX=@YCM_EP_INSTALL_DIR_SETUP_SH@
+export OPENSIM2REAL_SUPERBUILD_SOURCE_DIR=@PROJECT_SOURCE_DIR_SETUP_SH@
+export OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX=@YCM_EP_INSTALL_DIR_SETUP_SH@
 # Extend PATH (see https://en.wikipedia.org/wiki/PATH_(variable) )
-export PATH=$PATH:$BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX/bin
+export PATH=$PATH:$OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX/bin
 
 # Extend CMAKE_PREFIX_PATH (see https://cmake.org/cmake/help/v3.8/variable/CMAKE_PREFIX_PATH.html )
-export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+${CMAKE_PREFIX_PATH}:}${BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX}
+export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+${CMAKE_PREFIX_PATH}:}${OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX}
 # Extend path for shared libraries  (see http://tldp.org/HOWTO/Program-Library-HOWTO/shared-libraries.html)
-export @SHLIB_ENV_VAR@=${@SHLIB_ENV_VAR@:+${@SHLIB_ENV_VAR@}:}${BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX}/lib
+export @SHLIB_ENV_VAR@=${@SHLIB_ENV_VAR@:+${@SHLIB_ENV_VAR@}:}${OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX}/lib
 
 # # Setup the path of blockfactory plugins
 # export BLOCKFACTORY_PLUGIN_PATH=${BLOCKFACTORY_PLUGIN_PATH:+${BLOCKFACTORY_PLUGIN_PATH}:}$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/@BLOCKFACTORY_PLUGIN_PATH_DIRECTORY@/blockfactory
 
 # Extend path for bash completion (see https://github.com/robotology/robotology-superbuild/issues/622#issuecomment-847586406)
-export XDG_DATA_DIRS=${XDG_DATA_DIRS:+${XDG_DATA_DIRS}:}$BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX/share
+export XDG_DATA_DIRS=${XDG_DATA_DIRS:+${XDG_DATA_DIRS}:}$OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX/share
 
 # export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH:+${ROS_PACKAGE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
 # export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH:+${AMENT_PREFIX_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}
 # export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH:+${GAZEBO_MODEL_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
 
-@cmakeif BAESIANBALANCER_USES_PYTHON
+@cmakeif OPENSIM2REAL_USES_PYTHON
 # Add the python bindings directory to the PYTHON_PATH
-export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX}/@BAESIANBALANCER_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH@
-export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${BAESIANBALANCER_SUPERBUILD_INSTALL_PREFIX}/@IDYNTREE_PYTHON_INSTALL_DIR_SETUP_SH@
-@endcmakeif BAESIANBALANCER_USES_PYTHON
+export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX}/@OPENSIM2REAL_SUPERBUILD_PYTHON_INSTALL_DIR_SETUP_SH@
+export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${OPENSIM2REAL_SUPERBUILD_INSTALL_PREFIX}/@IDYNTREE_PYTHON_INSTALL_DIR_SETUP_SH@
+@endcmakeif OPENSIM2REAL_USES_PYTHON

releases/latest.releases.yaml

@@ -1,5 +1,5 @@
-repositories:
-  pybind11:
-    type: git
-    url: https://github.com/pybind/pybind11.git
-    version: master
+# repositories:
+#   pybind11:
+#     type: git
+#     url: https://github.com/pybind/pybind11.git
+#     version: master