Merge wearables in human-dynamics-estimation (#1720)

* Merge wearables in human-dynamics-estimation * Bump latest.releases.yaml to HDE 4.0.0 * Update BuildHumanDynamicsEstimation.cmake
robotology · Sep 25, 2024 · 3226155 · 3226155
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diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
@@ -187,8 +187,6 @@ jobs:
             # icub-main needs robotology channel as it also depends on esdcan, and local to avoid that robotology packages are used instead of local built one
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology icub-main
             rm -rf icub-main
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wearables
-            rm -rf wearables
             # Channels specified explicitly due to https://github.com/robotology/robotology-superbuild/issues/1140
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge human-dynamics-estimation
             rm -rf human-dynamics-estimation

diff --git a/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -7,22 +7,26 @@ include(FindOrBuildPackage)
 find_or_build_package(YARP QUIET)
 find_or_build_package(ICUB QUIET)
 find_or_build_package(iDynTree QUIET)
-find_or_build_package(wearables QUIET)
 find_or_build_package(osqp QUIET)
 find_or_build_package(OsqpEigen QUIET)
+find_or_build_package(robometry QUIET)
+
+if(WIN32)
+    list(APPEND HDE_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
+endif()
 
 ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/human-dynamics-estimation.git
               TAG master
               COMPONENT human_dynamics
               FOLDER src
-              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON
+              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON ${HDE_CMAKE_ARGS}
               DEPENDS iDynTree
                       YARP
-                      wearables
                       osqp
                       OsqpEigen
-                      ICUB)
+                      ICUB
+                      robometry)
 
 set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
diff --git a/cmake/Buildwearables.cmake b/cmake/Buildwearables.cmake
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
@@ -146,7 +146,6 @@ endif()
 # Human Dynamics Estimation
 if(ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS)
   find_or_build_package(yarp-devices-forcetorque)
-  find_or_build_package(wearables)
   find_or_build_package(HumanDynamicsEstimation)
   find_or_build_package(human-gazebo)
 endif()

diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -80,7 +80,6 @@ Add-ValueToUserEnvVariable BLOCKTEST_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTAL
 # ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\human-gazebo";
 Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\HumanDynamicsEstimation";
-Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\Wearables";
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -83,7 +83,6 @@ Remove-ValueFromUserEnvVariable BLOCKTEST_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_I
 # Cleanup ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\human-gazebo";
 Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\HumanDynamicsEstimation";
-Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\Wearables";
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
@@ -41,7 +41,6 @@ set "BLOCKTEST_RESOURCE_PATH"=%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\bin
 rem ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\human-gazebo"
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\HumanDynamicsEstimation"
-set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\Wearables"
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
@@ -45,7 +45,6 @@ export BLOCKTEST_RESOURCE_PATH=${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/bin
 # ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS-specific lines
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/human-gazebo
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/HumanDynamicsEstimation
-export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/Wearables
 @endcmakeif ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS
 
 @cmakeif ROBOTOLOGY_USES_PYTHON

diff --git a/conda/multisheller/wearables_activate.msh b/conda/multisheller/wearables_activate.msh
diff --git a/conda/multisheller/wearables_deactivate.msh b/conda/multisheller/wearables_deactivate.msh
diff --git a/doc/cmake-options.md b/doc/cmake-options.md
@@ -49,7 +49,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION` | The robotology software packages related to teleoperation. | [`walking-teleoperation`](https://github.com/robotology/walking-teleoperation), [`https://github.com/ami-iit/yarp-openvr-trackers`](https://github.com/ami-iit/yarp-openvr-trackers) and [`https://github.com/ami-iit/yarp-device-openxrheadset`](https://github.com/ami-iit/yarp-device-openxrheadset). | `OFF` | [Documentation on teleoperation profile.](#teleoperation)  |
-| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables), [`yarp-devices-forcetorque`](https://github.com/robotology/yarp-devices-forcetorque). For options check the profile documentation. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |
+| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`yarp-devices-forcetorque`](https://github.com/robotology/yarp-devices-forcetorque). For options check the profile documentation. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |
 | `ROBOTOLOGY_ENABLE_EVENT_DRIVEN` | The robotology software packages related to event-driven. | [`event-driven`](https://github.com/robotology/event-driven) | `OFF` | [Documentation on event-driven profile.](#event-driven)  |
 | `ROBOTOLOGY_ENABLE_GRASPING` | The robotology software packages related to grasping. | [`find-superquadric`](https://github.com/robotology/find-superquadric) if the `ROBOTOLOGY_USES_PCL_AND_VTK` option is enabled. | `OFF` | [Documentation on grasping profile.](#grasping)  |
 

diff --git a/doc/environment-variables-configuration.md b/doc/environment-variables-configuration.md
@@ -51,8 +51,7 @@ For all profile options not listed, no additional configuration is required.
 
 ### Human Dynamics
 `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/human-gazebo`,
-`$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/HumanDynamicsEstimation`,
-and`$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/Wearables` must be appended to the `YARP_DATA_DIRS` environmental variable.
+and `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/HumanDynamicsEstimation`` must be appended to the `YARP_DATA_DIRS` environmental variable.
 
 ## Dependency-specific configuration steps
 

diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
@@ -119,14 +119,10 @@ repositories:
     type: git
     url: https://github.com/robotology/yarp-devices-forcetorque.git
     version: v0.3.1
-  wearables:
-    type: git
-    url: https://github.com/robotology/wearables.git
-    version: v1.9.0
   HumanDynamicsEstimation:
     type: git
     url: https://github.com/robotology/human-dynamics-estimation.git
-    version: v3.1.1
+    version: v4.0.0
   human-gazebo:
     type: git
     url: https://github.com/robotology/human-gazebo.git