Add recipe for adam-robotics Python package

recipes/adam-robotics/40.patch

@@ -0,0 +1,100 @@
+From 10acc266f6398d9c9e9cf123f19a6e4335436cb2 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Sun, 14 May 2023 22:13:52 +0200
+Subject: [PATCH] tests: Always initialize twists with idyntree.Twist.Zero()
+
+---
+ tests/test_CasADi_computations.py  | 4 ++--
+ tests/test_Jax_computations.py     | 4 ++--
+ tests/test_NumPy_computations.py   | 4 ++--
+ tests/test_pytorch_computations.py | 4 ++--
+ 4 files changed, 8 insertions(+), 8 deletions(-)
+
+diff --git a/tests/test_CasADi_computations.py b/tests/test_CasADi_computations.py
+index 73c53e9..c604829 100644
+--- a/tests/test_CasADi_computations.py
++++ b/tests/test_CasADi_computations.py
+@@ -76,7 +76,7 @@ def H_from_Pos_RPY_idyn(xyz, rpy):
+
+ # set iDynTree kinDyn
+ H_b_idyn = H_from_Pos_RPY_idyn(xyz, rpy)
+-vb = idyntree.Twist()
++vb = idyntree.Twist.Zero()
+ [vb.setVal(i, base_vel[i]) for i in range(6)]
+
+ s = idyntree.VectorDynSize(n_dofs)
+@@ -190,7 +190,7 @@ def test_coriolis_term():
+
+
+ def test_gravity_term():
+-    vb0 = idyntree.Twist()
++    vb0 = idyntree.Twist.Zero()
+     s_dot0 = idyntree.VectorDynSize(n_dofs)
+     kinDyn.setRobotState(H_b_idyn, s, vb0, s_dot0, g)
+     G_iDyn = idyntree.FreeFloatingGeneralizedTorques(kinDyn.model())
+diff --git a/tests/test_Jax_computations.py b/tests/test_Jax_computations.py
+index 2bb81e0..ed9ff96 100644
+--- a/tests/test_Jax_computations.py
++++ b/tests/test_Jax_computations.py
+@@ -76,7 +76,7 @@ def H_from_Pos_RPY_idyn(xyz, rpy):
+
+ # set iDynTree kinDyn
+ H_b_idyn = H_from_Pos_RPY_idyn(xyz, rpy)
+-vb = idyntree.Twist()
++vb = idyntree.Twist.Zero()
+ [vb.setVal(i, base_vel[i]) for i in range(6)]
+
+ s = idyntree.VectorDynSize(n_dofs)
+@@ -185,7 +185,7 @@ def test_gravity_term():
+     kinDyn2.loadRobotModel(robot_iDyn.model())
+     kinDyn2.setFloatingBase(root_link)
+     kinDyn2.setFrameVelocityRepresentation(idyntree.MIXED_REPRESENTATION)
+-    vb0 = idyntree.Twist()
++    vb0 = idyntree.Twist.Zero()
+     s_dot0 = idyntree.VectorDynSize(n_dofs)
+     kinDyn2.setRobotState(H_b_idyn, s, vb0, s_dot0, g)
+     G_iDyn = idyntree.FreeFloatingGeneralizedTorques(kinDyn2.model())
+diff --git a/tests/test_NumPy_computations.py b/tests/test_NumPy_computations.py
+index d0356fa..863ae2a 100644
+--- a/tests/test_NumPy_computations.py
++++ b/tests/test_NumPy_computations.py
+@@ -75,7 +75,7 @@ def H_from_Pos_RPY_idyn(xyz, rpy):
+
+ # set iDynTree kinDyn
+ H_b_idyn = H_from_Pos_RPY_idyn(xyz, rpy)
+-vb = idyntree.Twist()
++vb = idyntree.Twist.Zero()
+ [vb.setVal(i, base_vel[i]) for i in range(6)]
+
+ s = idyntree.VectorDynSize(n_dofs)
+@@ -184,7 +184,7 @@ def test_gravity_term():
+     kinDyn2.loadRobotModel(robot_iDyn.model())
+     kinDyn2.setFloatingBase(root_link)
+     kinDyn2.setFrameVelocityRepresentation(idyntree.MIXED_REPRESENTATION)
+-    vb0 = idyntree.Twist()
++    vb0 = idyntree.Twist.Zero()
+     s_dot0 = idyntree.VectorDynSize(n_dofs)
+     kinDyn2.setRobotState(H_b_idyn, s, vb0, s_dot0, g)
+     G_iDyn = idyntree.FreeFloatingGeneralizedTorques(kinDyn2.model())
+diff --git a/tests/test_pytorch_computations.py b/tests/test_pytorch_computations.py
+index f400a62..db0d70e 100644
+--- a/tests/test_pytorch_computations.py
++++ b/tests/test_pytorch_computations.py
+@@ -76,7 +76,7 @@ def H_from_Pos_RPY_idyn(xyz, rpy):
+
+ # set iDynTree kinDyn
+ H_b_idyn = H_from_Pos_RPY_idyn(xyz, rpy)
+-vb = idyntree.Twist()
++vb = idyntree.Twist.Zero()
+ [vb.setVal(i, base_vel[i]) for i in range(6)]
+
+ s = idyntree.VectorDynSize(n_dofs)
+@@ -185,7 +185,7 @@ def test_gravity_term():
+     kinDyn2.loadRobotModel(robot_iDyn.model())
+     kinDyn2.setFloatingBase(root_link)
+     kinDyn2.setFrameVelocityRepresentation(idyntree.MIXED_REPRESENTATION)
+-    vb0 = idyntree.Twist()
++    vb0 = idyntree.Twist.Zero()
+     s_dot0 = idyntree.VectorDynSize(n_dofs)
+     kinDyn2.setRobotState(H_b_idyn, s, vb0, s_dot0, g)
+     G_iDyn = idyntree.FreeFloatingGeneralizedTorques(kinDyn2.model())

recipes/adam-robotics/meta.yaml

@@ -0,0 +1,60 @@
+{% set name = "adam-robotics" %}
+{% set version = "0.0.6" %}
+
+package:
+  name: {{ name|lower }}
+  version: {{ version }}
+
+source:
+  url: https://github.com/ami-iit/ADAM/archive/refs/tags/v{{ version }}.tar.gz
+  sha256: 4a726ac0c0ce6735eb51be30f512583d63721a270d16cb74738f78615540a6cb
+  patches:
+    - 40.patch
+
+build:
+  noarch: python
+  script: {{ PYTHON }} -m pip install . -vv --no-deps
+  number: 0
+
+requirements:
+  host:
+    - python >=3.7
+    - pip
+    - wheel
+    - setuptools
+  run:
+    - python >=3.7
+    - numpy
+    - scipy
+    - casadi
+    - prettytable
+    - urdfdom-py
+
+test:
+  source_files:
+    - tests
+  imports:
+    - adam
+  commands:
+    # Workaround for glibc <= 2.25 problems,
+    # See https://github.com/ami-iit/ADAM/pull/38#issuecomment-1546909762
+    - pytest ./tests/ -v -k "not gravity"  # [not win]
+    - pytest ./tests/ -v --ignore-glob=*Jax* --ignore-glob=*pytorch*  # [win]
+  requires:
+    - pip
+    - pytest
+    - gym-ignition-models
+    - pytorch  # [not win]
+    - jax  # [not win]
+    - idyntree
+
+about:
+  home: https://github.com/ami-iit/ADAM
+  summary: 'ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and NumPy.'
+  license: LGPL-2.1-only
+  license_file: LICENSE
+
+extra:
+  recipe-maintainers:
+    - traversaro
+    - Giulero

recipes/adam-robotics/yum_requirements.txt

@@ -0,0 +1,5 @@
+mesa-libGL
+libselinux
+libXdamage
+libXxf86vm
+libXext