[github]: update workflows to use v6.12.1

.github/workflows/ci_linux.yml

@@ -23,7 +23,7 @@ jobs:
         build_python: [ON]
         compiler: [gcc, clang]
         magnum_gui: [ON, OFF]
-        dart_tag: ["v6.11.1"]
+        dart_tag: ["v6.12.1"]
     env:
       COMPILER: ${{ matrix.compiler }}
       BUILD_TYPE: ${{ matrix.build_type }}

.github/workflows/ci_linux_dart.yml

@@ -18,7 +18,7 @@ jobs:
         build_type: [Release]
         build_python: [ON]
         compiler: [gcc, clang]
-        dart_tag: ["v6.11.1"]
+        dart_tag: ["v6.12.1"]
     env:
       COMPILER: ${{ matrix.compiler }}
       BUILD_TYPE: ${{ matrix.build_type }}

ci/install_dart_latest.sh

@@ -4,18 +4,31 @@ cd ~/.deps
 python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
 mkdir -p ~/.dart_install/$python_dist_dir
 
-git clone git://github.com/dartsim/dart.git
-cd dart
-git checkout $DART_TAG
-mkdir build
-cd build
 # Select Compiler
 if [ "$COMPILER" = "gcc" ]; then
 export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
 fi
 if [ "$COMPILER" = "clang" ]; then
 export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
 fi
+
+# Build pybind11 if needed; for clang we need at least v2.5.0
+if [ "$COMPILER" = "clang" ]; then
+    git clone https://github.com/pybind/pybind11 -b 'v2.5.0' --single-branch --depth 1
+    cd pybind11
+    mkdir build && cd build
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+    make -j4
+    sudo make install
+    cd ../..
+fi
+
+git clone git://github.com/dartsim/dart.git
+cd dart
+git checkout $DART_TAG
+mkdir build
+cd build
+
 # Build DART
 if [ "$BUILD_PYTHON" = "ON" ]; then
 cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
@@ -24,9 +37,10 @@ cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREF
 fi
 make -j4
 sudo make install
-if [ "$BUILD_PYTHON" = "ON" ]; then
-    sudo make install-dartpy
-fi
+# We do not need this anymore
+# if [ "$BUILD_PYTHON" = "ON" ] && [ "$DART_TAG" = "v6.11.1"]; then
+#     sudo make install-dartpy
+# fi
 sudo ldconfig
 cd $CI_HOME
 

ci/install_packages.sh

@@ -2,10 +2,15 @@ sudo apt-get -qq update
 sudo apt-get -y install software-properties-common mlocate
 sudo apt-add-repository -y ppa:dartsim/ppa
 sudo apt-get -qq update
-sudo apt-get install -y --no-install-recommends build-essential cmake pkg-config git libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libbullet-dev libode-dev liboctomap-dev libtinyxml-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy pybind11-dev libpython3-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev libassimp-dev
+sudo apt-get install -y --no-install-recommends build-essential cmake pkg-config git libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libbullet-dev libode-dev liboctomap-dev libtinyxml-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy libpython3-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev libassimp-dev
 
 sudo ln -s /usr/bin/python3 /usr/bin/python
 
+# if gcc, we can safely use the official package, for clang we need to build it
+if [ "$COMPILER" = "gcc" ]; then
+    sudo apt-get install -y --no-install-recommends pybind11-dev
+fi
+
 if [ "$MAGNUM_GUI" = "ON" ]; then
     sudo apt-get install -y --no-install-recommends libopenal-dev libglfw3-dev libsdl2-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev libglm-dev
-fi
+fi

docs/installation.md

@@ -187,7 +187,7 @@ cd build
 cmake -DDART_BUILD_DARTPY=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j4
 sudo make install
-sudo make install-dartpy
+sudo make install-dartpy # for DART >= v6.12.0, we do not need this
 ```
 
 Then the compilation of robot_dart is almost identical as before: