diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 7c58d3d32dde4f89792c3e2e8a9c9457f04c9032..636876302549a50ac4151696d35f5981cb7aba47 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -7,20 +7,29 @@ stages:
.bootstrap-axii:
cache:
- key: general-apt-cache
- paths:
- - .apt
+ - key: general-pip-cache
+ paths:
+ - .pip
+ - key: general-apt-cache
+ paths:
+ - .apt
before_script:
- export LC_ALL=C.UTF-8
- export LANG=C.UTF-8
+ - source /etc/os-release
+
+ # Pip cache configuration.
+ - export PIP_CACHE_DIR="$CI_PROJECT_DIR/.pip"
+ - mkdir -p ".pip" || true
# Apt cache configuration.
- rm -rf /var/cache/apt/archives || true
- rm -f /etc/apt/apt.conf.d/docker-clean # Remove docker-clean script to avoid cache deletion.
- - mkdir .apt || true
- - ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
+ - mkdir -p ".apt/$VERSION_CODENAME" || true
+ - ln -s "$CI_PROJECT_DIR/.apt/$VERSION_CODENAME" /var/cache/apt/archives
+ # Apt preparation.
- apt-get update -y
- apt-get install sudo -y
diff --git a/CHANGELOG.md b/CHANGELOG.md
index e12f7b62f46ebb99144e3f7a9f87e230edce3b7c..4928717f806f2e30ddd27931908cc64979d41c10 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,26 @@ This document accumulates all changes to Axii with the respective version
## Releases 23.01
+### Release [23.01.4.0](https://git.h2t.iar.kit.edu/sw/armarx/meta/axii/-/releases/23.01.4.0)
+
+**Update procedure**:
+
+- `axii self update`
+- (with workspace activated) `axii workspace verify`
+
+**Modules:**
+
+- `h2t/research_projects/eurobin/*`: Move euROBIN modules to external DB (@kartmann, !490, !492)
+- **New** `tools/nodejs/*`: Add modules for node and npm (@dreher, !489)
+- `armarx/skills/control`: Remove constraint of building project with 4 jobs (@dreher, !488)
+- **New** `armarx_integration/robots/armar6/*`: Add ARMAR-6 Models module (@dreher, !486)
+- **New** `deps/embedded_template_library`: Add embedded_template_library module (@pohl, !485)
+
+_Other:_
+
+- OS-specific apt CI caches and pip CI caches (@dreher, !487)
+
+
### Release [23.01.3.0](https://git.h2t.iar.kit.edu/sw/armarx/meta/axii/-/releases/23.01.3.0)
**Update procedure**:
diff --git a/armarx_setup/__init__.py b/armarx_setup/__init__.py
index bd7ab2726c67a2cc0a60ca47235897e54f9a1123..6751921ea8d2d37e277aab77dd61e2ec2817c117 100644
--- a/armarx_setup/__init__.py
+++ b/armarx_setup/__init__.py
@@ -1,6 +1,6 @@
"""Global Axii variables."""
-__version__ = "23.01.3.0"
+__version__ = "23.01.4.0"
import os
diff --git a/data/modules/armarx/skills/control.json b/data/modules/armarx/skills/control.json
index e8bbf1bfd70321f0595bdd95b3ba956900d6bd1d..77035467ee4323e60a5db9ca113c49b75f7a1949 100644
--- a/data/modules/armarx/skills/control.json
+++ b/data/modules/armarx/skills/control.json
@@ -1,6 +1,9 @@
{
"general": {
- "url": "https://git.h2t.iar.kit.edu/sw/armarx/skills/control"
+ "url": "https://git.h2t.iar.kit.edu/sw/armarx/skills/control",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
},
"update": {
@@ -8,6 +11,7 @@
"h2t_gitlab_slug": "sw/armarx/skills/control"
}
},
+
"prepare": {
"cmake": {
"project_name": "armarx_control",
@@ -17,14 +21,8 @@
}
}
},
- "build": {
- "cmake": {
- "env": {
- "CMAKE_BUILD_PARALLEL_LEVEL": "4"
- }
- }
- },
+ "build": "cmake",
"features": {
"mplib": "mplib",
diff --git a/data/modules/armarx_integration/robots/armar6.json b/data/modules/armarx_integration/robots/armar6.json
index 2ecb932bbaca2f1ea0c718b476fb5ae0665357e4..f255e532bec68d7ec95723e27291e064453a621f 100644
--- a/data/modules/armarx_integration/robots/armar6.json
+++ b/data/modules/armarx_integration/robots/armar6.json
@@ -1,5 +1,13 @@
{
+ "general": {
+ "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
+ },
+
"required_modules": {
+ "armarx_integration/robots/armar6/models": {},
"armarx_integration/robots/armar6/rt": {},
"armarx_integration/robots/armar6/skills": {}
}
diff --git a/data/modules/armarx_integration/robots/armar6/models.json b/data/modules/armarx_integration/robots/armar6/models.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d59e6b8634ced913264006c83da9d5c3f479ec7
--- /dev/null
+++ b/data/modules/armarx_integration/robots/armar6/models.json
@@ -0,0 +1,31 @@
+{
+ "general": {
+ "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/models",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
+ },
+
+ "update": {
+ "git": {
+ "h2t_gitlab_slug": "sw/armarx-integration/robots/armar6/models"
+ }
+ },
+
+ "prepare": {
+ "cmake": {
+ "project_name": "armar6_models",
+ "definitions": {
+ "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
+ "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
+ }
+ }
+ },
+
+ "build": "cmake",
+
+ "required_modules": {
+ "armarx/meta/compiler": {},
+ "armarx/ArmarXCore": {}
+ }
+}
diff --git a/data/modules/armarx_integration/robots/armar6/rt.json b/data/modules/armarx_integration/robots/armar6/rt.json
index 62a2c9477d9d25175cdae6ede0717d7f69638df4..ddc87e5af3be0f990b62beb0fd5df47e83d90bcd 100644
--- a/data/modules/armarx_integration/robots/armar6/rt.json
+++ b/data/modules/armarx_integration/robots/armar6/rt.json
@@ -1,6 +1,9 @@
{
"general": {
- "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/rt"
+ "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/rt",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
},
"update": {
@@ -8,6 +11,7 @@
"h2t_gitlab_slug": "sw/armarx-integration/robots/armar6/rt"
}
},
+
"prepare": {
"cmake": {
"project_name": "armar6_rt",
@@ -17,6 +21,7 @@
}
}
},
+
"build": "cmake",
"required_modules": {
@@ -26,6 +31,8 @@
"armarx/RobotAPI": {},
"armarx/skills/control": {},
- "armarx_integration/devices/ethercat": {}
+ "armarx_integration/devices/ethercat": {},
+
+ "armarx_integration/robots/armar6/models": {}
}
}
diff --git a/data/modules/armarx_integration/robots/armar6/skills.json b/data/modules/armarx_integration/robots/armar6/skills.json
index 0d23732a72869ddf6818bf5011d261984db7fc2a..05425a4a05d6fee9c38208bc926d5d49ab5a294e 100644
--- a/data/modules/armarx_integration/robots/armar6/skills.json
+++ b/data/modules/armarx_integration/robots/armar6/skills.json
@@ -1,6 +1,9 @@
{
"general": {
- "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/skills"
+ "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/skills",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
},
"update": {
@@ -8,6 +11,7 @@
"h2t_gitlab_slug": "sw/armarx-integration/robots/armar6/skills"
}
},
+
"prepare": {
"cmake": {
"project_name": "armar6_skills",
@@ -17,6 +21,7 @@
}
}
},
+
"build": "cmake",
"required_modules": {
@@ -35,7 +40,9 @@
"armarx/ArmarXSimulation": {},
"armarx/skills/manipulation": {},
- "armarx_integration/robots/armar6/rt": {}
+ "# TODO: Remove RT when models are moved from armar6::rt to armar6::models": null,
+ "armarx_integration/robots/armar6/rt": {},
+ "armarx_integration/robots/armar6/models": {}
}
}
diff --git a/data/modules/dbs/research_projects/eurobin.json b/data/modules/dbs/research_projects/eurobin.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75c21173e165c5b44475ef2d52b01c7172365c8
--- /dev/null
+++ b/data/modules/dbs/research_projects/eurobin.json
@@ -0,0 +1,23 @@
+{
+
+ "general": {
+ "url": "https://git.h2t.iar.kit.edu/research-projects/eurobin/axii-database",
+ "authors": "Rainer Kartmann <rainer.kartmann@kit.edu>",
+ "database": {
+ "for_namespace": "h2t/research_projects/eurobin"
+ }
+ },
+
+ "update": {
+ "git": {
+ "h2t_gitlab_slug": "research-projects/eurobin/axii-database"
+ }
+ },
+
+ "install": {
+ "env": {
+ "ARMARX_MODULES": "$MODULE_PATH:$ARMARX_MODULES"
+ }
+ }
+
+}
diff --git a/data/modules/deps/embedded_template_library.json b/data/modules/deps/embedded_template_library.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7f09da2f3bd7cea82886381e92a2a9ec9a9009
--- /dev/null
+++ b/data/modules/deps/embedded_template_library.json
@@ -0,0 +1,37 @@
+{
+ "general": {
+ "url": "https://github.com/ETLCPP/etl",
+ "authors": "Christoph Pohl <pohl@kit.edu>"
+ },
+
+ "update": {
+ "git": {
+ "github_slug": "ETLCPP/etl"
+ }
+ },
+
+ "prepare": {
+ "cmake": {
+ "# project_name": "etl",
+ "definitions": {
+ "CMAKE_INSTALL_PREFIX": "install",
+ "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
+ "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
+ }
+ }
+ },
+
+ "build": "cmake",
+
+ "install": {
+ "cmake": {},
+ "env": {
+ "etl_DIR": "$MODULE_PATH/build/install/share/etl/cmake"
+ }
+ },
+
+ "required_modules": {
+ "tools/cmake/3.21": {},
+ "armarx/meta/compiler": {}
+ }
+}
diff --git a/data/modules/h2t/research_projects/eurobin.json b/data/modules/h2t/research_projects/eurobin.json
deleted file mode 100644
index ecce9ac58c0a3e0b5977537491341e98b194cc7d..0000000000000000000000000000000000000000
--- a/data/modules/h2t/research_projects/eurobin.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "required_modules": {
- "h2t/research_projects/eurobin/wp2_skills": {}
- }
-}
diff --git a/data/modules/h2t/research_projects/eurobin/wp2_skills.json b/data/modules/h2t/research_projects/eurobin/wp2_skills.json
deleted file mode 100644
index 4afd41a209eeeea5f839f6dc9ba44058ed7b6be3..0000000000000000000000000000000000000000
--- a/data/modules/h2t/research_projects/eurobin/wp2_skills.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "general": {
- "url": "https://git.h2t.iar.kit.edu/research-projects/eurobin/wp2-skills"
- },
-
- "update": {
- "git": {
- "h2t_gitlab_slug": "research-projects/eurobin/communication"
- }
- },
- "prepare": {
- "cmake": {
- "definitions": {
- "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
- "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
- }
- },
- "# python": {
- "packages": {
- "python/activity_recognition": {
- "install_editable": [
- "$armarx__python3_armarx__PATH"
- ]
- }
- }
- }
- },
- "build": "cmake",
-
- "required_modules": {
- "armarx/meta/compiler": {},
- "armarx/ArmarXCore": {},
- "# armarx/python3-armarx": {},
-
- "# armarx_integration/robots/armar6/skills": {},
- "# armarx_integration/robots/armar7/skills": {}
- }
-}
diff --git a/data/modules/tools/nodejs/16.19.json b/data/modules/tools/nodejs/16.19.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcce84bef0f0dc57065e0ebc58c40567322f6394
--- /dev/null
+++ b/data/modules/tools/nodejs/16.19.json
@@ -0,0 +1,40 @@
+{
+ "general": {
+ "url": "https://nodejs.org/en/download/releases/",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
+ },
+
+ "update": {
+ "download": {
+ "url": "https://nodejs.org/download/release/v16.18.1/node-v16.18.1-linux-x64.tar.xz",
+ "md5_checksum": "e580e257385ac9faa0c3ab1ca4dbb783"
+ }
+ },
+
+ "prepare": {
+ "extract": {
+ "file": "node-v16.18.1-linux-x64.tar.xz",
+ "extract_into": "$MODULE_PATH"
+ }
+ },
+
+ "install": {
+ "env": {
+ "NODE_16_18": "$MODULE_PATH/node-v16.18.1-linux-x64/bin/node",
+ "NPM_8_19": "$MODULE_PATH/node-v16.18.1-linux-x64/bin/npm"
+ },
+ "executables": {
+ "node-16.18": {
+ "exec": "$MODULE_PATH/node-v16.18.1-linux-x64/bin/node"
+ },
+ "npm-8.19": {
+ "pre_exec_commands": [
+ "export PATH=$MODULE_PATH/node-v16.18.1-linux-x64/bin:$PATH"
+ ],
+ "exec": "$MODULE_PATH/node-v16.18.1-linux-x64/bin/npm"
+ }
+ }
+ }
+}
diff --git a/data/modules/tools/nodejs/18.13.json b/data/modules/tools/nodejs/18.13.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73cf709b67e7d6df2fc6754ef33328e6280f0d4
--- /dev/null
+++ b/data/modules/tools/nodejs/18.13.json
@@ -0,0 +1,40 @@
+{
+ "general": {
+ "url": "https://nodejs.org/en/download/releases/",
+ "authors": [
+ "Christian Dreher <c.dreher@kit.edu>"
+ ]
+ },
+
+ "update": {
+ "download": {
+ "url": "https://nodejs.org/download/release/v18.13.0/node-v18.13.0-linux-x64.tar.xz",
+ "md5_checksum": "e9c258601271fe0cce4a28d165ba43da"
+ }
+ },
+
+ "prepare": {
+ "extract": {
+ "file": "node-v18.13.0-linux-x64.tar.xz",
+ "extract_into": "$MODULE_PATH"
+ }
+ },
+
+ "install": {
+ "env": {
+ "NODE_18_13": "$MODULE_PATH/node-v18.13.0-linux-x64/bin/node",
+ "NPM_8_19": "$MODULE_PATH/node-v18.13.0-linux-x64/bin/npm"
+ },
+ "executables": {
+ "node-18.13": {
+ "exec": "$MODULE_PATH/node-v18.13.0-linux-x64/bin/node"
+ },
+ "npm-8.19": {
+ "pre_exec_commands": [
+ "export PATH=$MODULE_PATH/node-v18.13.0-linux-x64/bin:$PATH"
+ ],
+ "exec": "$MODULE_PATH/node-v18.13.0-linux-x64/bin/npm"
+ }
+ }
+ }
+}