Add bipedal-locomotion-framework (#526)

robotology · Nov 26, 2020 · b3e3833 · b3e3833
1 parent dbfd6d6
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Showing 13 changed files with 180 additions and 9 deletions.
diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh
@@ -12,6 +12,9 @@ apt-get install -y clang valgrind ccache ninja-build
 # Core dependencies
 apt-get install -y build-essential cmake cmake-curses-gui coinor-libipopt-dev freeglut3-dev git libace-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libdc1394-22-dev libedit-dev libeigen3-dev libgsl0-dev libjpeg-dev liblua5.1-dev libode-dev libopencv-dev libsdl1.2-dev libtinyxml-dev libv4l-dev libxml2-dev lua5.1 portaudio19-dev qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings qml-module-qtmultimedia qml-module-qtquick-controls qml-module-qtquick-dialogs qml-module-qtquick-window2 qml-module-qtquick2 qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev swig
 
+# Dynamics dependencies
+apt-get install -y libmatio-dev
+
 # Python
 apt-get install -y python3-dev python3-numpy
 

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -69,7 +69,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON  -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+        cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
 
     - name: Build  [Conda]
       shell: bash -l {0}
@@ -128,7 +128,13 @@ jobs:
         cd build
         # Octave is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/384
         # Python is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/494
-        cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON  -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+        cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+
+    - name: Disable profiles that are not supported in docker for now [Docker debian-sid and debian-buster]
+      if: (matrix.docker_image == 'debian:sid' || matrix.docker_image == 'debian:buster-backports')
+      run: |
+       cd build
+       cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF .
 
     - name: Build  [Docker]
       run: |
@@ -225,9 +231,11 @@ jobs:
         brew update
         brew upgrade
         # Core dependencies 
-        brew install ace boost cmake eigen gsl ipopt jpeg libedit ninja opencv pkg-config portaudio qt5 sqlite swig tinyxml
+        brew install ace boost cmake eigen gsl ipopt jpeg libedit opencv pkg-config portaudio qt5 sqlite swig tinyxml
         # ROBOTOLOGY_ENABLE_DYNAMICS dependencies 
         brew install libmatio
+        # ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS (qhull and cppad are installed  with brew)
+        brew install cppad qhull
         # ROBOTOLOGY_USES_GAZEBO dependencies
         brew install osrf/simulation/gazebo11
         # CI-specific dependencies 
@@ -255,8 +263,8 @@ jobs:
       shell: bash
       run: |
         mkdir -p build
-        cd build    
-        cmake -G"${{ matrix.cmake_generator }}" -DYCM_BOOTSTRAP_VERBOSE=ON -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON  -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..
+        cd build
+        cmake -G"${{ matrix.cmake_generator }}" -DYCM_BOOTSTRAP_VERBOSE=ON -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..
 
     - name: Disable macOS unsupported options 
       if: contains(matrix.os, 'macos')
@@ -273,8 +281,8 @@ jobs:
         source /c/robotology/scripts/setup-deps.sh
         mkdir -p build
         cd build
-        # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as a workaround for https://github.com/robotology/robotology-superbuild/issues/472 
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_USES_ESDCAN:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }} ..
+        # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as a workaround for https://github.com/robotology/robotology-superbuild/issues/472
+        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_USES_ESDCAN:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }} ..
 
 
     - name: Build  [Ubuntu&macOS]

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -64,6 +64,7 @@ option(ROBOTOLOGY_USES_CYBERITH_SDK "Enable compilation of software that depend
 option(ROBOTOLOGY_ENABLE_CORE "Enable compilation of core software libraries." TRUE)
 option(ROBOTOLOGY_ENABLE_ROBOT_TESTING "Enable compilation of software for robot testing." FALSE)
 option(ROBOTOLOGY_ENABLE_DYNAMICS "Enable compilation of software for balancing and walking." FALSE)
+option(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS "Enable compilation of all the dependencies of bipedal-locomotion-framework." FALSE)
 option(ROBOTOLOGY_ENABLE_TELEOPERATION "Enable compilation of software for teleoperation." FALSE)
 option(ROBOTOLOGY_ENABLE_EVENT_DRIVEN "Enable compilation of software for event-driven." FALSE)
 option(ROBOTOLOGY_ENABLE_ICUB_HEAD "Enable compilation of software necessary on the system running in the head of the iCub robot." FALSE)
@@ -161,9 +162,23 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   find_or_build_package(walking-controllers)
   find_or_build_package(whole-body-estimators)
   find_or_build_package(whole-body-controllers)
+  find_or_build_package(matio-cpp)
+  find_or_build_package(bipedal-locomotion-framework)
   if(ROBOTOLOGY_USES_GAZEBO)
     find_or_build_package(icub-gazebo-wholebody)
-  endif()    
+  endif()
+endif()
+
+if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
+  find_or_build_package(manif)
+  find_or_build_package(qhull)
+  find_or_build_package(casadi)
+
+  # cppad is currently disabled on windows
+  # https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/pull/37
+  if(NOT WIN32)
+    find_or_build_package(CppAD)
+  endif()
 endif()
 
 # Teleoperation

diff --git a/cmake/BuildCppAD.cmake b/cmake/BuildCppAD.cmake
@@ -0,0 +1,12 @@
+# Copyright (C) 2020  iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+ycm_ep_helper(CppAD TYPE GIT
+              STYLE GITHUB
+              REPOSITORY coin-or/CppAD.git
+              TAG master
+              COMPONENT external
+              FOLDER external)
diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -0,0 +1,49 @@
+# Copyright (C) 2020  iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+find_or_build_package(iDynTree QUIET)
+find_or_build_package(matio-cpp QUIET)
+
+set(bipedal-locomotion-framework_DEPENDS "")
+list(APPEND bipedal-locomotion-framework_DEPENDS YARP)
+list(APPEND bipedal-locomotion-framework_DEPENDS iDynTree)
+list(APPEND bipedal-locomotion-framework_DEPENDS matio-cpp)
+
+set(bipedal-locomotion-framework_USES_CppAD OFF)
+
+if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
+  find_or_build_package(manif QUIET)
+  find_or_build_package(qhull QUIET)
+  find_or_build_package(casadi QUIET)
+
+  # cppad is currently disabled on windows
+  # https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/pull/37
+  if(NOT WIN32)
+    find_or_build_package(CppAD)
+    list(APPEND bipedal-locomotion-framework_DEPENDS CppAD)
+    set(bipedal-locomotion-framework_USES_CppAD ON)
+  endif()
+
+  list(APPEND bipedal-locomotion-framework_DEPENDS manif)
+  list(APPEND bipedal-locomotion-framework_DEPENDS qhull)
+  list(APPEND bipedal-locomotion-framework_DEPENDS casadi)
+
+endif()
+
+ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/bipedal-locomotion-framework.git
+              TAG master
+              COMPONENT dynamics
+              FOLDER robotology
+              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF
+                         -DFRAMEWORK_USE_manif:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
+                         -DFRAMEWORK_USE_Qhull:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
+                         -DFRAMEWORK_USE_cppad:BOOL=${bipedal-locomotion-framework_USES_CppAD}
+                         -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
+              DEPENDS ${bipedal-locomotion-framework_DEPENDS})
diff --git a/cmake/Buildcasadi.cmake b/cmake/Buildcasadi.cmake
@@ -0,0 +1,23 @@
+# Copyright (C) 2020  iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+include(FindOrBuildPackage)
+find_or_build_package(osqp QUIET)
+
+ycm_ep_helper(casadi TYPE GIT
+              STYLE GITHUB
+              REPOSITORY GiulioRomualdi/casadi.git
+              TAG feature/support_osqp_0.6.0
+              COMPONENT external
+              FOLDER external
+              CMAKE_ARGS -DWITH_IPOPT:BOOL=ON
+                         -DWITH_OSQP:BOOL=ON
+                         -DUSE_SYSTEM_WISE_OSQP:BOOL=ON
+                         -DINCLUDE_PREFIX:PATH=include
+                         -DCMAKE_PREFIX:PATH=lib/cmake/casadi
+                         -DLIB_PREFIX:PATH=lib
+                         -DBIN_PREFIX:PATH=bin
+              DEPENDS osqp)
diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
@@ -0,0 +1,13 @@
+# Copyright (C) 2020  iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+ycm_ep_helper(manif TYPE GIT
+              STYLE GITHUB
+              REPOSITORY artivis/manif.git
+              TAG master
+              COMPONENT external
+              FOLDER external
+              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF)
diff --git a/cmake/Buildmatio-cpp.cmake b/cmake/Buildmatio-cpp.cmake
@@ -0,0 +1,12 @@
+# Copyright (C) 2020  iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+
+ycm_ep_helper(matio-cpp TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/matio-cpp.git
+              TAG master
+              COMPONENT dynamics
+              FOLDER robotology
+              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF)
diff --git a/cmake/Buildqhull.cmake b/cmake/Buildqhull.cmake
@@ -0,0 +1,12 @@
+# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Giulio Romualdi <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+ycm_ep_helper(qhull TYPE GIT
+              STYLE GITHUB
+              REPOSITORY qhull/qhull.git
+              TAG master
+              COMPONENT external
+              CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON)
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
@@ -6,6 +6,10 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.0)
+set_tag(manif_TAG 44bdfebff0fbc56cb189f680212257dc7f20ea58)
+set_tag(qhull_TAG v8.0.2)
+set_tag(CppAD_TAG 20200000.3)
+set_tag(casadi a26cd8ffba99052b74553eec1daeff640eea7e79)
 
 # Robotology projects
 set_tag(YCM_TAG ycm-0.12)

diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
@@ -6,6 +6,10 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.0)
+set_tag(manif_TAG 44bdfebff0fbc56cb189f680212257dc7f20ea58)
+set_tag(qhull_TAG v8.0.2)
+set_tag(CppAD_TAG 20200000.3)
+set_tag(casadi a26cd8ffba99052b74553eec1daeff640eea7e79)
 
 # Robotology projects
 set_tag(YARP_TAG master)

diff --git a/doc/profiles.md b/doc/profiles.md
@@ -102,7 +102,7 @@ This profile is enabled by the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option.
 The steps necessary to install the system dependencies of the Dynamics profile are provided in
 operating system-specific installation documentation, and no additional required system dependency is required.
 
-The only optional system dependency of `wb-toolbox`, project part of this profile, is [tbeu/matio](https://github.com/tbeu/matio/).
+The only optional system dependency of `wb-toolbox` and `matio-cpp`, projects part of this profile, is [tbeu/matio](https://github.com/tbeu/matio/).
 
 #### Linux
 

diff --git a/releases/2020.11.yaml b/releases/2020.11.yaml
@@ -7,6 +7,22 @@ repositories:
     type: git
     url: https://github.com/oxfordcontrol/osqp.git
     version: v0.6.0
+  manif:
+    type: git
+    url: https://github.com/artivis/manif.git
+    version: 44bdfebff0fbc56cb189f680212257dc7f20ea58
+  qhull:
+    type: git
+    url: https://github.com/qhull/qhull.git
+    version: v8.0.2
+  CppAD:
+    type: git
+    url: https://github.com/coin-or/CppAD.git
+    version: 20200000.3
+  casadi:
+    type: git
+    url: https://github.com/GiulioRomualdi/casadi.git
+    version: a26cd8ffba99052b74553eec1daeff640eea7e79
   YCM:
     type: git
     url: https://github.com/robotology/ycm.git