[Gym] Generic locomotion envs - PART I (#194)

* [Viewer] Replace multi args "," delimiter by "|" to allow comma in path. Raise exception is * [Gym] Major rework to add base locomotion learning environments. * [Core] Implement methods to add and remove frames from the robot model. * [Core] Add 'mechanicalReduction' option to the motors. * [Core] Add support of mesh collisions using HPP-FCL. Migration to pinocchio/eigenpy v2.5.0. * [misc] Cleanup cmake config file to implement actual legacy mode for Ubuntu18. Update Ubuntu 18 easy install deps. * [misc] Add official support of Ubuntu 20. * [Core] Add support of body collision with the ground, but do NOT actually compute the forces. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
duburcqa · Sep 9, 2020 · ccc0f53 · ccc0f53
1 parent 8421cab
commit ccc0f53
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diff --git a/.github/workflows/ubuntu18.yml → .github/workflows/ubuntu.yml b/.github/workflows/ubuntu18.yml → .github/workflows/ubuntu.yml
@@ -1,4 +1,4 @@
-name: Ubuntu 18 CI (Easy install dependencies)
+name: Ubuntu CI (Easy install dependencies)
 
 on:
   # Trigger the workflow on push on the master branch, or for any pull request
@@ -8,9 +8,13 @@ on:
   pull_request:
 
 jobs:
-  build-test-and-deploy-doc-ubuntu18:
-    name: (Ubuntu 18) Easy install the dependencies. Build the project and run the unit tests. Generate and deploy the documentation.
-    runs-on: ubuntu-18.04
+  build-test-and-deploy-doc-ubuntu:
+    name: (Ubuntu) Easy install the dependencies. Build the project and run the unit tests. Generate and deploy the documentation.
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      matrix:
+        os: [ubuntu-18.04, ubuntu-20.04]
 
     defaults:
       run:
@@ -27,8 +31,17 @@ jobs:
 
     #####################################################################################
 
+    - name: Setup minimal build environment
+      run: |
+        # Set Python 3 executable
+        if [ ${{ matrix.os }} == "ubuntu-18.04" ] ; then
+          PYTHON_EXECUTABLE="/usr/bin/python3.6"
+        else
+          PYTHON_EXECUTABLE="/usr/bin/python3.8"
+        fi
+        echo "::set-env name=PYTHON_EXECUTABLE::${PYTHON_EXECUTABLE}"
     - name: Installing requirements
-      run: sudo "${GITHUB_WORKSPACE}/build_tools/easy_install_deps_ubuntu18.sh"
+      run: sudo "${GITHUB_WORKSPACE}/build_tools/easy_install_deps_ubuntu.sh"
 
     #####################################################################################
 
@@ -38,12 +51,18 @@ jobs:
         InstallDir="$RootDir/install"
 
         mkdir "$RootDir/build" "$InstallDir"
-
         cd "$RootDir/build"
+
+        # Old Eigen3 release 3.2.10 must be used on Ubuntu 18.04 for compatibility with Boost < 1.71
+        CMAKE_CXX_FLAGS=
+        if [ ${{ matrix.os }} == "ubuntu-18.04" ] ; then
+          CMAKE_CXX_FLAGS="-isystem/usr/include/eigen3.2.10"
+        fi
+
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
-              -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_REQUIRED_VERSION="3.6" \
+              -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON -DCOMPONENT=doxygen \
-              -DCMAKE_CXX_FLAGS="-isystem/usr/include/eigen3" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+              -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make install -j2
 
     #####################################################################################
@@ -52,7 +71,7 @@ jobs:
       run: |
         "${GITHUB_WORKSPACE}/build/unit/unit"
         cd "${GITHUB_WORKSPACE}/unit_py"
-        python3.6 -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -v
 
     #####################################################################################
 

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -68,7 +68,7 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
               -DBoost_USE_STATIC_LIBS=OFF -DPYTHON_REQUIRED_VERSION="${{ matrix.python-version }}" `
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
-              -DCMAKE_CXX_FLAGS="/EHsc /bigobj -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DPINOCCHIO_STATIC"
+              -DCMAKE_CXX_FLAGS="/EHsc /bigobj -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
         cmake --build . --config "${Env:BUILD_TYPE}" --parallel 2
 
         if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core")) {

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -22,13 +22,13 @@ include(${CMAKE_SOURCE_DIR}/build_tools/cmake/buildPythonWheel.cmake)
 if(NOT WIN32)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -g -ftemplate-backtrace-limit=0 ${WARN_FULL}")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -DNDEBUG -O3 ${WARN_FULL} -Wno-non-virtual-dtor -Wno-deprecated-declarations -Wno-unused-parameter -Wfatal-errors -Werror")
-else(NOT WIN32)
+else()
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} /EHsc /bigobj -g /Wall")
     # It would be great to have the same quality standard for Windows but
     # system inlcude of dependencies is not working properly so far.
     # - Disabling warning 4820 generated by std time.h, which is included by std chrono
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} /EHsc /bigobj /permissive- -DNDEBUG -DNOMINMAX /O2 /W2 /wd4068 /wd4715 /wd4820 /wd4244 /wd4005 /WX")
-endif(NOT WIN32)
+endif()
 
 # Sub-projects
 add_subdirectory(soup)

diff --git a/build_tools/build_install_deps_linux.sh b/build_tools/build_install_deps_linux.sh
@@ -42,7 +42,7 @@ git submodule --quiet update --init --recursive --jobs 8
 git clone -b "3.3.7" https://github.com/eigenteam/eigen-git-mirror.git "$RootDir/eigen3"
 
 ### Checkout eigenpy and its submodules
-git clone -b "v2.4.3" https://github.com/stack-of-tasks/eigenpy.git "$RootDir/eigenpy"
+git clone -b "v2.5.0" https://github.com/stack-of-tasks/eigenpy.git "$RootDir/eigenpy"
 cd "$RootDir/eigenpy"
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/eigenpy.patch"
@@ -63,8 +63,19 @@ git clone -b "1.0.4" https://github.com/ros/urdfdom.git "$RootDir/urdfdom"
 cd "$RootDir/urdfdom"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/urdfdom.patch"
 
+### Checkout assimp
+git clone -b "v5.0.1" https://github.com/assimp/assimp.git "$RootDir/assimp"
+cd "$RootDir/assimp"
+git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/assimp.patch"
+
+### Checkout hpp-fcl
+git clone -b "v1.5.3" https://github.com/humanoid-path-planner/hpp-fcl.git "$RootDir/hpp-fcl"
+cd "$RootDir/hpp-fcl"
+git submodule --quiet update --init --recursive --jobs 8
+git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/hppfcl.patch"
+
 ### Checkout pinocchio and its submodules
-git clone -b "v2.4.7" https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
+git clone -b "v2.5.0" https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
 cd "$RootDir/pinocchio"
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/pinocchio.patch"
@@ -96,10 +107,11 @@ sed -i "/using python/c ${PYTHON_CONFIG_JAM}" ./project-config.jam
 BuildTypeB2="$(echo "$BUILD_TYPE" | tr '[:upper:]' '[:lower:]')"
 mkdir -p "$RootDir/boost/build"
 ./b2 --prefix="$InstallDir" --build-dir="$RootDir/boost/build" \
-     --with-date_time --with-filesystem --with-headers --with-math --with-python \
-     --with-serialization --with-stacktrace --with-system --with-test --with-thread \
-     --with-python --build-type=minimal architecture=x86 address-model=64 \
-     threading=multi --layout=system link=shared runtime-link=shared \
+     --with-chrono --with-timer --with-date_time --with-headers --with-math \
+     --with-stacktrace --with-system --with-filesystem --with-atomic \
+     --with-thread --with-serialization --with-test --with-python \
+     --build-type=minimal architecture=x86 address-model=64 threading=multi \
+     --layout=system link=shared runtime-link=shared \
      toolset=gcc cxxflags="-std=c++11 -fPIC" variant="$BuildTypeB2" install -q -d0 -j2
 
 #################################### Build and install eigen3 ##########################################
@@ -118,8 +130,8 @@ cd "$RootDir/eigenpy/build"
 cmake "$RootDir/eigenpy" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
       -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
-      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
-      -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DBoost_USE_STATIC_LIBS=OFF \
+      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" -DBoost_USE_STATIC_LIBS=OFF \
+      -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
@@ -128,7 +140,7 @@ make install -j2
 mkdir -p "$RootDir/tinyxml/build"
 cd "$RootDir/tinyxml/build"
 cmake "$RootDir/tinyxml" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
-      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC -DTIXML_USE_STL" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
 ############################## Build and install console_bridge ########################################
@@ -156,6 +168,28 @@ cmake "$RootDir/urdfdom" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$Instal
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
+############################## Build and install assimp ######################################
+
+mkdir -p "$RootDir/assimp/build"
+cd "$RootDir/assimp/build"
+cmake "$RootDir/assimp" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF \
+      -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF \
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC -Wno-strict-overflow" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+make install -j2
+
+################################# Build and install hpp-fcl ###########################################
+
+mkdir -p "$RootDir/hpp-fcl/build"
+cd "$RootDir/hpp-fcl/build"
+cmake "$RootDir/hpp-fcl" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
+      -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
+      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" -DBoost_USE_STATIC_LIBS=OFF \
+      -DBUILD_PYTHON_INTERFACE=ON -DHPP_FCL_HAS_QHULL=OFF -DINSTALL_DOCUMENTATION=OFF \
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC -Wno-unused-parameter" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+make install -j2
+
 ################################ Build and install Pinocchio ##########################################
 
 ### Build and install pinocchio, finally !
@@ -164,8 +198,8 @@ cd "$RootDir/pinocchio/build"
 cmake "$RootDir/pinocchio" -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
       -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
-      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
-      -DBUILD_WITH_COLLISION_SUPPORT=OFF -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
-      -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON -DBoost_USE_STATIC_LIBS=OFF \
-      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" -DBoost_USE_STATIC_LIBS=OFF \
+      -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
+      -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON \
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-fPIC -Wno-unused-local-typedefs -Wno-uninitialized" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1
@@ -43,7 +43,7 @@ git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/boo
 git clone -b "3.3.7" https://github.com/eigenteam/eigen-git-mirror.git "$RootDir/eigen3"
 
 ### Checkout eigenpy and its submodules, then apply some patches (generated using `git diff --submodule=diff`)
-git clone -b "v2.4.3" https://github.com/stack-of-tasks/eigenpy.git "$RootDir/eigenpy"
+git clone -b "v2.5.0" https://github.com/stack-of-tasks/eigenpy.git "$RootDir/eigenpy"
 Set-Location -Path "$RootDir/eigenpy"
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
@@ -62,8 +62,20 @@ git clone -b "1.0.4" https://github.com/ros/urdfdom.git "$RootDir/urdfdom"
 Set-Location -Path "$RootDir/urdfdom"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/urdfdom.patch"
 
+### Checkout assimp
+git clone -b "v5.0.1" https://github.com/assimp/assimp.git "$RootDir/assimp"
+Set-Location -Path "$RootDir/assimp"
+dos2unix "$RootDir/build_tools/patch_deps_windows/assimp.patch"  # Fix encoding, just in case
+git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/assimp.patch"
+
+### Checkout hpp-fcl
+git clone -b "v1.5.3" https://github.com/humanoid-path-planner/hpp-fcl.git "$RootDir/hpp-fcl"
+cd "$RootDir/hpp-fcl"
+git submodule --quiet update --init --recursive --jobs 8
+git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
+
 ### Checkout pinocchio and its submodules, then apply some patches (generated using `git diff --submodule=diff`)
-git clone -b "v2.4.7" https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
+git clone -b "v2.5.0" https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
 Set-Location -Path "$RootDir/pinocchio"
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/pinocchio.patch"
@@ -88,10 +100,11 @@ if (-not (Test-Path -PathType Container "$RootDir/boost/build")) {
   New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
 }
 ./b2.exe --prefix="$InstallDir" --build-dir="$RootDir/boost/build" `
-         --with-date_time --with-filesystem --with-headers --with-math --with-python `
-         --with-serialization --with-stacktrace --with-system --with-test --with-thread `
-         --with-python --build-type=minimal architecture=x86 address-model=64 `
-         threading=multi --layout=system link=shared runtime-link=shared `
+         --with-chrono --with-timer --with-date_time --with-headers --with-math `
+         --with-stacktrace --with-system --with-filesystem --with-atomic `
+         --with-thread --with-serialization --with-test --with-python `
+         --build-type=minimal architecture=x86 address-model=64 threading=multi `
+         --layout=system link=shared runtime-link=shared `
          toolset=msvc-14.2 variant="$BuildTypeB2" install -q -d0 -j2
 
 #################################### Build and install eigen3 ##########################################
@@ -117,8 +130,8 @@ cmake "$RootDir/eigenpy" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_
       -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
-      -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
-      -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DBoost_USE_STATIC_LIBS=OFF `
+      -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=OFF `
+      -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj $(
 )     -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC"
 cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
@@ -135,7 +148,7 @@ if (-not (Test-Path -PathType Container "$RootDir/tinyxml/build")) {
 Set-Location -Path "$RootDir/tinyxml/build"
 cmake "$RootDir/tinyxml" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
-      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj"
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -DTIXML_USE_STL"
 cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
 
 ############################## Build and install console_bridge ########################################
@@ -175,6 +188,48 @@ cmake "$RootDir/urdfdom" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -D_USE_MATH_DEFINES -DURDFDOM_STATIC"
 cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
 
+############################## Build and install assimp ######################################
+
+###
+if (-not (Test-Path -PathType Container "$RootDir/assimp/build")) {
+  New-Item -ItemType "directory" -Force -Path "$RootDir/assimp/build"
+}
+Set-Location -Path "$RootDir/assimp/build"
+cmake -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
+      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
+      -DCMAKE_CXX_FLAGS="/EHsc /bigobj" "$RootDir/assimp" `
+      -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF `
+      -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF -DASSIMP_INSTALL_PDB=OFF `
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj -D_USE_MATH_DEFINES"
+cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+
+################################# Build and install hpp-fcl ###########################################
+
+### Build hpp-fcl
+if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl/build")) {
+  New-Item -ItemType "directory" -Force -Path "$RootDir/hpp-fcl/build"
+}
+Set-Location -Path "$RootDir/hpp-fcl/build"
+cmake "$RootDir/hpp-fcl" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
+      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
+      -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
+      -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
+      -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=OFF `
+      -DBUILD_PYTHON_INTERFACE=ON -DHPP_FCL_HAS_QHULL=OFF -DINSTALL_DOCUMENTATION=OFF `
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj /wd4068 /wd4267 /permissive- /Zc:__cplusplus $(
+)     -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DHPP_FCL_STATIC"
+cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
+
+### Embedded the required dynamic library in the package folder
+Copy-Item -Path "$InstallDir/lib/boost_filesystem*.dll" `
+          -Destination "$InstallDir/lib/site-packages/hppfcl"
+Copy-Item -Path "$InstallDir/lib/boost_timer*.dll" `
+          -Destination "$InstallDir/lib/site-packages/hppfcl"
+Copy-Item -Path "$InstallDir/lib/boost_chrono*.dll" `
+          -Destination "$InstallDir/lib/site-packages/hppfcl"
+Copy-Item -Path "$InstallDir/lib/boost_python*.dll" `
+          -Destination "$InstallDir/lib/site-packages/hppfcl"
+
 ################################ Build and install Pinocchio ##########################################
 
 ### Build and install pinocchio, finally !
@@ -186,11 +241,11 @@ cmake "$RootDir/pinocchio" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATO
       -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
-      -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
-      -DBUILD_WITH_COLLISION_SUPPORT=OFF -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF `
-      -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON -DBoost_USE_STATIC_LIBS=OFF `
-      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj /wd4068 /wd4715 /permissive- $(
-)     -D_USE_MATH_DEFINES -DNOMINMAX -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DPINOCCHIO_STATIC"
+      -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=OFF `
+      -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF `
+      -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON `
+      -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="/EHsc /bigobj /wd4068 /wd4715 /wd4834 /permissive- $(
+)     -D_USE_MATH_DEFINES -DNOMINMAX -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
 cmake --build . --target install --config "${Env:BUILD_TYPE}" --parallel 2
 
 ### Embedded the required dynamic library in the package folder