From 6d2dc81bb4f0ffb527546a78021e3c9419273e04 Mon Sep 17 00:00:00 2001
From: Austin Wang <austinswang@gmail.com>
Date: Fri, 4 Nov 2022 14:39:00 -0700
Subject: [PATCH] [Polymetis] Fix spdlog dependency break (#1393)

* Pin spdlog

* Pin pytest-benchmark

* Pin lower pytest-benchmark version

* Unpin polymetis in eyehandcal

* Debug

* Pin same version of spdlog

* Update graspnet-baseline

Co-authored-by: 1heart <yixin1996@gmail.com>
---
 perception/sandbox/eyehandcal/environment.yml              | 1 +
 perception/sandbox/polygrasp/third_party/graspnet-baseline | 2 +-
 polymetis/polymetis/conda/conda_recipe/meta.yaml           | 6 +++---
 polymetis/polymetis/environment.yml                        | 4 ++--
 4 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/perception/sandbox/eyehandcal/environment.yml b/perception/sandbox/eyehandcal/environment.yml
index 208bcb55a5..f0dabdc840 100644
--- a/perception/sandbox/eyehandcal/environment.yml
+++ b/perception/sandbox/eyehandcal/environment.yml
@@ -12,6 +12,7 @@ dependencies:
   - scipy=1.7.3
   - cmake
   - pybind11
+  - py
   - pip
   - pip:
     - ../../realsense_driver/
diff --git a/perception/sandbox/polygrasp/third_party/graspnet-baseline b/perception/sandbox/polygrasp/third_party/graspnet-baseline
index 3fc8c0b289..3c91252bdf 160000
--- a/perception/sandbox/polygrasp/third_party/graspnet-baseline
+++ b/perception/sandbox/polygrasp/third_party/graspnet-baseline
@@ -1 +1 @@
-Subproject commit 3fc8c0b289da6b81aa26431bca9185813eef328f
+Subproject commit 3c91252bdfd2ac4a90b7bda13e73f875a819042d
diff --git a/polymetis/polymetis/conda/conda_recipe/meta.yaml b/polymetis/polymetis/conda/conda_recipe/meta.yaml
index 48525497fe..d7812dd104 100644
--- a/polymetis/polymetis/conda/conda_recipe/meta.yaml
+++ b/polymetis/polymetis/conda/conda_recipe/meta.yaml
@@ -26,7 +26,7 @@ requirements:
     - poco ==1.9.0 # needed by libfranka
     - python ==3.8
     - pytorch ==1.10.0
-    - spdlog
+    - spdlog=1.10.0=h924138e_0
     - urdfdom=2.3.3=hc9558a2_0
     - urdfdom_headers=1.0.5=hc9558a2_2
     - yaml-cpp ==0.6.3
@@ -59,11 +59,11 @@ requirements:
     - pymodbus
     - pyserial
     - pytest
-    - pytest-benchmark
+    - pytest-benchmark=4.0.0
     - python ==3.8
     - pytorch ==1.10.0
     - scipy
-    - spdlog
+    - spdlog=1.10.0=h924138e_0
     - sphinx
     - sphinx-book-theme
     - tqdm
diff --git a/polymetis/polymetis/environment.yml b/polymetis/polymetis/environment.yml
index abe1f7d3e2..bfffa7da94 100644
--- a/polymetis/polymetis/environment.yml
+++ b/polymetis/polymetis/environment.yml
@@ -48,9 +48,9 @@ dependencies:
     - pymodbus ==2.5.3
     - pyserial
     - pytest
-    - pytest-benchmark
+    - pytest-benchmark=4.0.0
     - scipy
-    - spdlog
+    - spdlog=1.10.0=h924138e_0
     - sphinx
     - sphinx-copybutton
     - sphinx-book-theme