Merge branch 'devel' into devel

Author: simeon-ned

.github/workflows/conda/environment_macos_linux.yml

@@ -22,3 +22,5 @@ dependencies:
   - pycppad
   - matplotlib
   - mpfr
+  - qhull
+  - qhull-static

.github/workflows/conda/environment_windows.yml

@@ -21,3 +21,4 @@ dependencies:
   - pycppad
   - matplotlib
   - mpfr
+  - qhull

.github/workflows/linux.yml

@@ -28,11 +28,11 @@ concurrency:
 jobs:
   build:
 
-    runs-on: ${{ matrix.os }}
-
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
     strategy:
       matrix:
-        os: [ubuntu-22.04, ubuntu-20.04]
+        container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04']
 
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -41,6 +41,9 @@ jobs:
       CCACHE_COMPRESSLEVEL: 5
 
     steps:
+      - name: Setup Container
+        run: |
+          apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -51,8 +54,8 @@ jobs:
         with:
           path: .ccache
           save-always: true
-          key: ccache-linux-${{ matrix.os }}-${{ github.sha }}
-          restore-keys: ccache-linux-${{ matrix.os }}-
+          key: ccache-linux-${{ matrix.container }}-${{ github.sha }}
+          restore-keys: ccache-linux-${{ matrix.container }}-
 
     # extract branch name
       - name: Get branch name (merge)
@@ -72,11 +75,11 @@ jobs:
 
       - name: Register robotpkg
         run: |
-          sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
-          sudo apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
+          sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
+          apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
       - name: Set and install dependencies
         run: |
-          sudo rm -rf /usr/local/share/boost/1.69.0
+          rm -rf /usr/local/share/boost/1.69.0
           export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
           export APT_DEPENDENCIES="doxygen \
                                    ccache \
@@ -98,14 +101,17 @@ jobs:
                                    robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
                                    robotpkg-py${PYTHON3_VERSION}-casadi"
           echo $APT_DEPENDENCIES
-          sudo apt-get update -qq
-          sudo apt-get install -qq ${APT_DEPENDENCIES}
+
+          apt-get update -qq
+          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}
       - name: Free disk space
         run: |
-          sudo apt clean
+          apt clean
           df -h
       - name: Run cmake
         run: |
+          # Add cloned repo to safe.directory, since it was not cloned by the container
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           git submodule update --init
           export PATH=$PATH:/opt/openrobots/bin
           export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
@@ -139,12 +145,15 @@ jobs:
           mkdir build
           cd build
           export CMAKE_PREFIX_PATH=/usr/local
+          # Test CMake module packaging
           cmake .. \
             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
             -DPYTHON_EXECUTABLE=$(which python3)
           make -j2
           ./run_rnea
           ./load_urdf
+
+          # Test pkg-config packaging
           cd ../../pkgconfig
           mkdir build
           cd build
@@ -153,6 +162,9 @@ jobs:
             -DPYTHON_EXECUTABLE=$(which python3)
           make -j2
           ./run_rnea
+          ./load_urdf
+
+          # Test FetchContent packaging
           cd ../../external
           export PINOCCHIO_GIT_REPOSITORY="file://"$GITHUB_WORKSPACE
           #export PINOCCHIO_GIT_REPOSITORY=$(git remote get-url origin)
@@ -166,6 +178,8 @@ jobs:
           make -j2
           ./run_rnea
           ./load_urdf
+
+          # Test CMake module packaging and pinocchio_header target
           cd ../../pinocchio_header
           mkdir build
           cd build
@@ -180,3 +194,18 @@ jobs:
         run: |
           cd build
           sudo make uninstall
+
+  check:
+    if: always()
+    name: check-linux-apt
+
+    needs:
+      - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.pre-commit-config.yaml

@@ -1,6 +1,7 @@
 ci:
   autoupdate_branch: devel
   autofix_prs: false
+  autoupdate_schedule: quarterly
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v18.1.8
@@ -26,7 +27,7 @@ repos:
               doc/doxygen-awesome.*
           )$
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.0
+    rev: v0.5.2
     hooks:
       - id: ruff-format
         exclude: doc/
@@ -45,3 +46,4 @@ repos:
     hooks:
       - id: yamlfmt
         args: [--mapping=2, --offset=2, --sequence=4, --implicit_start]
+        exclude: ^.github/workflows/linux.yml$

CHANGELOG.md

@@ -6,6 +6,17 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+- Append pinocchio optional libraries into pkg-config file ([#2322](https://github.com/stack-of-tasks/pinocchio/pull/2322))
+
+### Added
+- Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
+
+### Changed
+- Use eigenpy to expose `GeometryObject::meshMaterial` variant ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
+
+## [3.1.0] - 2024-07-04
+
 ### Fixed
 
 - Fix `appendModel` when joints after the base are in parallel ([#2295](https://github.com/stack-of-tasks/pinocchio/pull/2295))
@@ -20,6 +31,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix visualization of meshes in meshcat ([#2294](https://github.com/stack-of-tasks/pinocchio/pull/2294))
 - Fix Anymal simulation test ([#2299](https://github.com/stack-of-tasks/pinocchio/pull/2299))
 - Fix contact derivatives and impulse dynamics tests ([#2300](https://github.com/stack-of-tasks/pinocchio/pull/2300))
+- Fix CMake compatibility with old console_bridge version ([#2312](https://github.com/stack-of-tasks/pinocchio/pull/2312))
 
 ### Added
 
@@ -988,7 +1000,8 @@ The model can either be parsed from a URDF format or be created by appendending
         • Fixed (concatenation of two consecutive bodies)
 
 
-[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.0.0...HEAD
+[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.1.0...HEAD
+[3.1.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.0.0...v3.1.0
 [3.0.0]: https://github.com/stack-of-tasks/pinocchio/compare/v2.7.1...v3.0.0
 [2.7.1]: https://github.com/stack-of-tasks/pinocchio/compare/v2.7.0...v2.7.1
 [2.7.0]: https://github.com/stack-of-tasks/pinocchio/compare/v2.6.21...v2.7.0

CITATION.cff

@@ -17,7 +17,7 @@ authors:
     given-names: Guilhem
   - family-names: Budhiraja
     given-names: Rohan
-version: 2.6.3
-date-released: "2021-07-21"
+version: 3.1.0
+date-released: "2024-07-04"
 license: BSD-2-Clause
 repository-code: "https://github.com/stack-of-tasks/pinocchio"

CMakeLists.txt

@@ -189,16 +189,15 @@ if(BUILD_WITH_URDF_SUPPORT)
   add_project_dependency(urdfdom REQUIRED PKG_CONFIG_REQUIRES "urdfdom >= 0.2.0")
   set(urdfdom_VERSION ${urdfdom_headers_VERSION})
   list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
-  list(APPEND LIBRARIES_DEPENDENCIES "urdfdom_world")
 
   if(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
     check_minimal_cxx_standard(11 ENFORCE)
     message(
       STATUS
         "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard."
     )
-  endif(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
-endif(BUILD_WITH_URDF_SUPPORT)
+  endif()
+endif()
 
 if(BUILD_WITH_SDF_SUPPORT)
   include(${CMAKE_CURRENT_LIST_DIR}/cmake/sdformat.cmake)
@@ -207,32 +206,42 @@ if(BUILD_WITH_SDF_SUPPORT)
     check_minimal_cxx_standard(11 REQUIRED)
     include_directories(${SDFormat_INCLUDE_DIRS})
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${SDFormat_CXX_FLAGS}")
-  endif(SDFormat_FOUND)
-endif(BUILD_WITH_SDF_SUPPORT)
+    list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_SDFORMAT")
+  endif()
+endif()
 
 set(BUILD_WITH_PARSERS_SUPPORT BUILD_WITH_URDF_SUPPORT OR BUILD_WITH_SDF_SUPPORT)
 
+if(BUILD_WITH_PARSERS_SUPPORT)
+  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_parsers)
+endif()
+
 if(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   if(BUILD_WITH_CODEGEN_SUPPORT)
+    # No need to add cppadcg to pkg-config (no lib and header in the same directory than cppad)
     add_project_dependency(cppadcg 2.4.1 REQUIRED)
+    list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_cppadcg)
   endif(BUILD_WITH_CODEGEN_SUPPORT)
 
   add_project_dependency(
     cppad 20180000.0 REQUIRED
     PKG_CONFIG_REQUIRES "cppad >= 20220624.0"
     FIND_EXTERNAL "CppAD")
+  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_cppad)
 endif(BUILD_WITH_AUTODIFF_SUPPORT)
 
 if(BUILD_WITH_CASADI_SUPPORT)
   add_project_dependency(casadi 3.4.5 REQUIRED PKG_CONFIG_REQUIRES "casadi >= 3.4.5")
+  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_casadi)
 endif(BUILD_WITH_CASADI_SUPPORT)
 
 if(BUILD_WITH_OPENMP_SUPPORT)
   add_project_dependency(OpenMP REQUIRED)
 endif()
 
 if(BUILD_WITH_EXTRA_SUPPORT)
+  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_extra qhullcpp qhull_r)
   add_project_dependency(Qhull COMPONENTS qhullcpp qhull_r REQUIRED)
   message(STATUS "Found Qhull.")
 endif()
@@ -294,7 +303,7 @@ endif()
 
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-  list(APPEND LIBRARIES_DEPENDENCIES "hpp-fcl")
+  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_collision)
   add_project_dependency(hpp-fcl 2.1.2 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 2.1.2")
 endif()
 

bindings/python/CMakeLists.txt

@@ -81,7 +81,12 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
   if(BUILD_WITH_URDF_SUPPORT)
     # Link directly against console_bridge since we bind some enums and call
     # console_bridge::setLogLevel function.
-    target_link_libraries(${PYTHON_LIB_NAME} PUBLIC console_bridge::console_bridge)
+    modernize_target_link_libraries(
+      ${PYTHON_LIB_NAME}
+      SCOPE PUBLIC
+      TARGETS console_bridge::console_bridge
+      LIBRARIES ${console_bridge_LIBRARIES}
+      INCLUDE_DIRS ${console_bridge_INCLUDE_DIRS})
   endif()
   if(BUILD_WITH_HPP_FCL_SUPPORT)
     target_compile_definitions(${PYTHON_LIB_NAME}