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timestamp: 1764777156963 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hbf9d68e_6.conda sha256: 9485ba49e8f47d2b597dd399e88f4802e100851b27c21d7525625b0b4025a5d9 md5: ab136e4c34e97f34fb621d2592a393d8 From 595cbe6ee5f8434d7ff7e0cb5ab47dbe29ae02e5 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Mon, 1 Jun 2026 13:31:46 +0200 Subject: [PATCH 2/3] ci: Don't hardcode pixi version --- .github/workflows/gh-pages.yml | 2 +- .github/workflows/macos-linux-pixi.yml | 5 ++--- .github/workflows/update_pixi_lockfile.yml | 2 +- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml index 34173ac07..66c5a1220 100644 --- a/.github/workflows/gh-pages.yml +++ b/.github/workflows/gh-pages.yml @@ -21,7 +21,7 @@ jobs: with: submodules: recursive - - uses: prefix-dev/setup-pixi@v0.9.3 + - uses: prefix-dev/setup-pixi@v0.9.6 with: cache: true environments: all diff --git a/.github/workflows/macos-linux-pixi.yml b/.github/workflows/macos-linux-pixi.yml index b71dc90b8..d034dfd45 100644 --- a/.github/workflows/macos-linux-pixi.yml +++ b/.github/workflows/macos-linux-pixi.yml @@ -53,9 +53,8 @@ jobs: key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }} restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}- - - uses: prefix-dev/setup-pixi@v0.9.4 + - uses: prefix-dev/setup-pixi@v0.9.6 with: - pixi-version: v0.67.0 cache: true environments: ${{ matrix.environment }} @@ -89,7 +88,7 @@ jobs: # with: # submodules: recursive - # - uses: prefix-dev/setup-pixi@v0.9.3 + # - uses: prefix-dev/setup-pixi@v0.9.6 # env: # CMAKE_BUILD_PARALLEL_LEVEL: 2 # with: diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml index cee2eb94f..6b648f8ca 100644 --- a/.github/workflows/update_pixi_lockfile.yml +++ b/.github/workflows/update_pixi_lockfile.yml @@ -26,7 +26,7 @@ jobs: persist-credentials: false - name: Set up pixi - uses: prefix-dev/setup-pixi@v0.9.3 + uses: prefix-dev/setup-pixi@v0.9.6 with: run-install: false From 2c0837818fe3960f0c050f18c1d2270cac2152bd Mon Sep 17 00:00:00 2001 From: Jeanne Matheron Date: Thu, 11 Jun 2026 14:26:56 +0200 Subject: [PATCH 3/3] ci: udate example-robot-data and fix pin version for all-python-oldest env --- CMakeLists.txt | 46 ++-- bindings/python/CMakeLists.txt | 14 +- examples/CMakeLists.txt | 2 +- extra-python-macros.cmake | 2 +- pixi.lock | 390 +++++++++++++++++++-------------- pixi.toml | 23 +- tests/CMakeLists.txt | 2 +- tests/python/CMakeLists.txt | 6 +- 8 files changed, 273 insertions(+), 212 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d8f8d0671..25efd2d7f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,7 +67,7 @@ if(POLICY CMP0167) set(CMAKE_POLICY_DEFAULT_CMP0167 NEW) endif() include(${JRL_CMAKE_MODULES}/base.cmake) -COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX) +compute_project_args(PROJECT_ARGS LANGUAGES CXX) project(${PROJECT_NAME} ${PROJECT_ARGS}) set(CMAKE_VERBOSE_MAKEFILE OFF) @@ -95,7 +95,7 @@ elseif(UNIX) endif() include(CMakeDependentOption) -APPLY_DEFAULT_APPLE_CONFIGURATION() +apply_default_apple_configuration() if(WIN32) set(LINK copy_if_different) @@ -194,17 +194,17 @@ endif() # ---------------------------------------------------- # --- DEPENDENCIES ----------------------------------- # ---------------------------------------------------- -ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "Eigen3 >= 3.4.0") -ADD_PROJECT_DEPENDENCY(fmt REQUIRED PKG_CONFIG_REQUIRES "fmt >= 10.0.0") +add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "Eigen3 >= 3.4.0") +add_project_dependency(fmt REQUIRED PKG_CONFIG_REQUIRES "fmt >= 10.0.0") if(BUILD_WITH_UBUNTU_22_COMPATIBILITY) set( CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/mimalloc ${CMAKE_MODULE_PATH} ) - ADD_PROJECT_DEPENDENCY(mimalloc REQUIRED FIND_EXTERNAL) + add_project_dependency(mimalloc REQUIRED FIND_EXTERNAL) else() - ADD_PROJECT_DEPENDENCY( + add_project_dependency( mimalloc REQUIRED PKG_CONFIG_REQUIRES "mimalloc >= 2.1.0" @@ -212,20 +212,20 @@ else() endif() if(BUILD_WITH_OPENMP_SUPPORT) - ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED) + add_project_dependency(OpenMP REQUIRED) add_compile_definitions(ALIGATOR_MULTITHREADING) endif() set(BOOST_REQUIRED_COMPONENTS filesystem) -SET_BOOST_DEFAULT_OPTIONS() -EXPORT_BOOST_DEFAULT_OPTIONS() -ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS}) +set_boost_default_options() +export_boost_default_options() +add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS}) if(BUILD_WITH_PINOCCHIO_SUPPORT) message(STATUS "Building aligator with Pinocchio support.") set(PINOCCHIO_MINIMUM_VERSION "3.4.0") - ADD_PROJECT_DEPENDENCY( + add_project_dependency( pinocchio ${PINOCCHIO_MINIMUM_VERSION} REQUIRED @@ -250,7 +250,7 @@ endif() if(BUILD_PYTHON_INTERFACE) set(PYTHON_COMPONENTS Interpreter Development NumPy) - ADD_PROJECT_DEPENDENCY( + add_project_dependency( eigenpy 3.10.2 REQUIRED @@ -380,7 +380,7 @@ if(ALIGATOR_TRACY_ENABLE) endif() else() # assume it is installed somewhere - ADD_PROJECT_DEPENDENCY(Tracy) + add_project_dependency(Tracy) if(NOT ${Tracy_FOUND}) message( FATAL_ERROR @@ -466,12 +466,12 @@ function(create_library) endfunction() if(BUILD_STANDALONE_PYTHON_INTERFACE) - ADD_PROJECT_DEPENDENCY(${PROJECT_NAME} REQUIRED CONFIG) + add_project_dependency(${PROJECT_NAME} REQUIRED CONFIG) else() create_library() - ADD_HEADER_GROUP(LIB_HEADERS) - ADD_SOURCE_GROUP(LIB_SOURCES) + add_header_group(LIB_HEADERS) + add_source_group(LIB_SOURCES) install( TARGETS ${PROJECT_NAME} @@ -495,7 +495,7 @@ if(DOWNLOAD_TRACY) endif() if(BUILD_CROCODDYL_COMPAT AND NOT BUILD_STANDALONE_PYTHON_INTERFACE) - ADD_PROJECT_DEPENDENCY(crocoddyl 3.0.1 REQUIRED) + add_project_dependency(crocoddyl 3.0.1 REQUIRED) add_subdirectory(src/compat/crocoddyl) endif() @@ -533,7 +533,7 @@ macro(create_ex_or_bench exfile exname) endmacro() if(BUILD_WITH_PINOCCHIO_SUPPORT AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS)) - ADD_PROJECT_PRIVATE_DEPENDENCY(example-robot-data 4.0.9 REQUIRED) + add_project_private_dependency(example-robot-data 4.0.9 REQUIRED) endif() # create an utility library to avoid recompiling crocoddyl talos arm problem @@ -645,11 +645,11 @@ if(BUILD_WITH_OPENMP_SUPPORT) endif() if(BUILD_CROCODDYL_COMPAT) EXPORT_VARIABLE(ALIGATOR_WITH_CROCODDYL_COMPAT ON) - PKG_CONFIG_APPEND_LIBS(aligator_croc_compat) + pkg_config_append_libs(aligator_croc_compat) endif() -PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME}) -PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_REQUIRED_COMPONENTS}) -PKG_CONFIG_APPEND_CFLAGS("${CFLAGS_DEPENDENCIES}") +pkg_config_append_libs(${PROJECT_NAME}) +pkg_config_append_boost_libs(${BOOST_REQUIRED_COMPONENTS}) +pkg_config_append_cflags("${CFLAGS_DEPENDENCIES}") -SETUP_PROJECT_FINALIZE() +setup_project_finalize() diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt index 0d6af8386..bf889d05c 100644 --- a/bindings/python/CMakeLists.txt +++ b/bindings/python/CMakeLists.txt @@ -30,7 +30,7 @@ if(BUILD_CROCODDYL_COMPAT) endif() function(make_bindings) - Python3_add_library( + python3_add_library( ${PYLIB_NAME} MODULE WITH_SOABI @@ -44,7 +44,7 @@ function(make_bindings) PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_NAME} ) if(UNIX) - GET_RELATIVE_RPATH(${${PYLIB_NAME}_INSTALL_DIR} PYLIB_INSTALL_RPATH) + get_relative_rpath(${${PYLIB_NAME}_INSTALL_DIR} PYLIB_INSTALL_RPATH) set_target_properties( ${PYLIB_NAME} PROPERTIES INSTALL_RPATH "${PYLIB_INSTALL_RPATH}" @@ -91,12 +91,12 @@ else() endif() # --- GENERATE STUBS if(GENERATE_PYTHON_STUBS) - PYTHON_BUILD_GET_TARGET(python_build_target_name) - LOAD_STUBGEN() + python_build_get_target(python_build_target_name) + load_stubgen() # Set PYWRAP and PROJECT_NAME as stubs dependencies. # PROJECT_NAME is mandatory (even if it's a PYWRAP dependency) # to find PROJECT_NAME name DLL on windows. - GENERATE_STUBS( + generate_stubs( ${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME} ${ABSOLUTE_PYTHON_SITELIB} @@ -109,9 +109,9 @@ set(${PYLIB_NAME}_PYFILES __init__.py) set(${PYLIB_NAME}_PYFILES_UTILS __init__.py plotting.py) foreach(pyfile ${${PYLIB_NAME}_PYFILES}) - PYTHON_INSTALL_ON_SITE(${PROJECT_NAME} ${pyfile}) + python_install_on_site(${PROJECT_NAME} ${pyfile}) endforeach() foreach(pyfile ${${PYLIB_NAME}_PYFILES_UTILS}) - PYTHON_INSTALL_ON_SITE(${PROJECT_NAME}/utils ${pyfile}) + python_install_on_site(${PROJECT_NAME}/utils ${pyfile}) endforeach() diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index bb79dd8d2..90ecb87d4 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -29,7 +29,7 @@ if(NOT BUILD_STANDALONE_PYTHON_INTERFACE) endif() if(BUILD_CROCODDYL_COMPAT) - ADD_PROJECT_PRIVATE_DEPENDENCY(example-robot-data 4.0.9 REQUIRED) + add_project_private_dependency(example-robot-data 4.0.9 REQUIRED) create_example( talos-arm.cpp DEPENDENCIES aligator::croc_compat croc_talos_arm_utils diff --git a/extra-python-macros.cmake b/extra-python-macros.cmake index 62508bd6b..b653ae797 100644 --- a/extra-python-macros.cmake +++ b/extra-python-macros.cmake @@ -15,7 +15,7 @@ function(aligator_create_python_extension name) endforeach() set(_sources ${arg_UNPARSED_ARGUMENTS}) - Python3_add_library(${name} ${_parse_oneValueArgs} ${_sources}) + python3_add_library(${name} ${_parse_oneValueArgs} ${_sources}) target_link_libraries(${name} PRIVATE eigenpy::eigenpy aligator::aligator) target_compile_definitions(${name} PRIVATE PYTHON_MODULE_NAME=${name}) endfunction() diff --git a/pixi.lock b/pixi.lock index 429169562..4053d7768 100644 --- a/pixi.lock +++ b/pixi.lock @@ -229,8 +229,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.3.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.18.0-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.4.0-h87f4cd2_1.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-loaders-4.4.0-pyh5fb9ec7_1.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-5.0.0-h87f4cd2_1.conda + - 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conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-loaders-5.0.0-pyh945b316_1.conda - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/executing-2.2.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 @@ -518,8 +518,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.3.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.18.0-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.4.0-h87f4cd2_1.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-loaders-4.4.0-pyh5fb9ec7_1.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-5.0.0-h87f4cd2_1.conda + - 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- libboost-python >=1.88.0,<1.89.0a0 - - libcxx >=19 - - libpinocchio 3.9.0 h38e3ed3_3 - - numpy >=1.21,<3 - - python >=3.10,<3.11.0a0 - - python >=3.10,<3.11.0a0 *_cpython + - libpinocchio 4.0.0 h9a60d09_0 + - pinocchio-python 4.0.0 py310h6a781ba_0 - python_abi 3.10.* *_cp310 license: BSD-2-Clause license_family: BSD - size: 8863326 - timestamp: 1774953461269 + size: 9933 + timestamp: 1776157466410 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-3.9.0-py314h0c80980_3.conda sha256: 97eeaee4f5b692166fc605bf2b814994f0cb1a8dbda2ec52a99198faf88e81d1 md5: 79ac3b60bf022fa5a70d91cc6b5f7c6b @@ -17077,6 +17126,27 @@ packages: license_family: BSD size: 8935656 timestamp: 1774953561668 +- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py310h6a781ba_0.conda + sha256: 357a5ea5f48545676c29d0b098c4e383f2786eb2a06b15ebef32f720cd9cd3ff + md5: 9c27b30eb862e883292bef50de4f9785 + depends: + - __osx >=11.0 + - casadi >=3.7.2,<3.8.0a0 + - eigen-abi >=3.4.0.100,<3.4.0.101.0a0 + - eigenpy >=3.12.0,<3.12.1.0a0 + - hpp-fcl >=3.0.2,<3.0.3.0a0 + - libboost >=1.88.0,<1.89.0a0 + - libboost-python >=1.88.0,<1.89.0a0 + - libcxx >=19 + - libpinocchio 4.0.0 h9a60d09_0 + - numpy >=1.21,<3 + - python >=3.10,<3.11.0a0 + - python >=3.10,<3.11.0a0 *_cpython + - python_abi 3.10.* *_cp310 + license: BSD-2-Clause + license_family: BSD + size: 10690207 + timestamp: 1776157387567 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py314hec5027b_2.conda sha256: a9a0f03ab73f7f44191cfd3fbd869f0ed30db5a503c5de248f725e6300af8bc7 md5: 831ab509c08a99d5b9c802f1a2428647 diff --git a/pixi.toml b/pixi.toml index fe0429828..38c935b3f 100644 --- a/pixi.toml +++ b/pixi.toml @@ -209,19 +209,10 @@ graphviz = ">=12" [environments] default = { features = ["python-latest"], solve-group = "python-latest" } clang = { features = ["clang", "python-latest"] } -lint = { features = ["lint"], no-default-feature = false} -pin39 = { features = [ - "pin39", - "python-latest", -] } -pin4 = { features = [ - "pin4", - "python-latest", -], solve-group = "python-latest" } -crocoddyl = { features = [ - "crocoddyl", - "python-latest", -] } +lint = { features = ["lint"], no-default-feature = false } +pin39 = { features = ["pin39", "python-latest"] } +pin4 = { features = ["pin4", "python-latest"], solve-group = "python-latest" } +crocoddyl = { features = ["crocoddyl", "python-latest"] } openmp = { features = [ "openmp", "python-latest", @@ -236,13 +227,13 @@ all = { features = [ ], solve-group = "python-latest" } all-with-croco = { features = [ "doc", - "crocoddyl", # with pinocchio 3.8 + "crocoddyl", # with pinocchio 3.8 "openmp", - "python-latest" + "python-latest", ] } all-python-oldest = { features = [ "doc", - "pin39", + "pin4", "openmp", "python-oldest", ], solve-group = "python-oldest" } diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 24f748235..193255408 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -32,7 +32,7 @@ function(add_aligator_test2 test_name dependencies) set(test_name "${PROJECT_NAME}-test-cpp-${test_name}") message(STATUS "Adding cpp test: ${test_name} (${test_file})") - ADD_UNIT_TEST(${test_name} ${test_file} ${TEST_HEADERS}) + add_unit_test(${test_name} ${test_file} ${TEST_HEADERS}) set_target_properties(${test_name} PROPERTIES LINKER_LANGUAGE CXX) set_standard_output_directory(${test_name}) target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/tests/python/CMakeLists.txt b/tests/python/CMakeLists.txt index 7e92586b8..0d1815526 100644 --- a/tests/python/CMakeLists.txt +++ b/tests/python/CMakeLists.txt @@ -36,7 +36,7 @@ foreach(pyfile ${PYTHON_TESTS}) ${CMAKE_CURRENT_BINARY_DIR}/${pyfile} ) message(STATUS "Adding Python test: ${test_name}") - ADD_PYTHON_UNIT_TEST( + add_python_unit_test( ${test_name} "tests/python/${pyfile}" "tests/python" @@ -46,10 +46,10 @@ foreach(pyfile ${PYTHON_TESTS}) endforeach() function(add_test_binding_lib test_name) - CREATE_CTEST_BUILD_TESTS_TARGET() + create_ctest_build_tests_target() set(target_name "${PROJECT_NAME}-${test_name}") - Python3_add_library(${target_name} MODULE "${test_name}.cpp") + python3_add_library(${target_name} MODULE "${test_name}.cpp") set_standard_output_directory(${target_name}) target_link_libraries(${target_name} PUBLIC ${PYLIB_NAME}) target_link_libraries(${target_name} PUBLIC eigenpy::eigenpy)