Merge tag 'v3.7.0' into topic/merging-v3.7.0

jcarpent · jcarpent · commit 8868f87116e7 · 2025-05-21T17:10:21.000+02:00
Release of version 3.7.0.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -6,25 +6,21 @@ on:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
@@ -36,7 +32,7 @@ jobs:
     container: ${{ matrix.container }}
     strategy:
       matrix:
-        container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04']
+        container: ['ubuntu:22.04', 'ubuntu:24.04']
 
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -211,8 +207,7 @@ jobs:
 
       - name: Display ccache statistics
         run: |
-          # TODO: Add -v option when we drop ubuntu-20.04
-          ccache -s
+          ccache -sv
 
   check:
     if: always()
diff --git a/.github/workflows/macos-linux-windows-pixi.yml b/.github/workflows/macos-linux-windows-pixi.yml
@@ -8,25 +8,21 @@ on:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
@@ -6,12 +6,10 @@ on:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-
 jobs:
   nix:
     runs-on: "${{ matrix.os }}-latest"
diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
@@ -10,25 +10,21 @@ on:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
       - .gitlab-ci.yml
       - .gitignore
-      - '*.md'
+      - '**.md'
       - CITATION.*
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
-      - CHANGELOG.md
-      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -15,6 +15,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Added joint method `lieGroup` that returns the Lie group instance associated to a joint. This allows performing some operations (e.g. `integrate`...) individually.
 - Added model method `lieGroup` that returns the Lie group instance associated to the model. It is a Cartesian product of multiple Lie groups. It allows combination of the model Lie group with other Lie groups.
 
+## [3.7.0] - 2025-05-21
+
+### Changed
+- Change the default branch to `devel` ([#2666](https://github.com/stack-of-tasks/pinocchio/pull/2666))
+- Implement `captureImage` for Panda3D visualizer for video recording ([#2668](https://github.com/stack-of-tasks/pinocchio/pull/2668))
+- Drop Ubuntu 20.04 support ([#2680](https://github.com/stack-of-tasks/pinocchio/pull/2680))
+
 ## [3.6.0] - 2025-04-28
 
 ### Fixed
@@ -1158,7 +1165,8 @@ 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/v3.6.0...HEAD
+[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.7.0...HEAD
+[3.7.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.6.0...v3.7.0
 [3.6.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.5.0...v3.6.0
 [3.5.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.4.0...v3.5.0
 [3.4.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.3.1...v3.4.0
diff --git a/CITATION.cff b/CITATION.cff
@@ -17,7 +17,7 @@ authors:
     given-names: Guilhem
   - family-names: Budhiraja
     given-names: Rohan
-version: 3.6.0
-date-released: "2025-04-28"
+version: 3.7.0
+date-released: "2025-05-21"
 license: BSD-2-Clause
 repository-code: "https://github.com/stack-of-tasks/pinocchio"
diff --git a/README.md b/README.md
@@ -1,17 +1,17 @@
 <p align="center">
-  <img src="https://raw.githubusercontent.com/stack-of-tasks/pinocchio/master/doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/>
+  <img src="https://raw.githubusercontent.com/stack-of-tasks/pinocchio/devel/doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/>
 </p>
 
 <p align="center">
   <a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202--Clause-green.svg" alt="License"/></a>
-  <a href="https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/"><img src="https://img.shields.io/badge/docs-online-brightgreen" alt="Documentation"/></a>
-  <a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/master/coverage/"><img src="https://gepgitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/coverage.svg?job=doc-coverage" alt="Coverage Report"/></a>
+  <a href="https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/"><img src="https://img.shields.io/badge/docs-online-brightgreen" alt="Documentation"/></a>
+  <a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/devel/coverage/"><img src="https://gepgitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/coverage.svg?job=doc-coverage" alt="Coverage Report"/></a>
   <a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/dn/conda-forge/pinocchio.svg" alt="Conda Downloads"/></a>
   <a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/vn/conda-forge/pinocchio.svg" alt="Conda Version"/></a>
   <a href="https://badge.fury.io/py/pin"><img src="https://badge.fury.io/py/pin.svg" alt="PyPI version" height="20"></a>
-  <a href="https://badge.fury.io/py/pin"><img src="https://results.pre-commit.ci/badge/github/stack-of-tasks/pinocchio/master.svg" alt="pre-commit.ci status" height="20"></a>
+  <a href="https://badge.fury.io/py/pin"><img src="https://results.pre-commit.ci/badge/github/stack-of-tasks/pinocchio/devel.svg" alt="pre-commit.ci status" height="20"></a>
   <br>
-  <!--<a href="https://gitlab.laas.fr/stack-of-tasks/pinocchio"><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/pipeline.svg" alt="Pipeline Status"></a>-->
+  <!--<a href="https://gitlab.laas.fr/stack-of-tasks/pinocchio"><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/pipeline.svg" alt="Pipeline Status"></a>-->
 
 </p>
 
@@ -27,7 +27,7 @@ It is built upon Eigen for linear algebra and FCL for collision detection. **Pin
 
 **Pinocchio** is now at the heart of various robotics software as [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel), an open-source and efficient Differential Dynamic Programming solver for robotics, the [Stack-of-Tasks](http://stack-of-tasks.github.io), an open-source and versatile hierarchical controller framework or the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), open-source software for Motion and Manipulation Planning.
 
-If you want to learn more about **Pinocchio** internal behaviors and main features, we invite you to read the related [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228) and the online [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/).
+If you want to learn more about **Pinocchio** internal behaviors and main features, we invite you to read the related [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228) and the online [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/).
 
 If you want to dive into **Pinocchio** directly, only one single line is sufficient (assuming you have Conda):
 
@@ -102,17 +102,17 @@ or via pip (currently only available on Linux):
 
 ## Documentation
 
-The online **Pinocchio** documentation of the last release is available [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/). A cheat sheet pdf with the main functions and algorithms can be found [here](https://github.com/stack-of-tasks/pinocchio/blob/master/doc/pinocchio_cheat_sheet.pdf).
+The online **Pinocchio** documentation of the last release is available [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/). A cheat sheet pdf with the main functions and algorithms can be found [here](https://github.com/stack-of-tasks/pinocchio/blob/devel/doc/pinocchio_cheat_sheet.pdf).
 
 ## Examples
 
-In the [examples](https://github.com/stack-of-tasks/pinocchio/tree/master/examples) directory, we provide some basic examples of using Pinocchio in Python.
-Additional examples introducing **Pinocchio** are also available in the [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_intro.html).
+In the [examples](https://github.com/stack-of-tasks/pinocchio/tree/devel/examples) directory, we provide some basic examples of using Pinocchio in Python.
+Additional examples introducing **Pinocchio** are also available in the [documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/md_doc_d-practical-exercises_intro.html).
 
 ## Tutorials
 
 **Pinocchio** comes with a large bunch of tutorials aiming at introducing the basic tools for robot control.
-Tutorial and training documents are listed [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/index.html#OverviewConclu).
+Tutorial and training documents are listed [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/index.html#OverviewConclu).
 You can also consider the interactive Jupyter notebook [set of tutorials](https://github.com/ymontmarin/_tps_robotique) developed by [Nicolas Mansard](https://gepettoweb.laas.fr/index.php/Members/NicolasMansard) and [Yann de Mont-Marin](https://github.com/ymontmarin).
 
 ## Pinocchio continuous integrations
@@ -130,7 +130,7 @@ You can also consider the interactive Jupyter notebook [set of tutorials](https:
     </tr><tr><td> CI on Windows via Conda </td>
   <td><a href="https://github.com/stack-of-tasks/pinocchio/actions/workflows/windows-conda.yml"><img alt="windows" src="https://github.com/stack-of-tasks/pinocchio/actions/workflows/windows-conda.yml/badge.svg?branch=devel" /></a></td>
   </tr><tr><td> CI on Linux via Robotpkg </td>
-    <td><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/pipeline.svg" alt="Pipeline Status"></td>
+    <td><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/devel/pipeline.svg" alt="Pipeline Status"></td>
    </tr>
   </table>
 </p>
@@ -140,7 +140,7 @@ You can also consider the interactive Jupyter notebook [set of tutorials](https:
 **Pinocchio** exploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms, **Pinocchio** can unroll most of the computations directly at compile time, allowing to achieve impressive performances for an extensive range of robots, as illustrated by the plot below, obtained on a standard laptop equipped with an Intel Core i7 CPU @ 2.4 GHz.
 
 <p align="center">
-  <img src="https://raw.githubusercontent.com/stack-of-tasks/pinocchio/master/doc/images/pinocchio-performances.png" width="600" alt="Pinocchio Logo" align="center"/>
+  <img src="https://raw.githubusercontent.com/stack-of-tasks/pinocchio/devel/doc/images/pinocchio-performances.png" width="600" alt="Pinocchio Logo" align="center"/>
 </p>
 
 For other benchmarks, and mainly the capacity of Pinocchio to exploit, at best, your CPU capacities using advanced code generation techniques, we refer to the technical [paper](https://hal-laas.archives-ouvertes.fr/hal-01866228).
@@ -149,7 +149,7 @@ In addition, the [introspection](https://github.com/rbd-benchmarks/rbd-benchmark
 ## Ongoing developments
 
 If you want to follow the current developments, you can refer to the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel).
-The [master branch](https://github.com/stack-of-tasks/pinocchio/tree/master/) only contains the latest release. Any new Pull Request should be submitted on the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/).
+The [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/) only contains the latest release. Any new Pull Request should be submitted on the [devel branch](https://github.com/stack-of-tasks/pinocchio/tree/devel/).
 
 ## Installation
 
@@ -204,7 +204,7 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th
 -   [Panda3d](https://github.com/ikalevatykh/panda3d_viewer): supporting visualization in Python and which can be embedded inside any browser.
 -   [RViz](https://github.com/ros-visualization/rviz): supporting visualization in Python and which can interact with other ROS packages.
 
-Many external viewers can also be integrated. For more information, see the example [here](https://github.com/stack-of-tasks/pinocchio/blob/master/bindings/python/pinocchio/visualize/base_visualizer.py).
+Many external viewers can also be integrated. For more information, see the example [here](https://github.com/stack-of-tasks/pinocchio/blob/devel/bindings/python/pinocchio/visualize/base_visualizer.py).
 
 ## Citing Pinocchio
 
diff --git a/bindings/python/pinocchio/shortcuts.py b/bindings/python/pinocchio/shortcuts.py
@@ -5,9 +5,6 @@
 
 ## In this file, some shortcuts are provided ##
 
-# TODO: Remove when 20.04 is not supported
-from __future__ import annotations
-
 from . import WITH_HPP_FCL, WITH_HPP_FCL_BINDINGS
 from . import pinocchio_pywrap_default as pin
 
diff --git a/bindings/python/pinocchio/visualize/meshcat_visualizer.py b/bindings/python/pinocchio/visualize/meshcat_visualizer.py
@@ -1,9 +1,10 @@
-# TODO: Remove when 20.04 is not supported
+# TODO: Remove when py39 is dropped
+# This allow to use new Optional syntax
 from __future__ import annotations
 
 import warnings
 from pathlib import Path
-from typing import ClassVar
+from typing import ClassVar, Union
 
 import numpy as np
 
@@ -26,8 +27,8 @@
 import xml.etree.ElementTree as Et
 from typing import Any
 
-# TODO: Remove quote when 20.04 is not supported
-MsgType = "dict[str, Union[str, bytes, bool, float, 'MsgType']]"
+# TODO: Use Union syntax when py39 is dropped
+MsgType = dict[str, Union[str, bytes, bool, float, "MsgType"]]
 
 try:
     import hppfcl
diff --git a/bindings/python/pinocchio/visualize/panda3d_visualizer.py b/bindings/python/pinocchio/visualize/panda3d_visualizer.py
@@ -19,7 +19,7 @@ class Panda3dVisualizer(BaseVisualizer):
     A Pinocchio display using panda3d engine.
     """
 
-    def initViewer(self, viewer=None, load_model=False):  # pylint: disable=arguments-differ
+    def initViewer(self, viewer=None, load_model=False, open=True):  # pylint: disable=arguments-differ
         """Init the viewer by attaching to / creating a GUI viewer."""
         self.visual_group = None
         self.collision_group = None
@@ -30,7 +30,12 @@ def initViewer(self, viewer=None, load_model=False):  # pylint: disable=argument
         from panda3d_viewer import Viewer as Panda3dViewer
 
         if viewer is None:
-            self.viewer = Panda3dViewer(window_title="python-pinocchio")
+            if not open:
+                self.viewer = Panda3dViewer(
+                    window_title="python-pinocchio", window_type="offscreen"
+                )
+            else:
+                self.viewer = Panda3dViewer(window_title="python-pinocchio")
 
         if load_model:
             self.loadViewerModel(group_name=self.model.name)
@@ -140,7 +145,10 @@ def setCameraPose(self, pose: np.ndarray):
         raise NotImplementedError()
 
     def captureImage(self, w=None, h=None):
-        raise NotImplementedError()
+        rgb = self.viewer.get_screenshot(requested_format="RGB")
+        if rgb is None:
+            raise RuntimeError("Failed to capture image from viewer")
+        return rgb
 
     def disableCameraControl(self):
         raise NotImplementedError()
diff --git a/cmake b/cmake
@@ -1 +1 @@
-Subproject commit b5ae8e49306840a50ae9c752c5b4040f892c89d8
+Subproject commit 3632eb9ed43e29d7acbc5b35d30c9b2aee801702
diff --git a/development/contributing.md b/development/contributing.md
@@ -19,7 +19,7 @@ Please try to include as much information as you can. Details like these are inc
   * Anything unusual about your environment or deployment
 
 ## Contributing via Pull Requests
-The following guidance should be up-to-date, but the documentation as found [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/) should prove as the final say.
+The following guidance should be up-to-date, but the documentation as found [here](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/devel/doxygen-html/) should prove as the final say.
 
 Contributions via pull requests are much appreciated.
 Before sending us a pull request, please ensure that:
diff --git a/development/release.md b/development/release.md
@@ -6,7 +6,6 @@ To create a release with Pixi run the following commands on the **devel** branch
 PINOCCHIO_VERSION=X.Y.Z pixi run release_new_version
 git push origin
 git push origin vX.Y.Z
-git push origin devel:master
 ```
 
 Where `X.Y.Z` is the new version.
diff --git a/examples/panda3d-viewer-play.py b/examples/panda3d-viewer-play.py
@@ -23,6 +23,7 @@
 talos.setVisualizer(Panda3dVisualizer())
 talos.initViewer()
 talos.loadViewerModel(group_name="talos", color=(1, 1, 1, 1))
+record_video = False
 
 
 # Play a sample trajectory in a loop
@@ -43,9 +44,24 @@ def play_sample_trajectory():
         -0.1 - beta * 1.56,
     )
 
+    if record_video:
+        dt = 1 / 60
+        fps = 1.0 / dt
+        filename = "talos.mp4"
+        ctx = talos.viz.create_video_ctx(filename, fps=fps)
+        print(f"[video will be recorded @ {filename}]")
+    else:
+        from contextlib import nullcontext
+
+        ctx = nullcontext()
+        print("[no recording]")
+
     while True:
-        talos.play(traj.T, 1.0 / update_rate)
-        traj = np.flip(traj, 1)
+        with ctx:
+            talos.play(traj.T, 1.0 / update_rate)
+            traj = np.flip(traj, 1)
+            if record_video:
+                break
 
 
 try:
diff --git a/flake.lock b/flake.lock
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>pinocchio</name>
-  <version>3.6.0</version>
+  <version>3.7.0</version>
   <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
   <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
   Please check the repository URL for full list of authors and maintainers. -->
diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
