flake.lock: Update

.git-blame-ignore-revs

@@ -7,5 +7,8 @@
 # ruff check --fix (2024-08-12)
 45576e056b2a1000a6fa16caabd015ce622093d1
 
+# pre-commit run -a (2024-08-28)
+ccfc8509e21611b504f394b752a2f2a376a83022
+
 # pre-commit run -a (2024-09-04)
 d7c57794672df89734a80c40c0bd3166c7a984c6

.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()

.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

.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"

.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

.gitlab-ci-private.yml

@@ -0,0 +1,37 @@
+# use docker image with pixi installed (and not much else)
+image: ghcr.io/prefix-dev/pixi:noble
+
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+  PIXI_ENV: "collision"
+  CMAKE_BUILD_PARALLEL_LEVEL: 2
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/.ccache"
+  CCACHE_COMPRESS: true
+  CCACHE_COMPRESSLEVEL: 6
+
+test-job:
+  stage: test
+  tags:
+    - large
+  cache:
+    # Cache .pixi directory, invalidate the cache on lockfile
+    - key:
+        files:
+          - pixi.lock
+      paths:
+        - .pixi/
+    # Cache .ccache directory for each branch
+    - key: ccache-$CI_COMMIT_REF_SLUG
+      fallback_keys:
+        - ccache-$CI_DEFAULT_BRANCH
+      paths:
+        - .ccache/
+
+  script:
+    - echo "ccache pre build statistics"
+    - pixi run -e $PIXI_ENV ccache -sv
+    - echo "Run pixi run test"
+    - pixi run -e $PIXI_ENV test
+    - echo "ccache post build statistics"
+    - pixi run -e $PIXI_ENV ccache -sv

.pre-commit-config.yaml

@@ -30,6 +30,7 @@ repos:
     rev: v0.8.6
     hooks:
       - id: ruff
+        args: [--fix]
       - id: ruff-format
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13

CHANGELOG.md

@@ -6,6 +6,37 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+- Added Lie group method `tangentMap` which gives, in the form of a `nq x nv` matrix, the linear mapping that transforms a configuration variation expressed in the Lie algebra (size `nv`) into a small variation expressed in the parametric space (size `nq`). Composed with Jacobian of other methods of Pinocchio that use the Lie group structure, it allows obtaining standard Jacobians in order to, for example, insert Pinocchio derivatives into standard Euclidean differentiation pipelines.
+- Added Lie group methods `tangentMapProduct` and `tangentMapTransport` that apply `tangentMap` while exploiting sparsity.
+- Added model methods `tangentMap`, `tangentMapProduct` and `tangentMapTransport` that perform tangent map for the whole configuration space of the model.
+- Now all Lie group related algorithms (e.g. `dIntegrate`...) work seamlessly for models having some mimic joints.
+- Added joint methods `jointQrows`, `jointQcols` (resp. `jointQVblock`) that make selections of size `NQ` (resp. `NQ x NV`).
+- 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.
+- Add Python example showcasing the candlewick visualizer
+
+### Changed
+
+- bindings/python : Add missing arg names in `visualizer-visitor.hpp`
+- use deprecation, warning macros already provided by jrl-cmakemodules
+- renamed `PINOCCHIO_PRAGMA_DEPRECATED_HEADER` to `PINOCCHIO_DEPRECATED_MOVED_HEADER`
+- docs : update documentation stylesheet, fix some Doxygen config options
+
+### Removed
+
+- Remove unused headers `deprecated-macros.hpp` and `deprecated-namespaces.hpp`
+- Remove header `pinocchio/deprecation.hpp`, directly use generated `pinocchio/deprecated.hpp`
+- macros.hpp : remove macros already provided by jrl-cmakemodules
+- bindings/python : deprecate and remove contents of `utils/copyable.hpp`, `utils/registration.hpp` and `utils/deprecation.hpp`, include corresponding eigenpy headers instead
+
+## [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
@@ -17,7 +48,6 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add explicit template instantiation for constraint algorithms for `casadi`, `CppAD` and `CppADCodeGen` scalar ([#2659](https://github.com/stack-of-tasks/pinocchio/pull/2659))
 - Add `casadi` bindings for `pinocchio.initConstraintDynamics` and `pinocchio.constraintDynamics` ([#2659](https://github.com/stack-of-tasks/pinocchio/pull/2659))
 
-
 ## [3.5.0] - 2025-04-02
 
 ### Added
@@ -64,8 +94,16 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [3.4.0] - 2025-02-12
 
 ### Added
+- Helpers for mapping heap allocation for Eigen::Map via alloca
+- Introduce EigenStorageTpl
 - Add parsing meshes with vertices for MJCF format ([#2537](https://github.com/stack-of-tasks/pinocchio/pull/2537))
 
+### Changed
+- Major refactorization of ContactCholeskyDecompositionTpl to ease online resizing
+
+### Removed
+- Remove DataTpl::lastChild field and associated methods
+
 ### Fixed
 - Fix mjcf Euler angle parsing: use xyz as a default value for eulerseq compiler option ([#2526](https://github.com/stack-of-tasks/pinocchio/pull/2526))
 - Fix variable naming in Python ([#2530](https://github.com/stack-of-tasks/pinocchio/pull/2530))
@@ -1142,7 +1180,8 @@ 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

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"

CMakeLists.txt

@@ -3,7 +3,7 @@
 # Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 #
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 
 set(PROJECT_NAME pinocchio)
 set(PROJECT_DESCRIPTION
@@ -87,6 +87,7 @@ include("${JRL_CMAKE_MODULES}/base.cmake")
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
+include("${JRL_CMAKE_MODULES}/tracy.cmake")
 include("${JRL_CMAKE_MODULES}/python.cmake")
 include("${JRL_CMAKE_MODULES}/boost.cmake")
 include("${JRL_CMAKE_MODULES}/ide.cmake")
@@ -162,6 +163,8 @@ option(CHECK_RUNTIME_MALLOC "Check if some memory allocations are performed at r
 
 option(ENABLE_TEMPLATE_INSTANTIATION "Template instantiation of the main library" ON)
 
+option(PINOCCHIO_BUILD_WITH_TRACY "Build with tracy profiler for performance analysis" OFF)
+
 # Variable containing all the cflags definition, options and libraries to setup pkg-config.
 set(CFLAGS_OPTIONS)
 set(CFLAGS_DEPENDENCIES)
@@ -243,6 +246,21 @@ if(BUILD_WITH_PARSERS_SUPPORT)
   list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_parsers)
 endif()
 
+# -- tracy (optional)
+if(PINOCCHIO_BUILD_WITH_TRACY)
+  # assume it is installed somewhere
+  add_project_dependency(Tracy REQUIRED)
+  set_target_properties(Tracy::TracyClient PROPERTIES POSITION_INDEPENDENT_CODE True)
+  if(${Tracy_FOUND})
+    message(STATUS "Tracy found on your system at ${Tracy_DIR}")
+  else()
+    message(
+      FATAL_ERROR
+        "Pinocchio support for tracy is enabled, but tracy was not found on your system."
+        " Install it, or set the option PINOCCHIO_DOWNLOAD_TRACY to ON so we can fetch it.")
+  endif()
+endif(PINOCCHIO_BUILD_WITH_TRACY)
+
 if(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   if(BUILD_WITH_CODEGEN_SUPPORT)
@@ -480,6 +498,10 @@ endmacro(
   var_name
   var_value)
 
+if(PINOCCHIO_BUILD_WITH_TRACY)
+  export_variable(PINOCCHIO_USE_TRACY ON)
+  set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_TRACY \"\")")
+endif()
 if(BUILD_WITH_URDF_SUPPORT)
   export_variable(PINOCCHIO_USE_URDFDOM ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_URDFDOM \"\")")