Merge branch 'stack-of-tasks-master'

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,53 @@
+---
+name: 🐞 Bug report
+about: Something in Pinocchio is not working the way it should
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+## Bug description
+
+A clear and concise description of what the bug is.
+
+## Expected behavior
+
+A clear and concise description of what you expected to happen.
+
+## Reproduction steps
+
+Steps to reproduce the behavior:
+1. Load to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+### Docker image
+
+If this is an installation issue, a Docker image to reproduce it
+
+```dockerfile
+...
+```
+
+### Code
+
+If this is a runtime issue, provide some minimal code to reproduce it:
+
+```
+...
+```
+
+## Additional context
+
+Add any other context about the problem here.
+
+### Screenshots
+
+If applicable, add screenshots to help explain your problem.
+
+### System
+
+- OS: [e.g. iOS]
+- Pinocchio version: [e.g. 0.1.0]

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,17 @@
+---
+name: 💡 Feature request
+about: Suggest an idea to improve Pinocchio
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+⚠️ **Please open a discussion in the [Ideas](https://github.com/stack-of-tasks/pinocchio/discussions/categories/ideas) section rather than an issue.**
+
+Make sure your proposal checks out the following questions:
+
+- [ ] Is your feature request related to a problem? Please describe, *e.g.* "I'm always frustrated when..."
+- [ ] Describe concisely the solution you'd like.
+- [ ] Describe alternatives you've considered.
+- [ ] Do you have screenshots or sketches to illustrate your proposal?

.github/workflows/check-changelog.yml

@@ -0,0 +1,14 @@
+name: Check-changelog
+on:
+  pull_request:
+    types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
+    branches:
+      - devel
+jobs:
+  check-changelog:
+    name: Check changelog action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: tarides/changelog-check-action@v2
+        with:
+          changelog: CHANGELOG.md

.github/workflows/conda/conda-env.yml

@@ -3,7 +3,7 @@ channels:
   - conda-forge
   - nodefaults
 dependencies:
-  - eigen
+  - eigen=3.4.0
   - hpp-fcl
   - numpy
   - boost

.github/workflows/linux.yml

@@ -9,13 +9,13 @@ jobs:
 
     strategy:
       matrix:
-        os: [ubuntu-22.04,ubuntu-20.04,ubuntu-18.04]
+        os: [ubuntu-22.04,ubuntu-20.04]
 
     env:
       CCACHE_DIR: /github/home/.ccache
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
         submodules: recursive

.github/workflows/macos-linux-conda.yml

@@ -4,26 +4,35 @@ on: [push,pull_request]
 
 jobs:
   pinocchio-conda:
-    name: Pinocchio on ${{ matrix.os }} with Conda
+    name: Pinocchio on ${{ matrix.os }} in ${{ matrix.build_type }} mode with Conda
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+      BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }}
 
     strategy:
       fail-fast: false
       matrix:
         os: ["ubuntu-latest", "macos-latest"]
+        build_type: [Release, Debug]
 
-    steps:
-    - uses: actions/checkout@v3
+        include:
+          - os: ubuntu-latest
+            CCACHE_DIR: /home/runner/.ccache
+            BUILD_ADVANCED_TESTING: OFF
+          - os: macos-latest
+            CCACHE_DIR: /Users/runner/.ccache
+            BUILD_ADVANCED_TESTING: ON
 
-    - name: ccache
-      uses: hendrikmuhs/ccache-action@v1
+    steps:
+    - uses: actions/checkout@v4
       with:
-        key: ${{ matrix.os }}-${{ matrix.type }}
-        max-size: 1G
+        submodules: recursive
 
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
+    - uses: actions/cache@v3
+      with:
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -36,8 +45,7 @@ jobs:
       shell: bash -l {0}
       run: |
         conda activate pinocchio
-        conda install cmake -c main
-        mamba install llvm-openmp compilers=1.4.2 -c conda-forge
+        conda install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge
         conda list
 
     - name: Build Pinocchio
@@ -46,20 +54,13 @@ jobs:
         conda activate pinocchio
         echo $CONDA_PREFIX
 
-        export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH"
-
         mkdir build
         cd build
 
-        export LINK_PYTHON_INTERFACE_TO_OPENMP=ON
-        if [ "$(uname)" == "Darwin" ]; then
-          export LINK_PYTHON_INTERFACE_TO_OPENMP=OFF
-        fi
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }}  -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
         make
         make build_tests
-        export CTEST_OUTPUT_ON_FAILURE=1
-        make test
+        CTEST_OUTPUT_ON_FAILURE=1 make test
         make install
 
     - name: Uninstall Pinocchio

.github/workflows/ros-ci.yml

@@ -12,7 +12,6 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic}
           - {ROS_DISTRO: noetic}
           - {ROS_DISTRO: rolling, BUILDER: colcon}
     env:
@@ -27,10 +26,10 @@ jobs:
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
       BUILDER: catkin_tools
       AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
-      CTEST_OUTPUT_ON_FAILURE: 1
+      IMMEDIATE_TEST_OUTPUT: 1
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
@@ -39,5 +38,5 @@ jobs:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
+      - uses: 'ros-industrial/industrial_ci@3ed9846c96ed1e0bb36193e8e250632eaac980d0'
         env: ${{ matrix.env }}

.github/workflows/windows-conda-clang.yml

@@ -17,7 +17,7 @@ jobs:
             compiler: clang-cl
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Checkout submodules
       run: |
         git submodule update --init

.github/workflows/windows-conda-v142.yml

@@ -16,7 +16,7 @@ jobs:
             os: windows-2019
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Checkout submodules
       run: |
         git submodule update --init

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
     autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
     -   id: check-json
     -   id: check-symlinks