Merge pull request #2802 from jorisv/topic/python-310

Update pixi.toml

Author: jorisv

.github/workflows/macos-linux-windows-pixi.yml

@@ -31,7 +31,7 @@ concurrency:
 
 jobs:
   pinocchio-pixi:
-    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
+    name: Standard - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -47,7 +47,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel]
-        environment: [all, all-py39]
+        environment: [all, all-python-oldest]
         build_type: [Release, Debug]
 
         include:
@@ -93,7 +93,7 @@ jobs:
           key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_${{ github.sha }}
           restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_
 
-      - uses: prefix-dev/[email protected].2
+      - uses: prefix-dev/[email protected].3
         with:
           cache: true
           environments: ${{ matrix.environment }}
@@ -115,15 +115,16 @@ jobs:
             await script({github, context, core})
           result-encoding: string
 
+      - name: Clear ccache statistics [MacOS/Linux/Windows]
+        run: |
+          pixi run -e ${{ matrix.environment }} ccache -z
+
       - name: Build Pinocchio [MacOS/Linux/Windows]
         shell: bash -el {0}
         env:
           CMAKE_BUILD_PARALLEL_LEVEL: 2
           PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          # Clear ccache statistics
-          pixi run -e ${{ matrix.environment }} ccache -z
-
           # Launch configure but overwrite default options
           pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
@@ -137,12 +138,71 @@ jobs:
         run: |
           pixi run -e ${{ matrix.environment }} cmake --build build --target uninstall
 
-      - name: Remove build directory to save disk space
-        if: contains(matrix.os, 'ubuntu') && contains(matrix.build_type, 'Debug')
+      - name: Display ccache statistics
+        shell: bash -el {0}
+        run: |
+          pixi run -e ${{ matrix.environment }} ccache -sv
+
+  pinocchio-python-standalone-pixi:
+    name: Python standalone - ${{ matrix.os }} - Env ${{ matrix.environment }}
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+      # Since pixi will install a compiler, the compiler mtime will be changed.
+      # This can invalidate the cache (https://ccache.dev/manual/latest.html#config_compiler_check)
+      CCACHE_COMPILERCHECK: content
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel, windows-latest]
+        environment: [all]
+
+    steps:
+      # extract branch name or checkout devel branch for scheduled events
+      - name: Get branch name or checkout devel
+        shell: bash -el {0}
+        run: |
+          if [ "${{ github.event_name }}" == "schedule" ]; then
+            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
+            echo "LABELS=build_all" >> $GITHUB_ENV
+          else
+            echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+          fi
+
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ env.BRANCH_NAME }}
+          submodules: recursive
+
+      - uses: actions/cache@v4
+        with:
+          path: .ccache
+          key: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_${{ github.sha }}
+          restore-keys: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_
+
+      - uses: prefix-dev/[email protected]
+        with:
+          cache: true
+          environments: ${{ matrix.environment }}
+
+      - name: Get Compilation Flags
+        id: get_labels
+        uses: actions/github-script@v8
+        env:
+          LABELS: ${{ env.LABELS }}
+        with:
+          script: |
+            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
+            await script({github, context, core})
+          result-encoding: string
+
+      - name: Clear ccache statistics [MacOS/Linux/Windows]
         run: |
-          # Remove build directory to save disk space
-          # This is only done on Ubuntu because this create some issues with clang and ccache on OSX
-          rm -rf build
+          pixi run -e ${{ matrix.environment }} ccache -z
 
       # Following steps will modify the pixi environment
       - name: Build Pinocchio cpp [MacOS/Linux/Windows]
@@ -154,7 +214,6 @@ jobs:
           pixi run -e ${{ matrix.environment }} configure \
             -B build_cpp \
             -DBUILD_PYTHON_INTERFACE=OFF \
-            -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
           pixi run -e ${{ matrix.environment }} cmake --build build_cpp --target all
           pixi run -e ${{ matrix.environment }} cmake --install build_cpp
@@ -170,7 +229,6 @@ jobs:
             -DBUILD_PYTHON_INTERFACE=ON \
             -DBUILD_STANDALONE_PYTHON_INTERFACE=ON \
             -B build_python \
-            -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
           pixi run -e ${{ matrix.environment }} cmake --build build_python --target all
           pixi run -e ${{ matrix.environment }} cmake --install build_python
@@ -181,6 +239,31 @@ jobs:
         run: |
           pixi run -e ${{ matrix.environment }} ccache -sv
 
+  pinocchio-pixi-build:
+    name: Pixi build - ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, macos-15-intel, windows-latest]
+
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          submodules: recursive
+
+      - uses: prefix-dev/[email protected]
+        env:
+          CMAKE_BUILD_PARALLEL_LEVEL: 2
+        with:
+          cache: true
+          environments: test-pixi-build
+
+      - name: Test package [MacOS/Linux/Windows]
+        run: |
+          pixi run -e test-pixi-build test
+
   check:
     if: always()
     name: check-macos-linux-windows-pixi

CHANGELOG.md

@@ -10,15 +10,26 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
-- Homogenize python viewers examples ([#2771](https://github.com/stack-of-tasks/pinocchio/pull/2771))
-- Add docker images ([#2776](https://github.com/stack-of-tasks/pinocchio/pull/2776))
+### Added
+- Add pixi-build support ([#2802](https://github.com/stack-of-tasks/pinocchio/pull/2802))
+- Python: add overload of `BaseVisualizer::play()` to `VisualizerPythonVisitor` ([#2796](https://github.com/stack-of-tasks/pinocchio/pull/2796))
 - ROS: added jrl_cmakemodules dependency ([#2789](https://github.com/stack-of-tasks/pinocchio/pull/2789))
-- Removed CMake < 3.22 details ([#2790](https://github.com/stack-of-tasks/pinocchio/pull/2790))
-- Python : add overload of `BaseVisualizer::play()` to `VisualizerPythonVisitor` ([#2796](https://github.com/stack-of-tasks/pinocchio/pull/2796))
+- Add docker images ([#2776](https://github.com/stack-of-tasks/pinocchio/pull/2776))
+- Add names to joints that are inside a composite joint ([#2786](https://github.com/stack-of-tasks/pinocchio/pull/2786))
+
+### Changed
+- Python version update ([#2802](https://github.com/stack-of-tasks/pinocchio/pull/2802)):
+  - Project is now tested with Python 3.10 and 3.14
+  - Python 3.10 is the minimal supported Python version
+- Homogenize python viewers examples ([#2771](https://github.com/stack-of-tasks/pinocchio/pull/2771))
+
+### Fixed
+- Remove pixi 0.57 warnings ([#2802](https://github.com/stack-of-tasks/pinocchio/pull/2802))
 - CMake: use `sdformat.cmake` from `jrl-cmakemodules` ([#2800](https://github.com/stack-of-tasks/pinocchio/pull/2800))
 
-### Added
-- Add names to joints that are inside a composite joint ([#2786](https://github.com/stack-of-tasks/pinocchio/pull/2786))
+### Removed
+- Remove CMake < 3.22 details ([#2790](https://github.com/stack-of-tasks/pinocchio/pull/2790))
+
 
 ## [3.8.0] - 2025-09-17
 

development/release.md

@@ -3,7 +3,7 @@
 To create a release with Pixi run the following commands on the **devel** branch:
 
 ```bash
-PINOCCHIO_VERSION=X.Y.Z pixi run release_new_version
+PINOCCHIO_VERSION=X.Y.Z pixi run release-new-version
 git push origin
 git push origin vX.Y.Z
 ```

development/scripts/pixi/activation.bat

@@ -1,15 +1,3 @@
-:: Setup ccache
-set CMAKE_CXX_COMPILER_LAUNCHER=ccache
-
-:: Create compile_commands.json for language server
-set CMAKE_EXPORT_COMPILE_COMMANDS=1
-
-:: Activate color output with Ninja
-set CMAKE_COLOR_DIAGNOSTICS=1
-
-:: Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
-set CCACHE_SLOPPINESS=include_file_ctime,include_file_mtime,pch_defines,time_macros
-
 # Set default build value only if not previously set
 if not defined PINOCCHIO_BUILD_TYPE (set PINOCCHIO_BUILD_TYPE=Release)
 if not defined PINOCCHIO_PYTHON_STUBS (set PINOCCHIO_PYTHON_STUBS=ON)

development/scripts/pixi/activation.sh

@@ -25,18 +25,8 @@ then
   # (https://ccache.dev/manual/latest.html#config_compiler_type)
   export CCACHE_COMPILERTYPE=gcc
 fi
-
-# Setup ccache
-export CMAKE_CXX_COMPILER_LAUNCHER=ccache
-
-# Create compile_commands.json for language server
-export CMAKE_EXPORT_COMPILE_COMMANDS=1
-
-# Activate color output with Ninja
-export CMAKE_COLOR_DIAGNOSTICS=1
-
-# Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
-export CCACHE_SLOPPINESS=include_file_ctime,include_file_mtime,pch_defines,time_macros
+# Without -isystem, some LSP can't find headers
+export PINOCCHIO_CXX_FLAGS="$CXXFLAGS $PINOCCHIO_CXX_FLAGS -isystem $CONDA_PREFIX/include"
 
 # Set default build value only if not previously set
 export PINOCCHIO_BUILD_TYPE=${PINOCCHIO_BUILD_TYPE:=Release}