Simple-Robotics · jcarpent · Jun 10, 2024 · Jun 11, 2024 · Jun 10, 2024 · Jun 10, 2024
diff --git a/.github/workflows/ci-arch.yml b/.github/workflows/ci-arch.yml
@@ -3,6 +3,8 @@ name: CI - ArchLinux
 on:
   push:
   pull_request:
+    paths-ignore:
+      - CHANGELOG.md
 
 jobs:
   build-with-arch:
@@ -14,7 +16,7 @@ jobs:
 
     - uses: actions/checkout@v4
       with:
-        submodules: true
+        submodules: recursive
 
     - run: cmake -B build -S . -DBUILD_PYTHON_INTERFACE=ON
     - run: cmake --build build

diff --git a/.github/workflows/ci-linux-osx-win-conda.yml b/.github/workflows/ci-linux-osx-win-conda.yml
@@ -3,6 +3,8 @@ name: CI - Linux/OSX/Windows - Conda
 on:
   push:
   pull_request:
+    paths-ignore:
+      - CHANGELOG.md
 
 jobs:
   build-with-conda:
@@ -29,10 +31,6 @@ jobs:
             compiler: clang-cl
           - name: windows-latest
             os: windows-latest
-          - name: macos-latest
-            os: macos-latest
-            build_type: Release
-            cxx_std: 14
           - name: macos-latest
             os: macos-latest
             build_type: Debug
@@ -55,7 +53,9 @@ jobs:
             continue_on_error: false
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
 
     - uses: conda-incubator/setup-miniconda@v2
       if: matrix.os != 'macos-14'
@@ -80,7 +80,7 @@ jobs:
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Compilation related dependencies
-        mamba install cmake compilers make pkg-config doxygen ninja graphviz
+        mamba install cmake compilers make pkg-config doxygen ninja graphviz typing_extensions llvm-openmp clang
         # Main dependencies
         mamba install eigen simde
         # Test dependencies
@@ -114,7 +114,7 @@ jobs:
         git submodule update --init
         mkdir build
         cd build
-        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON -DTEST_JULIA_INTERFACE:BOOL=ON -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON -DTEST_JULIA_INTERFACE:BOOL=OFF -DOpenMP_ROOT=$CONDA_PREFIX
 
     - name: Configure [Conda/macOS14]
       if: contains(matrix.os, 'macos-14')
@@ -135,7 +135,7 @@ jobs:
         echo $(whereis ccache)
         echo $(which ccache)
         cd build
-        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCHECK_RUNTIME_MALLOC:BOOL=ON -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON -DTEST_JULIA_INTERFACE:BOOL=ON -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCHECK_RUNTIME_MALLOC:BOOL=ON -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON -DTEST_JULIA_INTERFACE:BOOL=OFF -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DOpenMP_ROOT=$CONDA_PREFIX
 
     - name: Configure [Conda/Windows-2019]
       if: contains(matrix.os, 'windows-2019')
@@ -146,7 +146,9 @@ jobs:
         git submodule update --init
         mkdir build
         cd build
-        cmake .. -G"Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
+        export CXX=clang-cl
+        export CC=clang-cl
+        cmake .. -G"Ninja" -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
 
     - name: Configure [Conda/Windows-latest]
       if: contains(matrix.os, 'windows-latest') && contains(matrix.cxx_std, '20')
@@ -157,7 +159,9 @@ jobs:
         git submodule update --init
         mkdir build
         cd build
-        cmake .. -G"Visual Studio 17 2022" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
+        export CXX=clang-cl
+        export CC=clang-cl
+        cmake .. -G"Ninja" -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
 
     - name: Configure [Conda/Windows-latest]
       if: contains(matrix.os, 'windows-latest') && contains(matrix.cxx_std, '17')
@@ -168,7 +172,9 @@ jobs:
         git submodule update --init
         mkdir build
         cd build
-        cmake .. -G"Visual Studio 17 2022" -T "v143" -DCMAKE_GENERATOR_PLATFORM=x64 -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
+        export CXX=clang-cl
+        export CC=clang-cl
+        cmake .. -G"Ninja" -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_STANDARD=${{ matrix.cxx_std }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_SITELIB=${CONDA_PREFIX}/Lib/site-packages -DPYTHON_EXECUTABLE=${CONDA_PREFIX}/python.exe -DOpenMP_ROOT=$CONDA_PREFIX -DBUILD_WITH_OPENMP_SUPPORT:BOOL=ON -DLINK_PYTHON_INTERFACE_TO_OPENMP:BOOL=ON -DBUILD_DOCUMENTATION:BOOL=ON -DINSTALL_DOCUMENTATION:BOOL=ON
 
     - name: Build [Conda]
       shell: bash -l {0}

diff --git a/.github/workflows/ci-linux-ros.yml b/.github/workflows/ci-linux-ros.yml
@@ -1,5 +1,9 @@
 name: CI - Linux - ROS
-on: [push, pull_request]
+on:
+  push:
+  pull_request:
+    paths-ignore:
+      - CHANGELOG.md
 
 jobs:
   CI:

diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml
@@ -8,7 +8,9 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - uses: conda-incubator/setup-miniconda@v2
         with:

diff --git a/.github/workflows/release-linux.yml b/.github/workflows/release-linux.yml
@@ -2,6 +2,8 @@ name: Release on PyPI [Linux]
 
 on:
   pull_request:
+    paths-ignore:
+      - CHANGELOG.md
   release:
     types:
       - published
@@ -33,9 +35,9 @@ jobs:
             build: "cp312-manylinux*"
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
-          submodules: 'true'
+          submodules: recursive
       - uses: actions/setup-python@v4
         with:
           python-version: "3.10"

diff --git a/.github/workflows/release-osx-win.yml b/.github/workflows/release-osx-win.yml
@@ -2,6 +2,8 @@ name: Release on PyPI [Windows, Mac]
 
 on:
   pull_request:
+    paths-ignore:
+      - CHANGELOG.md
   release:
     types:
       - published
@@ -21,7 +23,7 @@ jobs:
             toolset: v143
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
 
@@ -57,7 +59,7 @@ jobs:
         run: |
           # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
           conda config --remove channels defaults
-          mamba install doxygen graphviz eigen simde cmake compilers
+          mamba install doxygen graphviz eigen simde cmake compilers typing_extensions
 
       - name: Print environment [Conda]
         if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows')

diff --git a/.gitmodules b/.gitmodules
@@ -1,11 +1,9 @@
-[submodule "external/pybind11"]
-	path = bindings/python/external/pybind11
-	url = https://github.com/pybind/pybind11
+[submodule "bindings/python/external/nanobind"]
+	path = bindings/python/external/nanobind
+	url = https://github.com/wjakob/nanobind
 [submodule "cmake-module"]
 	path = cmake-module
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
 [submodule "external/cereal"]
 	path = external/cereal
 	url = https://github.com/USCiLab/cereal.git
-[submodule "cmake"]
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,17 +1,19 @@
 ci:
     autoupdate_branch: 'devel'
+    autofix_prs: false
+    autoupdate_schedule: quarterly
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.5
+    rev: v19.1.3
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Mozilla, SortIncludes: false}']
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
     -   id: trailing-whitespace
 -   repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.10.0
     hooks:
     -   id: black
 -   repo: https://github.com/cheshirekow/cmake-format-precommit

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,39 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+* CMake: Fix link to system cereal in tests ([#353](https://github.com/Simple-Robotics/proxsuite/pull/352))
+* Fix windows build error related to template usage in veg ([#357](https://github.com/Simple-Robotics/proxsuite/pull/357))
+
+### Added
+* Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) ([#340](https://github.com/Simple-Robotics/proxsuite/pull/340))
+
+### Changed
+* Change Python bindings to use nanobind instead of pybind11 ([#340](https://github.com/Simple-Robotics/proxsuite/pull/340))
+
+
+## [0.6.7] - 2024-08-27
+
+### Added
+* Fix mu update function for PrimalLDLT backend ([#349](https://github.com/Simple-Robotics/proxsuite/pull/349))
+* Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
+* Add compatibility with jrl-cmakemodules workspace ([#339](https://github.com/Simple-Robotics/proxsuite/pull/339))
+* Specifically mention that timings are in microseconds ([#342](https://github.com/Simple-Robotics/proxsuite/pull/342))
+* Fix cereal include directory in cmake ([#342](https://github.com/Simple-Robotics/proxsuite/pull/342))
+* Extend doc with hint for conda installation from source ([#342](https://github.com/Simple-Robotics/proxsuite/pull/342))
+
+### Fixed
+* Fix inequality constraints return in QPLayer ([#343](https://github.com/Simple-Robotics/proxsuite/pull/343))
+
+### Changed
+
+* Refactor Python examples with a new "util.py" file ([#347](https://github.com/Simple-Robotics/proxsuite/pull/347))
+
+## [0.6.6] - 2024-06-15
+
+### Fixed
+* Fix infeasibility detection and add a unit test ([#328](https://github.com/Simple-Robotics/proxsuite/pull/328))
+
 ## [0.6.5] - 2024-05-31
 
 ### Added
@@ -409,7 +442,9 @@ More to come ([#](a forthcoming release.))
 The first release of ProxSuite.
 
 
-[Unreleased]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.5...HEAD
+[Unreleased]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.7...HEAD
+[0.6.7]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.6...v0.6.7
+[0.6.6]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.5...v0.6.6
 [0.6.5]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.4...v0.6.5
 [0.6.4]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.3...v0.6.4
 [0.6.3]: https://github.com/Simple-Robotics/proxsuite/compare/v0.6.2...v0.6.3

diff --git a/CITATION.cff b/CITATION.cff
@@ -14,7 +14,7 @@ authors:
   - family-names: Carpentier
     given-names: Justin
     orcid: "https://orcid.org/0000-0001-6585-2894"
-version: 0.6.5
-date-released: "2024-05-31"
+version: 0.6.7
+date-released: "2024-08-27"
 license: BSD-2-Clause
 repository-code: "https://github.com/Simple-Robotics/proxsuite"