[math/{py-,}pinocchio] Update to v3.2.0

    ## [3.2.0] - 2024-08-27

    ### Fixed
    - Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
    - Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
    - Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
    - Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
    - Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
    - Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
    - Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
    - Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)

    ### Added
    - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
    - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
    - Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
    - Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
    - Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
    - Add more CasADi examples (stack-of-tasks/pinocchio#2388)

    ### Removed
    - Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)

    ### Changed
    - Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
    - GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
    - Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
    - Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
    - Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)

Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak

math/pinocchio/Makefile

@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.1.0
+VERSION=		3.2.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics

math/pinocchio/PLIST

@@ -272,8 +272,6 @@ include/pinocchio/math/taylor-expansion.hpp
 include/pinocchio/math/tensor.hpp
 include/pinocchio/math/triangular-matrix.hpp
 include/pinocchio/math/tridiagonal-matrix.hpp
-include/pinocchio/multibody/constraint-base.hpp
-include/pinocchio/multibody/constraint-generic.hpp
 include/pinocchio/multibody/data.hpp
 include/pinocchio/multibody/data.hxx
 include/pinocchio/multibody/data.txx
@@ -348,6 +346,7 @@ include/pinocchio/multibody/visitor/fusion.hpp
 include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
 include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
 include/pinocchio/parsers/config.hpp
+include/pinocchio/parsers/meshloader-fwd.hpp
 include/pinocchio/parsers/mjcf.hpp
 include/pinocchio/parsers/mjcf/geometry.hxx
 include/pinocchio/parsers/mjcf/mjcf-graph.hpp
@@ -372,7 +371,6 @@ include/pinocchio/serialization/frame.hpp
 include/pinocchio/serialization/fwd.hpp
 include/pinocchio/serialization/geometry.hpp
 include/pinocchio/serialization/inertia.hpp
-include/pinocchio/serialization/joints-constraint.hpp
 include/pinocchio/serialization/joints-data.hpp
 include/pinocchio/serialization/joints-model.hpp
 include/pinocchio/serialization/joints-motion-subspace.hpp

math/pinocchio/distinfo

@@ -1,8 +1,4 @@
-SHA1 (pinocchio-3.0.0.tar.gz) = 72192a2ea9914c74413b6ef92f066ced802cd62f
-RMD160 (pinocchio-3.0.0.tar.gz) = 53ab1059dd86c34ae9a2a71af26ef24b2119d186
-Size (pinocchio-3.0.0.tar.gz) = 100744571 bytes
-SHA1 (patch-2264) = eb7cba2191020c3bb6026369fb236239e22e86db
-SHA1 (patch-2284) = b179e8b3ef082515af5b4ee48f3b9d9267e509a3
-SHA1 (patch-an) = 99018d12bd2a563b05685fc25fae0dad02303164
+SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
+RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
+Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
 SHA1 (patch-ao) = 82388cd763283a6d70581fdabcd1ae1035046ab8
-SHA1 (patch-ap) = e68ebc96a023535f8bde33eae5eb027638ec3a1c

math/py-pinocchio/Makefile

@@ -4,12 +4,13 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.1.0
+VERSION=		3.2.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics (python bindings)
 HOMEPAGE=		http://${ORG}.github.io/${NAME}/
 
+#CMAKE_ARGS+=		-DBUILD_WITH_CASADI_SUPPORT=ON
 CMAKE_ARGS+=		-DBUILD_WITH_COLLISION_SUPPORT=ON
 CMAKE_ARGS+=		-DBUILD_BENCHMARK=OFF
 CMAKE_ARGS+=		-DBUILD_TESTING=OFF
@@ -45,6 +46,7 @@ include ../../math/py-eigenpy/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../path/py-hpp-fcl/depend.mk
 include ../../mapping/octomap/depend.mk
+#include ../../optimization/py-casadi/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../mk/sysdep/boost-headers.mk
 include ../../mk/sysdep/boost-libs.mk

math/py-pinocchio/distinfo

@@ -1,9 +1,6 @@
-SHA1 (pinocchio-3.0.0.tar.gz) = 72192a2ea9914c74413b6ef92f066ced802cd62f
-RMD160 (pinocchio-3.0.0.tar.gz) = 53ab1059dd86c34ae9a2a71af26ef24b2119d186
-Size (pinocchio-3.0.0.tar.gz) = 100744571 bytes
-SHA1 (patch-2264) = eb7cba2191020c3bb6026369fb236239e22e86db
-SHA1 (patch-2284) = b179e8b3ef082515af5b4ee48f3b9d9267e509a3
-SHA1 (patch-af) = bf6c1d2fe04942c52d783be76b2a3d5386189953
-SHA1 (patch-ag) = 929490a70c419afe239844b87f556e3789060c63
+SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
+RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
+Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
+SHA1 (patch-ag) = 35b62ca6bd5676f51a5bef1d4a98c74113ca6a03
 SHA1 (patch-ah) = 365652d212fc8b2e82c7fee33818d08541491893
-SHA1 (patch-ak) = 59ebee7b94ff79fae81702a21be3763e9502b8ba
+SHA1 (patch-ak) = 73bff9b8278abb37c761375b4120b9f93edf9226

math/py-pinocchio/patches/patch-ag

@@ -1,29 +1,29 @@
 py-pinocchio needs pinocchio
 
---- CMakeLists.txt.orig	2024-05-27 21:47:00.000000000 +0200
-+++ CMakeLists.txt	2024-05-28 10:17:29.362489152 +0200
-@@ -183,6 +183,7 @@
+--- CMakeLists.txt.orig	2024-08-27 16:45:25.000000000 +0000
++++ CMakeLists.txt	2024-08-29 13:19:21.747133530 +0000
+@@ -192,6 +192,7 @@
  # ----------------------------------------------------
- set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/find-external/CppAD/" ${CMAKE_MODULE_PATH})
+ set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/CppAD/" ${CMAKE_MODULE_PATH})
  add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
 +add_project_dependency(${PROJECT_NAME} REQUIRED)
 
  if(BUILD_WITH_URDF_SUPPORT)
    add_project_dependency(urdfdom_headers REQUIRED)
---- bindings/python/CMakeLists.txt.orig	2024-05-27 21:47:00.000000000 +0200
-+++ bindings/python/CMakeLists.txt	2024-05-28 10:18:04.832481756 +0200
-@@ -76,7 +76,7 @@
+--- bindings/python/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
++++ bindings/python/CMakeLists.txt	2024-08-29 15:19:55.570423979 +0200
+@@ -75,7 +75,7 @@
      ${PYTHON_LIB_NAME}
      SCOPE PUBLIC
      TARGETS eigenpy::eigenpy)
 -  target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME})
-+  target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME})
++    target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME})
 
    if(BUILD_WITH_URDF_SUPPORT)
      # Link directly against console_bridge since we bind some enums and call
---- unittest/CMakeLists.txt.orig	2024-05-27 21:47:00.000000000 +0200
-+++ unittest/CMakeLists.txt	2024-05-28 10:18:52.605797982 +0200
-@@ -70,26 +70,26 @@
+--- unittest/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
++++ unittest/CMakeLists.txt	2024-08-29 15:21:21.067157905 +0200
+@@ -71,26 +71,26 @@
    target_include_directories(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
    if(NOT unit_test_HEADER_ONLY)
@@ -56,11 +56,11 @@ py-pinocchio needs pinocchio
    endif()
 
    modernize_target_link_libraries(
---- examples/CMakeLists.txt.orig	2024-05-27 21:47:00.000000000 +0200
-+++ examples/CMakeLists.txt	2024-05-28 10:19:23.895782651 +0200
+--- examples/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
++++ examples/CMakeLists.txt	2024-08-29 15:22:20.099674281 +0200
 @@ -14,22 +14,22 @@
    get_filename_component(EXAMPLE_NAME ${EXAMPLE} NAME)
-   set(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
+   set(EXAMPLE_NAME "${PROJECT_NAME}-example-cpp-${EXAMPLE_NAME}")
    add_unit_test(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
 -  target_link_libraries(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 +  target_link_libraries(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME})

math/py-pinocchio/patches/patch-ak

@@ -1,7 +1,7 @@
 Don't install files already installed by pinocchio
 
---- CMakeLists.txt.orig	2024-05-27 21:47:00.000000000 +0200
-+++ CMakeLists.txt	2024-05-28 10:22:24.912306337 +0200
+--- CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
++++ CMakeLists.txt	2024-08-29 15:24:08.330632746 +0200
 @@ -11,7 +11,6 @@
  )
  set(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
@@ -10,11 +10,10 @@ Don't install files already installed by pinocchio
  set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
  set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
  set(PINOCCHIO_PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
-@@ -499,18 +498,3 @@
- endforeach()
+@@ -507,19 +506,4 @@
  pkg_config_append_cflags("${CFLAGS_DEPENDENCIES}")
  pkg_config_append_cflags("${CFLAGS_OPTIONS}")
--
+ 
 -# Install catkin package.xml
 -install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 -# Allows Colcon to find non-Ament packages when using workspace underlays
@@ -29,3 +28,5 @@ Don't install files already installed by pinocchio
 -     "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
 -install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
 -        DESTINATION share/${PROJECT_NAME}/hook)
+-
+ setup_project_finalize()