Rebuild for libosqp 1.0.0

.ci_support/linux_64_python3.10.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_64_python3.11.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_64_python3.12.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_64_python3.9.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_aarch64_python3.10.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_aarch64_python3.11.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_aarch64_python3.12.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/linux_aarch64_python3.9.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/migrations/libosqp100.yaml

@@ -0,0 +1,8 @@
+__migrator:
+  build_number: 1
+  commit_message: Rebuild for libosqp 1.0.0
+  kind: version
+  migration_number: 1
+libosqp:
+- 1.0.0
+migrator_ts: 1743838406.6389353

.ci_support/osx_64_python3.10.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_64_python3.11.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_64_python3.12.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_64_python3.9.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_arm64_python3.10.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_arm64_python3.11.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_arm64_python3.12.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/osx_arm64_python3.9.____cpython.yaml

@@ -29,7 +29,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 librealsense:
 - '2.55'
 libyarp:

.ci_support/win_64_python3.10.____cpython.yaml

@@ -19,7 +19,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 libyarp:
 - 3.11.2
 numpy:

.ci_support/win_64_python3.11.____cpython.yaml

@@ -19,7 +19,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 libyarp:
 - 3.11.2
 numpy:

.ci_support/win_64_python3.12.____cpython.yaml

@@ -19,7 +19,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 libyarp:
 - 3.11.2
 numpy:

.ci_support/win_64_python3.9.____cpython.yaml

@@ -19,7 +19,7 @@ libmatio_cpp:
 libopencv:
 - 4.11.0
 libosqp:
-- 0.6.3
+- 1.0.0
 libyarp:
 - 3.11.2
 numpy:

recipe/983.patch

@@ -0,0 +1,60 @@
+From 6dc66ac9568896d794580e1d4382f03e63b02ebe Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Wed, 4 Jun 2025 10:11:20 +0200
+Subject: [PATCH 1/2] Use fixed seed for QP-IK Distance and Gravity test
+
+---
+ src/IK/tests/QPInverseKinematicsTest.cpp | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/src/IK/tests/QPInverseKinematicsTest.cpp b/src/IK/tests/QPInverseKinematicsTest.cpp
+index db755c55d2..eef3278039 100644
+--- a/src/IK/tests/QPInverseKinematicsTest.cpp
++++ b/src/IK/tests/QPInverseKinematicsTest.cpp
+@@ -780,6 +780,10 @@ TEST_CASE("QP-IK [With builder]")
+
+ TEST_CASE("QP-IK [Distance and Gravity tasks]")
+ {
++    // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
++    // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
++    srand(42);
++
+     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+     auto parameterHandler = createParameterHandler();
+
+
+From ba6c71a911ff3e42ec91c0624fdefd8ec424545d Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Tue, 3 Jun 2025 21:44:46 +0200
+Subject: [PATCH 2/2] Remove unused types.h include and fix compilation with
+ osqp 1.0.0
+
+---
+ src/IK/src/JointLimitsTask.cpp         | 1 -
+ src/IK/src/JointVelocityLimitsTask.cpp | 1 -
+ 2 files changed, 2 deletions(-)
+
+diff --git a/src/IK/src/JointLimitsTask.cpp b/src/IK/src/JointLimitsTask.cpp
+index 71316e24ff..917f7370b1 100644
+--- a/src/IK/src/JointLimitsTask.cpp
++++ b/src/IK/src/JointLimitsTask.cpp
+@@ -6,7 +6,6 @@
+  */
+
+ #include <chrono>
+-#include <types.h>
+ #include <vector>
+
+ #include <OsqpEigen/Constants.hpp>
+diff --git a/src/IK/src/JointVelocityLimitsTask.cpp b/src/IK/src/JointVelocityLimitsTask.cpp
+index 253d67e0be..e0e488d7e4 100644
+--- a/src/IK/src/JointVelocityLimitsTask.cpp
++++ b/src/IK/src/JointVelocityLimitsTask.cpp
+@@ -6,7 +6,6 @@
+  */
+
+ #include <chrono>
+-#include <types.h>
+ #include <vector>
+
+ #include <OsqpEigen/Constants.hpp>

recipe/986.patch

@@ -0,0 +1,93 @@
+From f92a6d66d57d4a9b21ee881429367dc8ecf4b5b3 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio.traversaro@iit.it>
+Date: Wed, 4 Jun 2025 11:43:40 +0200
+Subject: [PATCH 1/2] Set seed for all relevant test in
+ QPInverseKinematicsTest.cpp
+
+---
+ src/IK/tests/QPInverseKinematicsTest.cpp | 21 ++++++++++++++++++++-
+ 1 file changed, 20 insertions(+), 1 deletion(-)
+
+diff --git a/src/IK/tests/QPInverseKinematicsTest.cpp b/src/IK/tests/QPInverseKinematicsTest.cpp
+index eef3278039..a4e4a334bf 100644
+--- a/src/IK/tests/QPInverseKinematicsTest.cpp
++++ b/src/IK/tests/QPInverseKinematicsTest.cpp
+@@ -46,6 +46,13 @@ using namespace std::chrono_literals;
+ constexpr auto robotVelocity = "robotVelocity";
+ constexpr std::chrono::nanoseconds dT = 10ms;
+
++// Workaround for https://github.com/ami-iit/bipedal-locomotion-framework/issues/985
++#if defined(__linux__)
++constexpr unsigned int srand_global_seed = 2;
++#else
++constexpr unsigned int srand_global_seed = 77;
++#endif
++
+ struct InverseKinematicsTasks
+ {
+     std::shared_ptr<SE3Task> se3Task;
+@@ -349,6 +356,10 @@ inline iDynTree::Model customGetRandomModelWithNoPrismaticJoints(unsigned int nr
+
+ TEST_CASE("QP-IK")
+ {
++    // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
++    // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
++    srand(srand_global_seed);
++
+     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+     auto parameterHandler = createParameterHandler();
+
+@@ -490,6 +501,10 @@ TEST_CASE("QP-IK")
+
+ TEST_CASE("QP-IK [With strict limits]")
+ {
++    // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
++    // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
++    srand(srand_global_seed);
++
+     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+     auto parameterHandler = createParameterHandler();
+
+@@ -626,6 +641,10 @@ TEST_CASE("QP-IK [With strict limits]")
+
+ TEST_CASE("QP-IK [With builder]")
+ {
++    // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
++    // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
++    srand(srand_global_seed);
++
+     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+     auto parameterHandler = createParameterHandler();
+
+@@ -782,7 +801,7 @@ TEST_CASE("QP-IK [Distance and Gravity tasks]")
+ {
+     // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
+     // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
+-    srand(42);
++    srand(srand_global_seed);
+
+     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
+     auto parameterHandler = createParameterHandler();
+
+From 9b289b8c4cc93866a6171394c83c80db78459529 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio.traversaro@iit.it>
+Date: Wed, 4 Jun 2025 11:08:54 +0200
+Subject: [PATCH 2/2] Do not disable IK in conda-forge Linux and macOS CI
+
+---
+ .github/workflows/conda-forge-ci.yml | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
+index 20cf346eb6..fd74c47e83 100644
+--- a/.github/workflows/conda-forge-ci.yml
++++ b/.github/workflows/conda-forge-ci.yml
+@@ -81,7 +81,7 @@ jobs:
+       run: |
+         mkdir -p build
+         cd build
+-        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
++        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+               -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+     - name: Build [Linux&macOS]

recipe/build_cxx.sh

@@ -45,7 +45,6 @@ cmake --build . --config Release
 cmake --build . --config Release --target install
 
 if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR:-}" != "" ]]; then
-  # QPInverseKinematicsUnitTests excluded as a workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/issues/29
-  # excluded as a workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/102#issuecomment-2645529914
-  ctest --output-on-failure -E "QPInverseKinematicsUnitTests|YarpRobotLoggerDeviceUnitTests"  -C Release
+  # YarpRobotLoggerDeviceUnitTests excluded as a workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/102#issuecomment-2645529914
+  ctest --output-on-failure -E "YarpRobotLoggerDeviceUnitTests"  -C Release
 fi

recipe/meta.yaml

@@ -12,10 +12,12 @@ package:
 source:
   url: https://github.com/ami-iit/bipedal-locomotion-framework/archive/refs/tags/v{{ version }}.tar.gz
   sha256: 868566e9f1b450e40a372af2a191009cfc04b72a91d2e3a22b852a9b7852b6c4
-
+  patches:
+    - 983.patch
+    - 986.patch
 
 build:
-  number: 0
+  number: 1
 
 outputs:
   # {{ namecxx }}