Update pixi configuration

.github/workflows/ci_cd.yml

@@ -8,8 +8,7 @@ on:
     types:
       - published
   schedule:
-  # * is a special character in YAML so you have to quote this string
-  # Execute a "nightly" build at 2 AM UTC
+  # Execute a nightly build at 2am UTC.
   - cron:  '0 2 * * *'
 
 
@@ -138,6 +137,8 @@ jobs:
            steps.changes.outputs.all == 'true')
         run: pytest
         env:
+          # https://github.com/pytest-dev/pytest/issues/7443#issuecomment-656642591
+          PY_COLORS: "1"
           JAX_PLATFORM_NAME: cpu
 
   publish:

.github/workflows/update_pixi_lockfile.yml → .github/workflows/pixi.yml

@@ -1,4 +1,4 @@
-name: Update pixi lockfile
+name: Pixi
 
 permissions:
   contents: write
@@ -7,12 +7,16 @@ permissions:
 on:
   workflow_dispatch:
   schedule:
-    - cron: 0 5 1 * *
+    # Execute at 5am UTC on the first day of the month.
+    - cron: '0 5 1 * *'
 
 jobs:
+
   pixi-update:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+
     steps:
+
       - uses: actions/checkout@v4
         with:
           lfs: true
@@ -30,9 +34,14 @@ jobs:
           set -o pipefail
           pixi update --json | pixi exec pixi-diff-to-markdown --explicit-column > diff.md
 
+      - name: Test project against updated pixi
+        run: pixi run --environment tasks-cpu tests
+        env:
+          PY_COLORS: "1"
+          JAX_PLATFORM_NAME: cpu
+
       - name: Commit and push changes
-        run: |
-          echo "BRANCH_NAME=update-pixi-$(date +'%Y%m%d%H%M%S')" >> $GITHUB_ENV
+        run: echo "BRANCH_NAME=update-pixi-$(date +'%Y%m%d%H%M%S')" >> $GITHUB_ENV
 
       - name: Create pull request
         uses: peter-evans/create-pull-request@v7

pyproject.toml

@@ -37,6 +37,7 @@ classifiers = [
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
     "Programming Language :: Python :: Implementation :: CPython",
     "Topic :: Games/Entertainment :: Simulation",
     "Topic :: Scientific/Engineering :: Artificial Intelligence",
@@ -132,8 +133,10 @@ testpaths = [
 [tool.ruff]
 exclude = [
     ".git",
+    ".pixi",
     ".pytest_cache",
     ".ruff_cache",
+    ".idea",
     ".vscode",
     ".devcontainer",
     "__pycache__",
@@ -179,52 +182,87 @@ ignore = [
 channels = ["conda-forge"]
 platforms = ["linux-64", "osx-arm64", "osx-64"]
 
+[tool.pixi.environments]
+# We resolve only two groups: cpu and gpu.
+# Then, multiple environments can be created from these groups.
+default = { solve-group = "cpugroup" }
+gpu = { features = ["gpu"], solve-group = "gpugroup" }
+tasks-cpu = { features = ["test", "examples"], solve-group = "cpugroup" }
+tasks-gpu = { features = ["test", "examples", "gpu"], solve-group = "gpugroup" }
+
+# ---------------
+# feature.default
+# ---------------
+
+# Dependencies from conda-forge.
 [tool.pixi.dependencies]
+#
+# Matching `project.dependencies`.
+#
 coloredlogs = "*"
 jax = "*"
-jax-dataclasses = "*"
-jaxopt = "*"
 jaxlib = "*"
 jaxlie = "*"
-lxml = "*"
-mediapy = "*"
-mujoco = "*"
-notebook = "*"
+jax-dataclasses = "*"
 pptree = "*"
+optax = "*"
 qpax = "*"
 rod = "*"
-sdformat14 = "*"
 typing_extensions = "*"
+#
+# Optional dependencies.
+#
+lxml = "*"
+mediapy = "*"
+mujoco = "*"
+scipy = "*"
+#
+# Additional dependencies.
+#
+pip = "*"
+
+# Dependendencies from PyPI.
+[tool.pixi.pypi-dependencies]
+jaxsim = { path = "./", editable = true }
+
+# ------------
+# feature.test
+# ------------
 
 [tool.pixi.feature.test.tasks]
-examples = { cmd = "jupyter notebook ./examples" }
 pipcheck = "pip check"
-test = { cmd = "pytest", depends_on = ["pipcheck"] }
+tests = { cmd = "pytest", depends_on = ["pipcheck"] }
 
 [tool.pixi.feature.test.dependencies]
 black = "24.*"
 idyntree = "*"
 isort = "*"
-pip = "*"
 pre-commit = "*"
 pytest = "*"
 pytest-icdiff = "*"
 robot_descriptions = "*"
 
+# ----------------
+# feature.examples
+# ----------------
+
+[tool.pixi.feature.examples.tasks]
+examples = { cmd = "jupyter notebook ./examples" }
+
+[tool.pixi.feature.examples.dependencies]
+notebook = "*"
+robot_descriptions = "*"
+
+# -----------
+# feature.gpu
+# -----------
+
 [tool.pixi.feature.gpu]
 platforms = ["linux-64"]
-system-requirements = { cuda = "12.1" }
+system-requirements = { cuda = "12" }
 
 [tool.pixi.feature.gpu.dependencies]
-cuda-cupti = "*"
 cuda-version = "12.*"
-jaxlib = {version = "*", build = "*cuda*"}
-
-[tool.pixi.pypi-dependencies]
-jaxsim = { path = "./", editable = true }
-
-[tool.pixi.environments]
-default = { solve-group = "cpugroup" }
-gpu = { features = ["gpu"], solve-group = "gpugroup" }
-test-cpu = { features = ["test"], solve-group = "cpugroup" }
-test-gpu = { features = ["test", "gpu"], solve-group = "gpugroup" }
+# Pinning a specific version awaiting the following to get addressed:
+# https://github.com/conda-forge/jaxlib-feedstock/issues/285
+jaxlib = { version = "<0.4.31", build = "*cuda*" }