Fix version ranges for building wheels since Pinocchio 4.1.0 released (#262)

Author: sea-bass

.docker/ubuntu/Dockerfile

@@ -2,7 +2,7 @@ ARG UBUNTU_VERSION=24.04
 
 FROM ubuntu:${UBUNTU_VERSION} AS roboplan_ubuntu
 
-ARG PINOCCHIO_VERSION=4.0.0
+ARG PINOCCHIO_VERSION=4.1.0
 ENV PIP_BREAK_SYSTEM_PACKAGES=1
 # See https://github.com/tier4/osqp_vendor/issues/26
 ENV CMAKE_POLICY_VERSION_MINIMUM=3.5

pixi.lock

@@ -227,7 +227,7 @@ yaml-cpp    = ">=0.8.0,<0.9"
 # Core dependencies
 eigen      = ">=3.4.0"
 libtoppra  = ">=0.6.4,<0.7"
-pinocchio  = ">=4.0.0,<5"
+pinocchio  = ">=4.1.0,<5"
 osqp-eigen = ">=0.11.0,<0.12"
 
 # Python bindings dependencies

pixi.toml

@@ -4,7 +4,7 @@ requires = [
     "setuptools-scm >=8",
     "cmeel-eigen[build]",
     "cmeel-yaml-cpp[build]",
-    "libpinocchio[build] == 4.0.0",
+    "libpinocchio[build] == 4.1.0",
     "nanobind >=1.3.2",
     "patchelf; platform_system == 'Linux'",
 ]
@@ -27,7 +27,7 @@ classifiers = [
 dependencies = [
     "matplotlib",
     "numpy",
-    "pin",
+    "pin >=4.1.0, <4.2",
 ]
 
 [project.urls]

pyproject.toml

@@ -37,4 +37,4 @@ def test_roboplan_core_version_metadata() -> None:
 def test_import_pinocchio() -> None:
     assert importlib.util.find_spec("pinocchio")
     pinocchio = importlib.import_module("pinocchio")
-    assert parse(pinocchio.__version__) >= parse("3.9.0")
+    assert parse(pinocchio.__version__) >= parse("4.0.0")

roboplan/bindings/test/test_import.py

@@ -52,12 +52,12 @@ def test_root_pyproject_defines_unified_roboplan_distribution() -> None:
     assert "setuptools-scm >=8" in build_requires
     assert "cmeel-eigen[build]" in build_requires
     assert "cmeel-yaml-cpp[build]" in build_requires
-    assert "libpinocchio[build] == 4.0.0" in build_requires
+    assert "libpinocchio[build] == 4.1.0" in build_requires
     assert "patchelf; platform_system == 'Linux'" in build_requires
     dependencies = cast(list[str], project["dependencies"])
     assert "roboplan-core" not in dependencies
     assert "numpy" in dependencies
-    assert "pin" in dependencies
+    assert "pin >=4.1.0, <4.2" in dependencies
     assert "matplotlib" in dependencies
 
     tool = cast(dict[str, object], data["tool"])