Qplayer - infeasible case - dimensional typo fix for the inequality constraints#343
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jcarpent merged 3 commits intoSimple-Robotics:develfrom Aug 25, 2024
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jcarpent
previously approved these changes
Aug 7, 2024
jcarpent
approved these changes
Aug 24, 2024
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Feb 3, 2026
upstream changes:
## [0.7.2] - 2025-03-12
### Fixed
* Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
* Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
* Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)
### Changed
* Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
* Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
* Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)
## [0.7.1] - 2025-01-28
### Fixed
* Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)
## [0.7.0] - 2025-01-21
### Fixed
* CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
* Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)
### Added
* Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
* Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
* Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
* Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)
### Changed
* Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
* Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)
## [0.6.7] - 2024-08-27
### Added
* Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
* Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
* Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
* Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
* Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
* Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)
### Fixed
* Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)
### Changed
* Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)
## [0.6.6] - 2024-06-15
### Fixed
* Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)
packaging changes:
- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Feb 3, 2026
upstream changes:
## [0.7.2] - 2025-03-12
### Fixed
* Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
* Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
* Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)
### Changed
* Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
* Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
* Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)
## [0.7.1] - 2025-01-28
### Fixed
* Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)
## [0.7.0] - 2025-01-21
### Fixed
* CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
* Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)
### Added
* Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
* Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
* Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
* Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)
### Changed
* Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
* Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)
## [0.6.7] - 2024-08-27
### Added
* Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
* Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
* Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
* Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
* Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
* Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)
### Fixed
* Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)
### Changed
* Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)
## [0.6.6] - 2024-06-15
### Fixed
* Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)
packaging changes:
- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Feb 3, 2026
upstream changes:
## [0.7.2] - 2025-03-12
### Fixed
* Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
* Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
* Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)
### Changed
* Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
* Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
* Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)
## [0.7.1] - 2025-01-28
### Fixed
* Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)
## [0.7.0] - 2025-01-21
### Fixed
* CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
* Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)
### Added
* Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
* Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
* Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
* Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)
### Changed
* Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
* Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)
## [0.6.7] - 2024-08-27
### Added
* Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
* Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
* Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
* Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
* Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
* Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)
### Fixed
* Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)
### Changed
* Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)
## [0.6.6] - 2024-06-15
### Fixed
* Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)
packaging changes:
- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Feb 10, 2026
upstream changes:
## [0.7.2] - 2025-03-12
### Fixed
* Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
* Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
* Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)
### Changed
* Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
* Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
* Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)
## [0.7.1] - 2025-01-28
### Fixed
* Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)
## [0.7.0] - 2025-01-21
### Fixed
* CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
* Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)
### Added
* Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
* Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
* Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
* Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)
### Changed
* Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
* Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)
## [0.6.7] - 2024-08-27
### Added
* Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
* Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
* Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
* Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
* Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
* Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)
### Fixed
* Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)
### Changed
* Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)
## [0.6.6] - 2024-06-15
### Fixed
* Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)
packaging changes:
- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
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When considering no structural feasibility, QPLayer outputted in the forward and backward passes inequality multipliers and inequality Jacobians of the equivalent uni-sided inequality constrained QP (whereas the input considers QP with lower and upper inequality constraints).
This PR fixes this typo by performing the necessary internal changes (i.e., the transformations from one formulation to the other).