From 1ee5bfa3f8d8371c2de9bd0a116b1c8f2d413193 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Mon, 2 Jun 2025 12:50:03 +0200
Subject: [PATCH 01/18] Bump revision to 5

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92b5860..e2837a5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.16)
 
 set(OSQP_MATLAB_UPSTREAM_VERSION 0.6.2)
-set(OSQP_MATLAB_CMAKE_REVISION 4)
+set(OSQP_MATLAB_CMAKE_REVISION 5)
 set(OSQP_MATLAB_CMAKE_VERSION "${OSQP_MATLAB_UPSTREAM_VERSION}.${OSQP_MATLAB_CMAKE_REVISION}")
 project(osqp-matlab-cmake-buildsystem
   LANGUAGES C CXX

From dbf1a4fbcdede5ff465ea65c3104421a6ea6d7fa Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 12:51:50 +0200
Subject: [PATCH 02/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 65bbad3..534348b 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -22,23 +22,23 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-22.04, windows-2019, macos-latest]
+        os: [ubuntu-22.04, windows-latest, macos-latest]
         matlab_version: [R2020a, R2020b, R2021a, latest]
         exclude:
           # R2020* is not supported on Windows on GitHub Actions
-          - os: windows-2019
+          - os: windows-latest
             matlab_version: R2020a
             build_type: Release
-          - os: windows-2019
+          - os: windows-latest
             matlab_version: R2020b
             build_type: Release
 
     steps:
     - uses: actions/checkout@v2
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        miniforge-variant: Mambaforge
+        miniforge-variant: Miniforge3
         miniforge-version: latest
         channels: conda-forge,robotology
 
@@ -58,11 +58,11 @@ jobs:
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Compilation related dependencies 
-        mamba install cmake compilers make ninja pkg-config
+        conda install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install osqp
+        conda install osqp
         # Just a trick to make sure that the relevant installation path are on MATLABPATH
-        mamba install -c conda-forge -c robotology idyntree-matlab-bindings
+        conda install -c conda-forge -c robotology idyntree-matlab-bindings
 
     # Additional dependencies useful only on Windows
     - name: Dependencies [Conda/Windows]
@@ -70,7 +70,7 @@ jobs:
       run: |
         # Additional dependencies only useful on Windows
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install vs2019_win-64
+        conda install vs2019_win-64
 
     - name: Print used environment [Conda]
       shell: bash -l {0}

From 5fe2f4269379bfefb2583f0b82bf06af48bb584f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 13:05:26 +0200
Subject: [PATCH 03/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 534348b..acc88d3 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -75,7 +75,7 @@ jobs:
     - name: Print used environment [Conda]
       shell: bash -l {0}
       run: |
-        mamba list
+        conda list
         env
 
     - name: Configure [Conda - Linux or  macOS]

From 6627afa2f0449a35eff4be19b4056ae2aef439d7 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 15:16:34 +0200
Subject: [PATCH 04/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index acc88d3..c7b48ca 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -47,12 +47,6 @@ jobs:
       with:
         release: ${{ matrix.matlab_version }}
 
-    # workaround for https://github.com/robotology/robotology-superbuild/issues/64
-    - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
-      if: contains(matrix.os, 'ubuntu')
-      run:
-          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
-
     - name: Dependencies
       run: |
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
@@ -102,6 +96,12 @@ jobs:
         cd build
         cmake --install . --config ${{ matrix.build_type }}
 
+    # workaround for https://github.com/robotology/robotology-superbuild/issues/64
+    - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
+      if: contains(matrix.os, 'ubuntu')
+      run:
+          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
+
     - name: Test
       run: |
         cd build

From 9087b49d7fb0d3bfcc06fe9729fdbeb8dca16002 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 15:19:35 +0200
Subject: [PATCH 05/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index c7b48ca..798d203 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -22,7 +22,7 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-22.04, windows-latest, macos-latest]
+        os: [ubuntu-24.04, windows-latest, macos-latest]
         matlab_version: [R2020a, R2020b, R2021a, latest]
         exclude:
           # R2020* is not supported on Windows on GitHub Actions
@@ -54,7 +54,7 @@ jobs:
         # Compilation related dependencies 
         conda install cmake compilers make ninja pkg-config
         # Actual dependencies
-        conda install osqp
+        conda install libosqp
         # Just a trick to make sure that the relevant installation path are on MATLABPATH
         conda install -c conda-forge -c robotology idyntree-matlab-bindings
 

From ffb097331d835c355007e5f31c96018a919515c8 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 15:33:49 +0200
Subject: [PATCH 06/18] Update CMakeLists.txt

---
 CMakeLists.txt | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e2837a5..b03f856 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,8 +3,9 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-set(OSQP_MATLAB_UPSTREAM_VERSION 0.6.2)
-set(OSQP_MATLAB_CMAKE_REVISION 5)
+# osqp-matlab 0.9.0 does not exists, but we use it as osqp-matlab 1.0.0 was never released 
+set(OSQP_MATLAB_UPSTREAM_VERSION 0.9.0)
+set(OSQP_MATLAB_CMAKE_REVISION 0)
 set(OSQP_MATLAB_CMAKE_VERSION "${OSQP_MATLAB_UPSTREAM_VERSION}.${OSQP_MATLAB_CMAKE_REVISION}")
 project(osqp-matlab-cmake-buildsystem
   LANGUAGES C CXX
@@ -60,12 +61,12 @@ find_package(osqp REQUIRED)
 ## To use with some the osqp-matlab source coming from some other source, comment out
 # the FetchContent* commands and set manually osqp-matlab_SOURCE_DIR
 include(FetchContent)
-# Temporary pointing to a fork, see https://github.com/oxfordcontrol/osqp-matlab/pull/34
+# Temporary pointing to a commit as osqp-matlab v1.0.0 was never released
 FetchContent_Declare(
   osqp-matlab
-  GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
+  GIT_REPOSITORY https://github.com/osqp/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        09faf01f42f7a73fac0b03332e6b0f6976a943c8
+  GIT_TAG        fa9547d72325399a3e746a46fdaa9ac43e8b7b4d
   )
 
 FetchContent_MakeAvailable(osqp-matlab)
@@ -74,8 +75,12 @@ FetchContent_MakeAvailable(osqp-matlab)
 file(DOWNLOAD "https://raw.githubusercontent.com/oxfordcontrol/osqp/v${OSQP_MATLAB_UPSTREAM_VERSION}/lin_sys/direct/qdldl/qdldl_interface.h" ${CMAKE_CURRENT_BINARY_DIR}/workaround_include/qdldl_interface.h)
 
 # Common source files
-set(M_FILES ${osqp-matlab_SOURCE_DIR}/osqp.m)
-set(MEX_FILES ${osqp-matlab_SOURCE_DIR}/osqp_mex.hpp ${osqp-matlab_SOURCE_DIR}/osqp_mex.cpp)
+file(GLOB MEX_FILES
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.h"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.c"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.hpp"
+    "${osqp-matlab_SOURCE_DIR}/c_sources/*.cpp"
+)
 
 if(OSQP_MATLAB_USES_MATLAB)
   find_package(Matlab REQUIRED)
@@ -100,7 +105,7 @@ if(OSQP_MATLAB_USES_MATLAB)
     EXPORT ${PROJECT_NAME}
     DESTINATION ${OSQP_MATLAB_INSTALL_MATLAB_LIBDIR})
   install(
-    FILES ${M_FILES}
+    DIRECTORY ${osqp-matlab_SOURCE_DIR}/@osqp
     DESTINATION ${OSQP_MATLAB_INSTALL_MATLAB_MFILESDIR})
 
     # Enable tests
@@ -136,7 +141,7 @@ if(OSQP_MATLAB_USES_OCTAVE)
     EXPORT ${PROJECT_NAME}
     DESTINATION ${OSQP_MATLAB_INSTALL_OCTAVE_LIBDIR})
   install(
-    FILES ${M_FILES}
+    DIRECTORY ${osqp-matlab_SOURCE_DIR}/@osqp
     DESTINATION ${OSQP_MATLAB_INSTALL_OCTAVE_MFILESDIR})
 endif()
 

From dc9f97d26cd1379d0d27838ec5c886e705695bd7 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 15:41:53 +0200
Subject: [PATCH 07/18] Update CMakeLists.txt

---
 CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b03f856..a89ada8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,6 +82,11 @@ file(GLOB MEX_FILES
     "${osqp-matlab_SOURCE_DIR}/c_sources/*.cpp"
 )
 
+# The interrupt_matlab.c is used to customize the osqp library to support
+# being interrupted from matlab, that we can't do here as we do not recompile osqp
+list(REMOVE_ITEM MEX_FILES
+     "${osqp-matlab_SOURCE_DIR}/c_sources/interrupt_matlab.c")
+
 if(OSQP_MATLAB_USES_MATLAB)
   find_package(Matlab REQUIRED)
   if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24")

From b3743e067bf6c4eabf48ef80bf7f0b9724e64339 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:12:40 +0200
Subject: [PATCH 08/18] Update CMakeLists.txt

---
 CMakeLists.txt | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a89ada8..56683a9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,11 +62,13 @@ find_package(osqp REQUIRED)
 # the FetchContent* commands and set manually osqp-matlab_SOURCE_DIR
 include(FetchContent)
 # Temporary pointing to a commit as osqp-matlab v1.0.0 was never released
+# furthermore, add a local commit https://github.com/traversaro/osqp-matlab/commit/4701bb8410302173e99b1ac74a4451c3dfdd7c52
+# to avoid that a buffer allocate by the system allocator (inside osqp) is delete by the matlab allocator (inside osqp-matlab)
 FetchContent_Declare(
   osqp-matlab
-  GIT_REPOSITORY https://github.com/osqp/osqp-matlab
+  GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        fa9547d72325399a3e746a46fdaa9ac43e8b7b4d
+  GIT_TAG        4701bb8410302173e99b1ac74a4451c3dfdd7c52
   )
 
 FetchContent_MakeAvailable(osqp-matlab)

From 2a4fc2b876dd8a7e8905f1ef0147b2ad503dca77 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:13:15 +0200
Subject: [PATCH 09/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 798d203..34f67f8 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -23,15 +23,7 @@ jobs:
       matrix:
         build_type: [Release]
         os: [ubuntu-24.04, windows-latest, macos-latest]
-        matlab_version: [R2020a, R2020b, R2021a, latest]
-        exclude:
-          # R2020* is not supported on Windows on GitHub Actions
-          - os: windows-latest
-            matlab_version: R2020a
-            build_type: Release
-          - os: windows-latest
-            matlab_version: R2020b
-            build_type: Release
+        matlab_version: [R2024a, R2024b, latest]
 
     steps:
     - uses: actions/checkout@v2

From d12caecdc167599ff11a8d705cba7c03761a889d Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:15:00 +0200
Subject: [PATCH 10/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 34f67f8..36c9bc0 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -23,7 +23,7 @@ jobs:
       matrix:
         build_type: [Release]
         os: [ubuntu-24.04, windows-latest, macos-latest]
-        matlab_version: [R2024a, R2024b, latest]
+        matlab_version: [R2023b, R2024a, latest]
 
     steps:
     - uses: actions/checkout@v2

From dc5305a65df4b51ba36b393d3e37060523739da6 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:20:15 +0200
Subject: [PATCH 11/18] Update CMakeLists.txt

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56683a9..36af38d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,7 +68,7 @@ FetchContent_Declare(
   osqp-matlab
   GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        4701bb8410302173e99b1ac74a4451c3dfdd7c52
+  GIT_TAG        0470195877879487891acae68a14503c5a52b8f5
   )
 
 FetchContent_MakeAvailable(osqp-matlab)

From bb93c967f8bb978095648c5ac841f48edf4b7a4f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:26:32 +0200
Subject: [PATCH 12/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 36c9bc0..5ba7b25 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -44,20 +44,12 @@ jobs:
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Compilation related dependencies 
-        conda install cmake compilers make ninja pkg-config
+        conda install cmake cxx-compiler make ninja pkg-config
         # Actual dependencies
         conda install libosqp
         # Just a trick to make sure that the relevant installation path are on MATLABPATH
         conda install -c conda-forge -c robotology idyntree-matlab-bindings
 
-    # Additional dependencies useful only on Windows
-    - name: Dependencies [Conda/Windows]
-      if: contains(matrix.os, 'windows') 
-      run: |
-        # Additional dependencies only useful on Windows
-        # See https://github.com/robotology/robotology-superbuild/issues/477
-        conda install vs2019_win-64
-
     - name: Print used environment [Conda]
       shell: bash -l {0}
       run: |
@@ -76,7 +68,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake  -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
+        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
 
     - name: Build
       run: |

From 761b6cd49c3bc988b1ef580d30e527bd70e5f3e0 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:39:57 +0200
Subject: [PATCH 13/18] Update CMakeLists.txt

---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36af38d..cb692c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,13 +62,13 @@ find_package(osqp REQUIRED)
 # the FetchContent* commands and set manually osqp-matlab_SOURCE_DIR
 include(FetchContent)
 # Temporary pointing to a commit as osqp-matlab v1.0.0 was never released
-# furthermore, add a local commit https://github.com/traversaro/osqp-matlab/commit/4701bb8410302173e99b1ac74a4451c3dfdd7c52
+# furthermore we need also the fix https://github.com/osqp/osqp-matlab/pull/61
 # to avoid that a buffer allocate by the system allocator (inside osqp) is delete by the matlab allocator (inside osqp-matlab)
 FetchContent_Declare(
   osqp-matlab
   GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        0470195877879487891acae68a14503c5a52b8f5
+  GIT_TAG        1ffc03140394e11792ee30db86f6ceac9d8a4d3f
   )
 
 FetchContent_MakeAvailable(osqp-matlab)

From e21317224e099a40aeeca16398ff3bb77db20f8d Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 16:41:48 +0200
Subject: [PATCH 14/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index 5ba7b25..edc6a80 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -65,12 +65,21 @@ jobs:
 
     - name: Configure [Conda - Windows]
       if: contains(matrix.os, 'windows')
+      shell: cmd /C CALL {0}
       run: |
         mkdir build
         cd build
         cmake  -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
 
-    - name: Build
+    - name: Build [Conda - Linux or  macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Build [Conda - Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C CALL {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }}

From 5703a879cc4e682e6f39107af31142c5a8ecfc01 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 17:23:17 +0200
Subject: [PATCH 15/18] Update CMakeLists.txt

---
 CMakeLists.txt | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb692c0..e2fc6b2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,13 +62,14 @@ find_package(osqp REQUIRED)
 # the FetchContent* commands and set manually osqp-matlab_SOURCE_DIR
 include(FetchContent)
 # Temporary pointing to a commit as osqp-matlab v1.0.0 was never released
-# furthermore we need also the fix https://github.com/osqp/osqp-matlab/pull/61
-# to avoid that a buffer allocate by the system allocator (inside osqp) is delete by the matlab allocator (inside osqp-matlab)
+# furthermore we need also the fixes:
+#  * https://github.com/osqp/osqp-matlab/pull/61, to avoid that a buffer allocate by the system allocator (inside osqp) is delete by the matlab allocator (inside osqp-matlab)
+#  * https://github.com/osqp/osqp-matlab/pull/62
 FetchContent_Declare(
   osqp-matlab
   GIT_REPOSITORY https://github.com/traversaro/osqp-matlab
 # GIT_TAG        v${OSQP_MATLAB_UPSTREAM_VERSION}
-  GIT_TAG        1ffc03140394e11792ee30db86f6ceac9d8a4d3f
+  GIT_TAG        f41846a2a461839bd4e76c3ed93bfcf0459b0d69
   )
 
 FetchContent_MakeAvailable(osqp-matlab)

From 3313a1ed5ad75a92454c8836aa5351a8c2d3e9be Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 2 Jun 2025 18:26:52 +0200
Subject: [PATCH 16/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index edc6a80..f4d2762 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -22,7 +22,7 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-24.04, windows-latest, macos-latest]
+        os: [ubuntu-24.04, windows-latest]
         matlab_version: [R2023b, R2024a, latest]
 
     steps:

From 4abfa015c26c6b4c9d5f60955ee0693c79925f50 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Tue, 3 Jun 2025 21:57:12 +0200
Subject: [PATCH 17/18] Update matlab.yml

---
 .github/workflows/matlab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index f4d2762..2ae4e1f 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -69,7 +69,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
+        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING:BOOL=ON ..
 
     - name: Build [Conda - Linux or  macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')

From 17413ded3e690a1a80aa6be986d572a49a360e93 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Wed, 4 Jun 2025 13:58:22 +0200
Subject: [PATCH 18/18] Update README.md

---
 README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 72dd9ef..a668f95 100644
--- a/README.md
+++ b/README.md
@@ -50,4 +50,5 @@ Materials in this repository are distributed under the following license:
 
 The version of this `CMake` project is chosen in accordance of the original project, plus a fourth version that describes if several CMake buildsystem
 versions were released, for example the version `x.y.z.t` is the one corresponding to the `x.y.z` version of osqp-matlab, while `t` is the number that can be
-increased if changes are done to the CMake buildsystem.
+increased if changes are done to the CMake buildsystem. An exeception was done for `osqp` 1.0.0, that was initially released without a corresponding `osqp-matlab` version,
+so a `osqp` 1.0.0-compatible version was released under the `0.9.*` version number.