pinocchio: 3.9.0 -> 4.0.0, crocoddyl: 3.2.0 -> 3.2.1, aligator: 0.18.0 -> 0.19.0, mim-solvers: 0.1.1 -> 0.3.0 (#511037)

pkgs/by-name/al/aligator/package.nix

@@ -27,15 +27,29 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "aligator";
-  version = "0.18.0";
+  version = "0.19.0";
 
   src = fetchFromGitHub {
     owner = "Simple-Robotics";
     repo = "aligator";
     tag = "v${finalAttrs.version}";
-    hash = "sha256-qdXZo7IvgcUFEJARwxpSaHJVRlZ6HdgRADPOiY3oCpk=";
+    hash = "sha256-8DO+lfM4mk4bA/IOEJlLaOp9snCUBHiw7RRcYEwJC7c=";
   };
 
+  # aligator 0.19.0 expect gbenchmark 1.9.5, which is not merged yet:
+  # https://github.com/NixOS/nixpkgs/pull/506375
+  postPatch = ''
+    substituteInPlace \
+        bench/lqr.cpp \
+        bench/se2-car.cpp \
+        bench/talos-walk.cpp \
+        bench/croc-talos-arm.cpp \
+        bench/gar-riccati.cpp \
+      --replace-fail \
+        "benchmark::Benchmark" \
+        "benchmark::internal::Benchmark"
+  '';
+
   outputs = [
     "doc"
     "out"

pkgs/by-name/cr/crocoddyl/package.nix

@@ -15,13 +15,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "crocoddyl";
-  version = "3.2.0";
+  version = "3.2.1";
 
   src = fetchFromGitHub {
     owner = "loco-3d";
     repo = "crocoddyl";
     tag = "v${finalAttrs.version}";
-    hash = "sha256-EYvakM81Ot/AtXElJbcQNo7IydBtRgy+8a0cY06CzQ8=";
+    hash = "sha256-7L4S9DQ470pTXARBuerahO9LD1LQfYOZGrYAZalMPUs=";
   };
 
   outputs = [

pkgs/by-name/mi/mim-solvers/fix-croco-310.patch

@@ -1,52 +0,0 @@
-From 1cb7fe38e3ec43117c646cae521eb8347145965a Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Tue, 14 Oct 2025 19:37:16 +0200
-Subject: [PATCH] fix for crocoddyl v3.1.0 explicit template instanciation
-
-ref. https://github.com/loco-3d/crocoddyl/pull/1367
-
-Yes, that was a breaking change
----
- tests/factory/point-mass.hpp | 22 ++++++++++++++++++++++
- 1 file changed, 22 insertions(+)
-
-diff --git a/tests/factory/point-mass.hpp b/tests/factory/point-mass.hpp
-index e82c977..c2e93af 100644
---- a/tests/factory/point-mass.hpp
-+++ b/tests/factory/point-mass.hpp
-@@ -60,6 +60,17 @@ class DAMPointMass1D : public crocoddyl::DifferentialActionModelAbstract {
-   // Destructor
-   virtual ~DAMPointMass1D();
- 
-+  // Explicit template instanciation
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
-+      const override {
-+    return std::make_shared<DAMPointMass1D>(*this);
-+  }
-+
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
-+      const override {
-+    return std::make_shared<DAMPointMass1D>(*this);
-+  }
-+
-   // Cost & dynamics
-   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
-             const Eigen::Ref<const VectorXd>& x,
-@@ -135,6 +146,17 @@ class DAMPointMass2D : public crocoddyl::DifferentialActionModelAbstract {
-   // Destructor
-   virtual ~DAMPointMass2D();
- 
-+  // Explicit template instanciation
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
-+      const override {
-+    return std::make_shared<DAMPointMass2D>(*this);
-+  }
-+
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
-+      const override {
-+    return std::make_shared<DAMPointMass2D>(*this);
-+  }
-+
-   // Cost & dynamics
-   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
-             const Eigen::Ref<const VectorXd>& x,

pkgs/by-name/mi/mim-solvers/package.nix

@@ -14,27 +14,15 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "mim-solvers";
-  version = "0.1.1";
+  version = "0.3.0";
 
   src = fetchFromGitHub {
     owner = "machines-in-motion";
     repo = "mim_solvers";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-1Mqu9Hfy65HUIOVG/gJBpSMlOwDWVcH+LrR8CaWz0BE=";
+    hash = "sha256-t21zzUo+Oiqvr3lYN9v1lCeoki3I1FWPqo3gWzM6Kdw=";
   };
 
-  patches = [
-    # ref. https://github.com/machines-in-motion/mim_solvers/pull/71 merged upstream
-    (fetchpatch {
-      name = "build-standalone-python-interface.patch";
-      url = "https://github.com/machines-in-motion/mim_solvers/commit/796eecf05dd9165dd0795aa562ead17de4f19633.patch";
-      hash = "sha256-/OiMzyDVEbpC/Dr/HcguwAdhmbQNxnIRsHAVkX68xqA=";
-    })
-    # Fix for crocoddyl 3.1.0
-    # ref. https://github.com/machines-in-motion/mim_solvers/pull/72
-    ./fix-croco-310.patch
-  ];
-
   nativeBuildInputs = [
     cmake
     pkg-config

pkgs/by-name/pi/pinocchio/package.nix

@@ -31,13 +31,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "3.9.0";
+  version = "4.0.0";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = "pinocchio";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-k2lT1I0wb3N/o95ol2oO6HSYHf4wKJ0SFEg8JNxZmpI=";
+    hash = "sha256-9UnMGrs4mvBYfjmwOprhqStRW/liPrsKFabRFE2xmjo=";
   };
 
   outputs = [

pkgs/development/python-modules/aligator/default.nix

@@ -7,6 +7,7 @@
 
   aligator,
 
+  ctestCheckHook,
   crocoddyl,
   pinocchio,
   python,
@@ -37,6 +38,7 @@ toPythonModule (
     ++ lib.optional buildStandalone aligator;
 
     nativeCheckInputs = [
+      ctestCheckHook
       pythonImportsCheckHook
     ];
 
@@ -45,7 +47,12 @@ toPythonModule (
       pytest
     ];
 
-    disabledTests = lib.optionals stdenv.hostPlatform.isDarwin [
+    disabledTests = [
+      # known to work in pinocchio 3, but not 4.
+      # ref https://github.com/Simple-Robotics/aligator/pull/404
+      "aligator-test-py-constrained-dynamics"
+    ]
+    ++ lib.optionals stdenv.hostPlatform.isDarwin [
       # SIGTRAP
       "aligator-test-py-rollout"
     ];