From 45fdb3a98732a86f48575fdc349c7fe65b61e72b Mon Sep 17 00:00:00 2001 From: "R. Ryantm" Date: Mon, 13 Apr 2026 15:59:18 +0000 Subject: [PATCH 1/6] pinocchio: 3.9.0 -> 4.0.0 --- pkgs/by-name/pi/pinocchio/package.nix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pkgs/by-name/pi/pinocchio/package.nix b/pkgs/by-name/pi/pinocchio/package.nix index 5144a6af2501..ab927d9dd044 100644 --- a/pkgs/by-name/pi/pinocchio/package.nix +++ b/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${finalAttrs.version}"; - hash = "sha256-k2lT1I0wb3N/o95ol2oO6HSYHf4wKJ0SFEg8JNxZmpI="; + hash = "sha256-9UnMGrs4mvBYfjmwOprhqStRW/liPrsKFabRFE2xmjo="; }; outputs = [ From f1bc9250d1806a2f39e627536a3af47cade48182 Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Fri, 17 Apr 2026 22:28:14 +0200 Subject: [PATCH 2/6] crocoddyl: 3.2.0 -> 3.2.1 Diff: https://github.com/loco-3d/crocoddyl/compare/v3.2.0...v3.2.1 Changelog: https://github.com/loco-3d/crocoddyl/blob/devel/CHANGELOG.md --- pkgs/by-name/cr/crocoddyl/package.nix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pkgs/by-name/cr/crocoddyl/package.nix b/pkgs/by-name/cr/crocoddyl/package.nix index 8dbcf7d3f087..b94bca7cd5cc 100644 --- a/pkgs/by-name/cr/crocoddyl/package.nix +++ b/pkgs/by-name/cr/crocoddyl/package.nix @@ -15,13 +15,13 @@ stdenv.mkDerivation (finalAttrs: { pname = "crocoddyl"; - version = "3.2.0"; + version = "3.2.1"; src = fetchFromGitHub { owner = "loco-3d"; repo = "crocoddyl"; tag = "v${finalAttrs.version}"; - hash = "sha256-EYvakM81Ot/AtXElJbcQNo7IydBtRgy+8a0cY06CzQ8="; + hash = "sha256-7L4S9DQ470pTXARBuerahO9LD1LQfYOZGrYAZalMPUs="; }; outputs = [ From a9dffbe2dd2d313c31fcad0cb24e0b2505ff7d13 Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Fri, 17 Apr 2026 22:28:19 +0200 Subject: [PATCH 3/6] aligator: 0.18.0 -> 0.19.0 Diff: https://github.com/Simple-Robotics/aligator/compare/v0.18.0...v0.19.0 Changelog: https://github.com/Simple-Robotics/aligator/blob/v0.19.0/CHANGELOG.md --- pkgs/by-name/al/aligator/package.nix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pkgs/by-name/al/aligator/package.nix b/pkgs/by-name/al/aligator/package.nix index 7905a26f7384..1a6aaf7da502 100644 --- a/pkgs/by-name/al/aligator/package.nix +++ b/pkgs/by-name/al/aligator/package.nix @@ -27,13 +27,13 @@ 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="; }; outputs = [ From b16df60227107a167fb5f070826bfad6d28c3c5c Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Fri, 17 Apr 2026 22:36:45 +0200 Subject: [PATCH 4/6] aligator: fix for gbenchmark < 1.9.5 --- pkgs/by-name/al/aligator/package.nix | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/pkgs/by-name/al/aligator/package.nix b/pkgs/by-name/al/aligator/package.nix index 1a6aaf7da502..cef4597e0a37 100644 --- a/pkgs/by-name/al/aligator/package.nix +++ b/pkgs/by-name/al/aligator/package.nix @@ -36,6 +36,20 @@ stdenv.mkDerivation (finalAttrs: { 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" From 104fcdcee94232ff42dd4eea705555d903b3b2af Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Fri, 17 Apr 2026 22:43:23 +0200 Subject: [PATCH 5/6] python3Packages.aligator: disable a known failing test --- pkgs/development/python-modules/aligator/default.nix | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/pkgs/development/python-modules/aligator/default.nix b/pkgs/development/python-modules/aligator/default.nix index 47c91f33ab4b..c8b92df57a36 100644 --- a/pkgs/development/python-modules/aligator/default.nix +++ b/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" ]; From 67464977df444ad328e2398fac996376a7455bb4 Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Sat, 18 Apr 2026 01:10:25 +0200 Subject: [PATCH 6/6] mim-solvers: 0.1.1 -> 0.3.0 Diff: https://github.com/machines-in-motion/mim_solvers/compare/v0.1.1...v0.3.0 --- .../mi/mim-solvers/fix-croco-310.patch | 52 ------------------- pkgs/by-name/mi/mim-solvers/package.nix | 16 +----- 2 files changed, 2 insertions(+), 66 deletions(-) delete mode 100644 pkgs/by-name/mi/mim-solvers/fix-croco-310.patch diff --git a/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch b/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch deleted file mode 100644 index d6e39d068b7d..000000000000 --- a/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch +++ /dev/null @@ -1,52 +0,0 @@ -From 1cb7fe38e3ec43117c646cae521eb8347145965a Mon Sep 17 00:00:00 2001 -From: Guilhem Saurel -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 cloneAsDouble() -+ const override { -+ return std::make_shared(*this); -+ } -+ -+ std::shared_ptr cloneAsFloat() -+ const override { -+ return std::make_shared(*this); -+ } -+ - // Cost & dynamics - void calc(const std::shared_ptr& data, - const Eigen::Ref& x, -@@ -135,6 +146,17 @@ class DAMPointMass2D : public crocoddyl::DifferentialActionModelAbstract { - // Destructor - virtual ~DAMPointMass2D(); - -+ // Explicit template instanciation -+ std::shared_ptr cloneAsDouble() -+ const override { -+ return std::make_shared(*this); -+ } -+ -+ std::shared_ptr cloneAsFloat() -+ const override { -+ return std::make_shared(*this); -+ } -+ - // Cost & dynamics - void calc(const std::shared_ptr& data, - const Eigen::Ref& x, diff --git a/pkgs/by-name/mi/mim-solvers/package.nix b/pkgs/by-name/mi/mim-solvers/package.nix index 44483056d44a..28bd2bf43e02 100644 --- a/pkgs/by-name/mi/mim-solvers/package.nix +++ b/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