From 55adea6c165fdc97ac8628b851837776e6cdcd34 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Jun 2026 23:11:05 +0200
Subject: [PATCH 1/2] crocoddyl: enable multithread

---
 pkgs/by-name/cr/crocoddyl/package.nix | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/pkgs/by-name/cr/crocoddyl/package.nix b/pkgs/by-name/cr/crocoddyl/package.nix
index b94bca7cd5cc..da6255b7b1e1 100644
--- a/pkgs/by-name/cr/crocoddyl/package.nix
+++ b/pkgs/by-name/cr/crocoddyl/package.nix
@@ -7,10 +7,13 @@
   ffmpeg,
   ipopt,
   lapack,
+  llvmPackages,
   lib,
   pinocchio,
   pkg-config,
   stdenv,
+
+  withMultithread ? true,
 }:
 
 stdenv.mkDerivation (finalAttrs: {
@@ -45,6 +48,10 @@ stdenv.mkDerivation (finalAttrs: {
     pinocchio
   ];
 
+  buildInputs = lib.optionals (stdenv.hostPlatform.isDarwin && withMultithread) [
+    llvmPackages.openmp
+  ];
+
   checkInputs = [
     ffmpeg
   ];
@@ -53,8 +60,11 @@ stdenv.mkDerivation (finalAttrs: {
     (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
     (lib.cmakeBool "BUILD_EXAMPLES" false)
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" false)
+    (lib.cmakeBool "BUILD_WITH_MULTITHREADS" withMultithread)
   ];
 
+  passthru = { inherit withMultithread; };
+
   prePatch = ''
     substituteInPlace \
       examples/CMakeLists.txt \

From b2afa58a06df354b0f868b9542bac2c46bd16aca Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Jun 2026 23:13:47 +0200
Subject: [PATCH 2/2] mim-solvers: enable multithread

---
 pkgs/by-name/mi/mim-solvers/package.nix | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/pkgs/by-name/mi/mim-solvers/package.nix b/pkgs/by-name/mi/mim-solvers/package.nix
index 28bd2bf43e02..bd3ac880fd01 100644
--- a/pkgs/by-name/mi/mim-solvers/package.nix
+++ b/pkgs/by-name/mi/mim-solvers/package.nix
@@ -28,7 +28,9 @@ stdenv.mkDerivation (finalAttrs: {
     pkg-config
   ];
 
-  buildInputs = lib.optional stdenv.hostPlatform.isDarwin llvmPackages.openmp;
+  buildInputs = lib.optional (
+    stdenv.hostPlatform.isDarwin && crocoddyl.withMultithread
+  ) llvmPackages.openmp;
 
   propagatedBuildInputs = [
     crocoddyl
@@ -38,6 +40,7 @@ stdenv.mkDerivation (finalAttrs: {
   cmakeFlags = [
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" false)
     (lib.cmakeBool "BUILD_WITH_PROXSUITE" true)
+    (lib.cmakeBool "BUILD_WITH_MULTITHREADS" crocoddyl.withMultithread)
   ];
 
   nativeCheckInputs = [