From 5373e549477e4caf651622fb3bf7eb593b68954c Mon Sep 17 00:00:00 2001
From: "R. Ryantm" <ryantm-bot@ryantm.com>
Date: Tue, 28 Nov 2023 13:58:43 +0000
Subject: [PATCH 1/4] python310Packages.pinocchio: 2.6.20 -> 2.6.21

---
 pkgs/development/libraries/pinocchio/default.nix | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index af7fff14e8f3..1f3be9f90ae5 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -13,14 +13,14 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.6.20";
+  version = "2.6.21";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-Pu/trCpqdue7sQKDbLhyxTfgj/+xRiVcG7Luz6ZQXtM=";
+    hash = "sha256-IaWAXzdzhU/wov+9ChzUeCp9SFNFV2/vGToXC35dkb8=";
   };
 
   # error: use of undeclared identifier '__sincos'
@@ -54,7 +54,7 @@ stdenv.mkDerivation (finalAttrs: {
   ] ++ lib.optionals pythonSupport [
     "-DBUILD_WITH_LIBPYTHON=ON"
   ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
-    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.20.drv/sou[84 chars].dae'
+    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.21.drv/sou[84 chars].dae'
     "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
   ] ++ lib.optionals (!pythonSupport) [
     "-DBUILD_PYTHON_INTERFACE=OFF"

From dab8d0f31947cb72380f31d071e1e00492664119 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 28 Nov 2023 16:56:32 +0100
Subject: [PATCH 2/4] python310Packages.eigenpy: 3.1.3 -> 3.1.4

---
 pkgs/development/python-modules/eigenpy/default.nix | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pkgs/development/python-modules/eigenpy/default.nix b/pkgs/development/python-modules/eigenpy/default.nix
index 354f7b01af4e..ad2e3116bfc4 100644
--- a/pkgs/development/python-modules/eigenpy/default.nix
+++ b/pkgs/development/python-modules/eigenpy/default.nix
@@ -9,14 +9,14 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "eigenpy";
-  version = "3.1.3";
+  version = "3.1.4";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-8UuJA96pkXXRKDzQTjoz7w8TQrS5+nfLdsT0j9/oqz0=";
+    hash = "sha256-+1qjyWRE6a9KOopZln/7DyTTAQchAUoqd9HT83+zVuI=";
   };
 
   strictDeps = true;

From 749429dbdd3e347a769ef325574a81439f44644e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 28 Nov 2023 16:57:00 +0100
Subject: [PATCH 3/4] python310Packages.hpp-fcl: 2.3.7 -> 2.4.0

---
 pkgs/development/libraries/hpp-fcl/default.nix | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pkgs/development/libraries/hpp-fcl/default.nix b/pkgs/development/libraries/hpp-fcl/default.nix
index 53bd7f067b29..98748de393d5 100644
--- a/pkgs/development/libraries/hpp-fcl/default.nix
+++ b/pkgs/development/libraries/hpp-fcl/default.nix
@@ -14,14 +14,14 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "hpp-fcl";
-  version = "2.3.7";
+  version = "2.4.0";
 
   src = fetchFromGitHub {
     owner = "humanoid-path-planner";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-Bytm5uaHYsfMeZ+JKs75003iHNObRBGDpV7Rz9yW7jQ=";
+    hash = "sha256-qeAO1FV28L2nbQ/2mDeLMuWS2+FexQ1ORCtt+ztWHj0=";
   };
 
   strictDeps = true;

From abbd12a26eac18d0a471adc1313b1742cde4ce86 Mon Sep 17 00:00:00 2001
From: Weijia Wang <9713184+wegank@users.noreply.github.com>
Date: Thu, 30 Nov 2023 00:19:50 +0100
Subject: [PATCH 4/4] python310Packages.pinocchio: fix build on x86_64-darwin

---
 pkgs/development/libraries/pinocchio/default.nix | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index 1f3be9f90ae5..63ae2bcf62c9 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -23,12 +23,6 @@ stdenv.mkDerivation (finalAttrs: {
     hash = "sha256-IaWAXzdzhU/wov+9ChzUeCp9SFNFV2/vGToXC35dkb8=";
   };
 
-  # error: use of undeclared identifier '__sincos'
-  postPatch = lib.optionalString (stdenv.isDarwin && stdenv.isx86_64) ''
-    substituteInPlace src/math/sincos.hpp \
-      --replace "__APPLE__" "0"
-  '';
-
   strictDeps = true;
 
   nativeBuildInputs = [