From 0c0b3af7936d868d5346f8e2fc46814ab0dfa4be Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 9 Aug 2023 11:06:28 +0200
Subject: [PATCH 1/3] pinocchio: 2.6.19 -> 2.6.20

While here:
- add hpp-fcl dependency
- enable libpython dependency when python support is activated
- use finalAttrs instead of rec
- add check & python import check
- add myself in maintainers
---
 .../libraries/pinocchio/default.nix           | 28 +++++++++++++------
 1 file changed, 20 insertions(+), 8 deletions(-)

diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index ad3e3ba1299c..6faf612c1971 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -4,21 +4,22 @@
 , cmake
 , boost
 , eigen
+, hpp-fcl
 , urdfdom
 , pythonSupport ? false
 , python3Packages
 }:
 
-stdenv.mkDerivation rec {
+stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.6.19";
+  version = "2.6.20";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
-    repo = pname;
-    rev = "v${version}";
+    repo = finalAttrs.pname;
+    rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-P7jSAQ6LYcboJHqtpneT4W8Pu5G3fd3/a8Gju9im1e8=";
+    hash = "sha256-Pu/trCpqdue7sQKDbLhyxTfgj/+xRiVcG7Luz6ZQXtM=";
   };
 
   # error: use of undeclared identifier '__sincos'
@@ -38,20 +39,31 @@ stdenv.mkDerivation rec {
   ] ++ lib.optionals (!pythonSupport) [
     boost
     eigen
+    hpp-fcl
   ] ++ lib.optionals pythonSupport [
     python3Packages.boost
     python3Packages.eigenpy
+    python3Packages.hpp-fcl
   ];
 
-  cmakeFlags = lib.optionals (!pythonSupport) [
+  cmakeFlags = [
+    "-DBUILD_WITH_COLLISION_SUPPORT=ON"
+  ] ++ lib.optionals (pythonSupport) [
+    "-DBUILD_WITH_LIBPYTHON=ON"
+  ] ++ lib.optionals (!pythonSupport) [
     "-DBUILD_PYTHON_INTERFACE=OFF"
   ];
 
+  doCheck = true;
+  pythonImportsCheck = lib.optionals (!pythonSupport) [
+    "pinocchio"
+  ];
+
   meta = with lib; {
     description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
     homepage = "https://github.com/stack-of-tasks/pinocchio";
     license = licenses.bsd2;
-    maintainers = with maintainers; [ wegank ];
+    maintainers = with maintainers; [ nim65s wegank ];
     platforms = platforms.unix;
   };
-}
+})

From 94924be1418c08138abb09b8bd7ac9595920ed2c Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 9 Aug 2023 14:56:15 +0200
Subject: [PATCH 2/3] example-robot-data: add preCheck
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

fix 43 occurences of eg.:
> ValueError: Mesh package://example-robot-data/robots/ur_description/meshes/ur5/collision/base.stl could not be found.

Following 0c0b3af7936d868d5346f8e2fc46814ab0dfa4be, pinocchio has
hpp-fcl support, so example-robot-data try to load meshes.

But for `package://example-robot-data/robots/…/mesh.stl` paths to be
resolved by the mesh loader, there must be a
`example-robot-data/robots` folder.
---
 pkgs/development/libraries/example-robot-data/default.nix | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/pkgs/development/libraries/example-robot-data/default.nix b/pkgs/development/libraries/example-robot-data/default.nix
index 201275fb02ef..d9a107bf6497 100644
--- a/pkgs/development/libraries/example-robot-data/default.nix
+++ b/pkgs/development/libraries/example-robot-data/default.nix
@@ -33,6 +33,10 @@ stdenv.mkDerivation (finalAttrs: {
   ];
 
   doCheck = true;
+  # The package expect to find an `example-robot-data/robots` folder somewhere
+  # either in install prefix or in the sources
+  # where it can find the meshes for unit tests
+  preCheck = "ln -s source ../../${finalAttrs.pname}";
   pythonImportsCheck = [
     "example_robot_data"
   ];

From 35360ba7fb3842a1f1d885de6f940ad63a7f4fb9 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 10 Aug 2023 11:05:49 +0200
Subject: [PATCH 3/3] pinocchio: disable collision support on darwin

---
 pkgs/development/libraries/pinocchio/default.nix | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index 6faf612c1971..af7fff14e8f3 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -4,6 +4,7 @@
 , cmake
 , boost
 , eigen
+, collisionSupport ? !stdenv.isDarwin
 , hpp-fcl
 , urdfdom
 , pythonSupport ? false
@@ -39,22 +40,28 @@ stdenv.mkDerivation (finalAttrs: {
   ] ++ lib.optionals (!pythonSupport) [
     boost
     eigen
+  ] ++ lib.optionals (!pythonSupport && collisionSupport) [
     hpp-fcl
   ] ++ lib.optionals pythonSupport [
     python3Packages.boost
     python3Packages.eigenpy
+  ] ++ lib.optionals (pythonSupport && collisionSupport) [
     python3Packages.hpp-fcl
   ];
 
-  cmakeFlags = [
+  cmakeFlags = lib.optionals collisionSupport [
     "-DBUILD_WITH_COLLISION_SUPPORT=ON"
-  ] ++ lib.optionals (pythonSupport) [
+  ] ++ 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'
+    "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
   ] ++ lib.optionals (!pythonSupport) [
     "-DBUILD_PYTHON_INTERFACE=OFF"
   ];
 
   doCheck = true;
+
   pythonImportsCheck = lib.optionals (!pythonSupport) [
     "pinocchio"
   ];