diff --git a/pkgs/by-name/al/aligator/package.nix b/pkgs/by-name/al/aligator/package.nix index 7905a26f7384..cef4597e0a37 100644 --- a/pkgs/by-name/al/aligator/package.nix +++ b/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${finalAttrs.version}"; - hash = "sha256-qdXZo7IvgcUFEJARwxpSaHJVRlZ6HdgRADPOiY3oCpk="; + hash = "sha256-8DO+lfM4mk4bA/IOEJlLaOp9snCUBHiw7RRcYEwJC7c="; }; + # aligator 0.19.0 expect gbenchmark 1.9.5, which is not merged yet: + # https://github.com/NixOS/nixpkgs/pull/506375 + postPatch = '' + substituteInPlace \ + bench/lqr.cpp \ + bench/se2-car.cpp \ + bench/talos-walk.cpp \ + bench/croc-talos-arm.cpp \ + bench/gar-riccati.cpp \ + --replace-fail \ + "benchmark::Benchmark" \ + "benchmark::internal::Benchmark" + ''; + outputs = [ "doc" "out" diff --git a/pkgs/by-name/cr/crocoddyl/package.nix b/pkgs/by-name/cr/crocoddyl/package.nix index 8dbcf7d3f087..b94bca7cd5cc 100644 --- a/pkgs/by-name/cr/crocoddyl/package.nix +++ b/pkgs/by-name/cr/crocoddyl/package.nix @@ -15,13 +15,13 @@ stdenv.mkDerivation (finalAttrs: { pname = "crocoddyl"; - version = "3.2.0"; + version = "3.2.1"; src = fetchFromGitHub { owner = "loco-3d"; repo = "crocoddyl"; tag = "v${finalAttrs.version}"; - hash = "sha256-EYvakM81Ot/AtXElJbcQNo7IydBtRgy+8a0cY06CzQ8="; + hash = "sha256-7L4S9DQ470pTXARBuerahO9LD1LQfYOZGrYAZalMPUs="; }; outputs = [ 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${finalAttrs.version}"; - hash = "sha256-1Mqu9Hfy65HUIOVG/gJBpSMlOwDWVcH+LrR8CaWz0BE="; + hash = "sha256-t21zzUo+Oiqvr3lYN9v1lCeoki3I1FWPqo3gWzM6Kdw="; }; - patches = [ - # ref. https://github.com/machines-in-motion/mim_solvers/pull/71 merged upstream - (fetchpatch { - name = "build-standalone-python-interface.patch"; - url = "https://github.com/machines-in-motion/mim_solvers/commit/796eecf05dd9165dd0795aa562ead17de4f19633.patch"; - hash = "sha256-/OiMzyDVEbpC/Dr/HcguwAdhmbQNxnIRsHAVkX68xqA="; - }) - # Fix for crocoddyl 3.1.0 - # ref. https://github.com/machines-in-motion/mim_solvers/pull/72 - ./fix-croco-310.patch - ]; - nativeBuildInputs = [ cmake pkg-config diff --git a/pkgs/by-name/pi/pinocchio/package.nix b/pkgs/by-name/pi/pinocchio/package.nix index 5144a6af2501..ab927d9dd044 100644 --- a/pkgs/by-name/pi/pinocchio/package.nix +++ b/pkgs/by-name/pi/pinocchio/package.nix @@ -31,13 +31,13 @@ stdenv.mkDerivation (finalAttrs: { pname = "pinocchio"; - version = "3.9.0"; + version = "4.0.0"; src = fetchFromGitHub { owner = "stack-of-tasks"; repo = "pinocchio"; rev = "v${finalAttrs.version}"; - hash = "sha256-k2lT1I0wb3N/o95ol2oO6HSYHf4wKJ0SFEg8JNxZmpI="; + hash = "sha256-9UnMGrs4mvBYfjmwOprhqStRW/liPrsKFabRFE2xmjo="; }; outputs = [ 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" ];