Nix

[LudovicDeMatteis]

Same as stack-of-tasks/eigenpy#498

For some reason (looks like a pinocchio version issue), the build fails on devel for now (but does pass on main).

[nim65s]

This LGTM. The bug in pinocchio version could be treated in another PR I think, but it would also be fine here.

aligator> [ 74%] Linking CXX executable ../bin/aligator-example-clqr
aligator> /nix/store/a1cr17kwgakznfw4pp8paw8yv189ikk5-binutils-2.43.1/bin/ld: ../lib/libaligator.so.0.10.0: undefined reference to `pinocchio::DataTpl<double, 0, pinocchio::JointCollectionDefaultTpl>::TangentVectorType const& pinocchio::aba<double, 0, pinocchio::JointCollectionDefaultTpl, Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> >, Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> >, Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> > >(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> const&, pinocchio::DataTpl<double, 0, pinocchio::JointCollectionDefaultTpl>&, Eigen::MatrixBase<Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> > > const&, Eigen::MatrixBase<Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> > > const&, Eigen::MatrixBase<Eigen::Ref<Eigen::Matrix<double, -1, 1, 0, -1, 1> const, 0, Eigen::InnerStride<1> > > const&, pinocchio::Convention)'

[ManifoldFR]

Hello @LudovicDeMatteis @nim65s, I think to get this merged we'd only need to update the Changelog (if you are indeed ready to merge).

[LudovicDeMatteis]

@ManifoldFR I rebased on devel and added the Nix support to the Changelog

[ManifoldFR]

Thanks a lot as always, gentlemen 😃

[ManifoldFR]

Oops @LudovicDeMatteis it seems the Nix step failed

[LudovicDeMatteis]

@ManifoldFR It is still due to the Pinocchio's ABA template instantiation error, that we need to either wait for the next Pinocchio Release to merge or include a patch in the nix flake until then.

[nim65s]

Yes, we need to

1. apply Fix aba explicit template instantiation stack-of-tasks/pinocchio#2541
2. fix Test failure on crocoddyl on macos: TypeError: No to_python (by-value) converter found for C++ type: boost::shared_ptr<pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl>> stack-of-tasks/pinocchio#2563
3. upgrade boost::shared_ptr -> std::shared_ptr for crocoddyl v3 (because of 2.)

This will fix nix CI, but probably break all other ones. Let's try :)

[nim65s]

Ok, this is overkill, sorry. Let's keep this for later, and allow some failing tests for now.

[jorisv]

We can make a new pinocchio release if it help.

[nim65s]

If you have some time for new releases, yes, eigenpy + coal + pinocchio would help a lot, thanks :D