1 files changed, 20 insertions, 13 deletions
diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index add7ef6fde22e..86f0c891b2a90 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -4,7 +4,9 @@
 , cmake
 , boost
 , eigen
+, example-robot-data
 , collisionSupport ? !stdenv.isDarwin
+, jrl-cmakemodules
 , hpp-fcl
 , urdfdom
 , pythonSupport ? false
@@ -13,16 +15,22 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.7.0";
+  version = "2.7.1";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
-    fetchSubmodules = true;
-    hash = "sha256-yhrG+MilGJkvwLUNTAgNhDqUWGjPswjrbg38yOLsmHc=";
+    hash = "sha256-Ks5dvKi5iutjM+iovDOYGx3vsr45JWRqGOXV8+Ko4gg=";
   };
 
+  # example-robot-data models are used in checks.
+  # Upstream provide them as git submodule, but we can use our own version instead.
+  postPatch = ''
+    rmdir models/example-robot-data
+    ln -s ${example-robot-data.src} models/example-robot-data
+  '';
+
   strictDeps = true;
 
   nativeBuildInputs = [
@@ -30,6 +38,7 @@ stdenv.mkDerivation (finalAttrs: {
   ];
 
   propagatedBuildInputs = [
+    jrl-cmakemodules
     urdfdom
   ] ++ lib.optionals (!pythonSupport) [
     boost
@@ -43,15 +52,13 @@ stdenv.mkDerivation (finalAttrs: {
     python3Packages.hpp-fcl
   ];
 
-  cmakeFlags = lib.optionals collisionSupport [
-    "-DBUILD_WITH_COLLISION_SUPPORT=ON"
-  ] ++ lib.optionals pythonSupport [
-    "-DBUILD_WITH_LIBPYTHON=ON"
+  cmakeFlags = [
+    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
+    (lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
+    (lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
   ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
     # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.7.0.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;
@@ -60,11 +67,11 @@ stdenv.mkDerivation (finalAttrs: {
     "pinocchio"
   ];
 
-  meta = with lib; {
+  meta = {
     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; [ nim65s wegank ];
-    platforms = platforms.unix;
+    license = lib.licenses.bsd2;
+    maintainers = with lib.maintainers; [ nim65s wegank ];
+    platforms = lib.platforms.unix;
   };
 })