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libpinocchio wraps stack-of-tasks/pinocchio's own CMake build (the C++ library
only, BUILD_PYTHON_INTERFACE=OFF) through the cmake-wheel/libpinocchio
packaging fork and the cmeel build-backend, same has-sitelib=false
single-wheel shape already proven here by cmeel-fmt/cmeel-urdfdom/cmeel-qhull:
one py3-none wheel holding only the shared libraries and headers, no Python
extension to build per interpreter.
Previously parked blocked-on-dependency on its two runtime+build deps,
cmeel-urdfdom and libcoal; both are now confirmed published on this registry
(simple/cmeel-urdfdom/ and simple/libcoal/ both 200), so this is genuinely
unblocked rather than a guess.
Confirmed against the real cmake-wheel/libpinocchio source at tag v4.1.0.c0
(the only .cN for 4.1.0): cmake_minimum_required(VERSION 3.22), already above
cmeel[build]'s CMake >= 4 floor of 3.5, so no CMAKE_POLICY_VERSION_MINIMUM
override needed; grepped src/, include/ and bindings/ for
immintrin.h/__builtin_ia32/_mm_/x86intrin.h - zero hits, and no
-march=native/-mavx/-msse anywhere in the CMake tree, so Eigen's own
vectorization degrades to its generic scalar path on riscv64 the same way it
already does for the published cmeel-boost/cmeel-urdfdom/libcoal chain.
Verified against the real published aarch64 wheel
(libpinocchio-4.1.0-0-py3-none-manylinux_2_28_aarch64.whl) that the actual lib
filenames are libpinocchio_{collision,default,parsers,visualizers}.so (no
SONAME suffix, since configure-args sets -DSUFFIX_SO_VERSION=OFF) and that the
wheel already ships a real LICENSE file at dist-info/licenses/LICENSE -
unlike cmeel-m4/cmeel-glpk/cmeel-cddlib/cmeel-spirv-tools, this wrapper has no
missing-LICENSE gap to patch.
docs/packages/libpinocchio.yaml: license BSD-3-Clause, matching the
wrapper's own pyproject.toml declaration (the bundled LICENSE text itself
reads "BSD 2-Clause", a minor wording mismatch already seen elsewhere in
this family, not a blocker since a real license file is present either way).
luhenry
added a commit
that referenced
this pull request
Nov 12, 2026
Both remaining dependencies, cmeel-urdfdom and libcoal, are now confirmed published on pypi.riseproject.dev. Ported with the gotcha-487 single-job shape already proven by cmeel-urdfdom/cmeel-qhull.
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libpinocchio4.1.0Wraps stack-of-tasks/pinocchio's own CMake build (C++ library only,
BUILD_PYTHON_INTERFACE=OFF) through thecmake-wheel/libpinocchiopackaging fork and the cmeel build-backend, producing a py3-none wheel holding only the shared libraries and headers. Upstream publishes no riscv64 wheel.Previously parked
blocked-on-dependencyon its two runtime+build deps,cmeel-urdfdomandlibcoal— both are now confirmed published on this registry, so this is genuinely unblocked.Mirrors upstream's
release.yml, manylinux leg only.Differs from upstream
cmake-wheel/libpinocchiosource at tagv4.1.0.c0:cmake_minimum_required(VERSION 3.22), already abovecmeel[build]'s CMake floor of 3.5, and no-march=native/-mavx/-msseor x86 intrinsics anywhere insrc/,include/orbindings/— Eigen's own vectorization degrades to its generic scalar path on riscv64, same as the rest of this dependency chain.dist-info/licenses/LICENSE) — unlikecmeel-m4/cmeel-glpk/cmeel-cddlib/cmeel-spirv-tools, this wrapper has no missing-LICENSE gap.Testing
libpinocchio_default.so.License: BSD-3-Clause (matching the wrapper's own
pyproject.toml; the bundled LICENSE text itself reads "BSD 2-Clause", a minor wording mismatch, not a blocker since a real license file is present).Built on cp312.