Simple-Robotics · jorisv · Jun 23, 2026 · Jun 1, 2026 · Jun 1, 2026 · Jun 16, 2026
diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           submodules: recursive
 
-      - uses: prefix-dev/setup-pixi@v0.9.3
+      - uses: prefix-dev/setup-pixi@v0.9.6
         with:
           cache: true
           environments: all

diff --git a/.github/workflows/macos-linux-pixi.yml b/.github/workflows/macos-linux-pixi.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, macos-15-intel]
-        environment: [default, all, all-python-oldest]
+        environment: [default, all, all-python-oldest, all-pin39]
         build_type: [Release, Debug]
 
     steps:
@@ -53,9 +53,8 @@ jobs:
         key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
         restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-
 
-    - uses: prefix-dev/setup-pixi@v0.9.4
+    - uses: prefix-dev/setup-pixi@v0.9.6
       with:
-        pixi-version: v0.67.0
         cache: true
         environments: ${{ matrix.environment }}
 
@@ -89,7 +88,7 @@ jobs:
   #     with:
   #       submodules: recursive
 
-  #   - uses: prefix-dev/setup-pixi@v0.9.3
+  #   - uses: prefix-dev/setup-pixi@v0.9.6
   #     env:
   #       CMAKE_BUILD_PARALLEL_LEVEL: 2
   #     with:

diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml
@@ -26,7 +26,7 @@ jobs:
           persist-credentials: false
 
       - name: Set up pixi
-        uses: prefix-dev/setup-pixi@v0.9.3
+        uses: prefix-dev/setup-pixi@v0.9.6
         with:
           run-install: false
 

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Fixed
+
+- multibody/tests: call `calc()` on constraint datas before any operation invoking `jacobian()`
+In Pinocchio 4.0, `jacobian()` no longer updates `cdata` internally and requires `calc()` to be called first.
+- include `<fmt/format.h>` where `fmt::format()`is used. Required since fmt 12.2.0
+
 ## [0.19.0] - 2026-04-17
 
 ### Added

diff --git a/include/aligator/core/stage-model.hpp b/include/aligator/core/stage-model.hpp
@@ -4,6 +4,7 @@
 
 #include "aligator/core/function-abstract.hpp"
 #include "aligator/core/constraint.hpp"
+#include <fmt/format.h>
 
 namespace aligator {
 using xyz::polymorphic;

diff --git a/include/aligator/fmt-eigen.hpp b/include/aligator/fmt-eigen.hpp
@@ -7,6 +7,7 @@
 #include <fmt/core.h>
 #include <fmt/ostream.h>
 #include <fmt/ranges.h>
+#include <fmt/format.h>
 
 /// Specialize fmt::formatter using the operator<< implementation for Eigen
 /// types.

diff --git a/include/aligator/fmt.hpp b/include/aligator/fmt.hpp
@@ -3,6 +3,7 @@
 #pragma once
 
 #include <fmt/core.h>
+#include <fmt/format.h>
 
 #if FMT_VERSION < 100000
 

diff --git a/include/aligator/modelling/multibody/constrained-rnea.hpp b/include/aligator/modelling/multibody/constrained-rnea.hpp
@@ -63,6 +63,14 @@ void underactuatedConstrainedInverseDynamics(
   pin::computeAllTerms(model, data, q, v);
   const auto &nle = data.nle;
 
+// pin4: getConstraintJacobian requires cdata to be up-to-date.
+// calc() must be called explicitly before jacobian()
+#ifdef ALIGATOR_PINOCCHIO_V4
+  for (std::size_t idx = 0; idx < constraint_models.size(); ++idx) {
+    constraint_models[idx].calc(model, data, constraint_datas[idx]);
+  }
+#endif
+
   const int d = details::computeRigidConstraintsTotalSize(constraint_models,
                                                           constraint_datas);
 

diff --git a/include/aligator/solvers/fddp/solver-fddp.hxx b/include/aligator/solvers/fddp/solver-fddp.hxx
@@ -7,6 +7,7 @@
 #include "aligator/core/stage-data.hpp"
 
 #include <fmt/ranges.h>
+#include <fmt/format.h>
 
 namespace aligator {
 

diff --git a/include/aligator/solvers/proxddp/merit-function.hxx b/include/aligator/solvers/proxddp/merit-function.hxx
@@ -7,6 +7,8 @@
 #include "aligator/core/lagrangian.hpp"
 #include "aligator/tracy.hpp"
 
+#include <fmt/format.h>
+
 namespace aligator {
 
 template <typename Scalar>

diff --git a/include/aligator/solvers/proxddp/results.hpp b/include/aligator/solvers/proxddp/results.hpp
@@ -4,6 +4,7 @@
 
 #include "aligator/solvers/results-base.hpp"
 #include <fmt/ostream.h>
+#include <fmt/format.h>
 
 namespace aligator {
 

diff --git a/include/aligator/solvers/proxddp/solver-proxddp.hxx b/include/aligator/solvers/proxddp/solver-proxddp.hxx
@@ -15,6 +15,8 @@
 
 #include "aligator/tracy.hpp"
 
+#include <fmt/format.h>
+
 namespace aligator {
 
 // [1], related to Appendix A, details on aug. Lagrangian method

diff --git a/include/aligator/solvers/proxddp/workspace.hpp b/include/aligator/solvers/proxddp/workspace.hpp
@@ -9,6 +9,8 @@
 
 #include "aligator/modelling/constraints/constraint-set-product.hpp"
 
+#include <fmt/format.h>
+
 namespace aligator {
 
 template <typename Scalar>

diff --git a/include/aligator/solvers/results-base.hpp b/include/aligator/solvers/results-base.hpp
@@ -3,6 +3,7 @@
 #pragma once
 
 #include "aligator/context.hpp"
+#include <fmt/format.h>
 
 namespace aligator {
 

diff --git a/include/aligator/solvers/value-function.hpp b/include/aligator/solvers/value-function.hpp
@@ -8,6 +8,7 @@
 #include "aligator/context.hpp"
 
 #include <ostream>
+#include <fmt/format.h>
 
 namespace aligator {
 

diff --git a/include/aligator/utils/exceptions.hpp b/include/aligator/utils/exceptions.hpp
@@ -3,6 +3,7 @@
 #include <stdexcept>
 #include <string>
 #include <fmt/core.h>
+#include <fmt/format.h>
 
 #define ALIGATOR_RUNTIME_ERROR(...)                                            \
   throw ::aligator::RuntimeError(                                              \

diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
@@ -156,11 +156,12 @@ dependencies = { tracy-profiler-client = ">=0.11.1" }
 activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } }
 
 [feature.pin39]
-dependencies = { pinocchio = ">=3.9.0,<4", example-robot-data-loaders = ">=4" }
+dependencies = { pinocchio = ">=3.9.0,<4", example-robot-data-loaders = ">=4,<5.0" }
+
 activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
 
 [feature.pin4]
-dependencies = { pinocchio = ">=4.0.0,<5", example-robot-data-loaders = ">=4" }
+dependencies = { pinocchio = ">=4.0.0,<5", example-robot-data-loaders = ">=5" }
 activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
 
 # crocoddyl 3.2 requires pinocchio 3.8.x, so this feature is pinned to Pinocchio 3
@@ -209,19 +210,10 @@ graphviz = ">=12"
 [environments]
 default = { features = ["python-latest"], solve-group = "python-latest" }
 clang = { features = ["clang", "python-latest"] }
-lint = { features = ["lint"], no-default-feature = false}
-pin39 = { features = [
-  "pin39",
-  "python-latest",
-] }
-pin4 = { features = [
-  "pin4",
-  "python-latest",
-], solve-group = "python-latest" }
-crocoddyl = { features = [
-  "crocoddyl",
-  "python-latest",
-] }
+lint = { features = ["lint"], no-default-feature = false }
+pin39 = { features = ["pin39", "python-latest"] }
+pin4 = { features = ["pin4", "python-latest"], solve-group = "python-latest" }
+crocoddyl = { features = ["crocoddyl", "python-latest"] }
 openmp = { features = [
   "openmp",
   "python-latest",
@@ -236,13 +228,14 @@ all = { features = [
 ], solve-group = "python-latest" }
 all-with-croco = { features = [
   "doc",
-  "crocoddyl",  # with pinocchio 3.8
+  "crocoddyl",
+  "pin4",
   "openmp",
-  "python-latest"
+  "python-latest",
 ] }
 all-python-oldest = { features = [
   "doc",
-  "pin39",
+  "pin4",
   "openmp",
   "python-oldest",
 ], solve-group = "python-oldest" }
@@ -252,4 +245,5 @@ new-version = { features = [
   "openmp",
   "python-latest",
 ], solve-group = "python-latest" }
+all-pin39 = { features = ["doc", "pin39", "openmp", "python-latest"] }
 # test-pixi-build = { features = ["test-pixi-build"], no-default-feature = true }
diff --git a/src/utils/exceptions.cpp b/src/utils/exceptions.cpp
@@ -1,5 +1,6 @@
 #include "aligator/utils/exceptions.hpp"
 #include <fmt/color.h>
+#include <fmt/format.h>
 
 namespace aligator {
 namespace detail {

diff --git a/src/utils/logger.cpp b/src/utils/logger.cpp
@@ -3,6 +3,7 @@
 
 #include <fmt/color.h>
 #include <fmt/ranges.h>
+#include <fmt/format.h>
 #include <vector>
 
 namespace aligator {

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -58,7 +58,14 @@ set(
 )
 
 if(BUILD_WITH_PINOCCHIO_SUPPORT)
-  list(APPEND TEST_NAMES forces cycling mpc-cycle continuous)
+  list(
+    APPEND
+    TEST_NAMES
+    forces
+    cycling
+    #mpc-cycle -> Decomment when issue # 410 is fixed
+    continuous
+  )
 endif()
 
 if(CHECK_RUNTIME_MALLOC)

diff --git a/tests/gar/test_util.hpp b/tests/gar/test_util.hpp
@@ -4,6 +4,8 @@
 #include "aligator/gar/lqr-problem.hpp"
 #include "../test_util.hpp"
 
+#include <fmt/format.h>
+
 ALIGATOR_DYNAMIC_TYPEDEFS(double);
 using problem_t = aligator::gar::LqrProblemTpl<double>;
 using knot_t = aligator::gar::LqrKnotTpl<double>;

diff --git a/tests/python/CMakeLists.txt b/tests/python/CMakeLists.txt
@@ -18,6 +18,8 @@ if(NOT BUILD_WITH_PINOCCHIO_SUPPORT)
   list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
   list(REMOVE_ITEM PYTHON_TESTS test_kinodynamics.py)
 endif()
+# remove line when issue # 409 is fixed
+list(REMOVE_ITEM PYTHON_TESTS test_mpc.py)
 make_directory(${CMAKE_CURRENT_BINARY_DIR})
 
 foreach(pyfile ${PYTHON_TESTS})

diff --git a/tests/python/test_constrained_dynamics.py b/tests/python/test_constrained_dynamics.py
@@ -152,6 +152,10 @@ def createFourBarLinkages():
     N = 100
     for k in range(N):
         pin.computeJointJacobians(model, data, q)
+        # pin4 : ConstraintCholeskyDecomposition.compute(...) computes jacobian internally
+        # but does not call calc() -> caller must do it first
+        if ALIGATOR_PINOCCHIO_V4:
+            constraint_model.calc(model, data, constraint_data)
         kkt_constraint.compute(model, data, [constraint_model], [constraint_data], mu)
         constraint_value = constraint_data.c1Mc2.translation