diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000000000000000000000000000000000000..94883509ceeba1aa882e7b46fcdb0242afc84ead
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,20 @@
+name: "Nix CI"
+
+on: [pull_request, push]
+
+jobs:
+ tests:
+ name: "Nix build on ${{ matrix.os }}"
+ runs-on: "${{ matrix.os }}-latest"
+ strategy:
+ matrix:
+ os: [ubuntu]
+ steps:
+ - uses: actions/checkout@v4
+ - uses: DeterminateSystems/nix-installer-action@main
+ - uses: DeterminateSystems/magic-nix-cache-action@main
+ - run: nix --accept-flake-config build -L
+ - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
+ if: github.repository_owner == 'humanoid-path-planner'
+ env:
+ CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
diff --git a/COPYING b/LICENSE
similarity index 100%
rename from COPYING
rename to LICENSE
diff --git a/cmake b/cmake
index 657b07cb721ecbc383d4e76438eb6ec5c421a332..2bea127e8113a32f216ae7a7201e36a6e7c56cc2 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 657b07cb721ecbc383d4e76438eb6ec5c421a332
+Subproject commit 2bea127e8113a32f216ae7a7201e36a6e7c56cc2
diff --git a/default.nix b/default.nix
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa668f01276bc0ce0ae3aad44fe15dd8654fad
--- /dev/null
+++ b/default.nix
@@ -0,0 +1,42 @@
+{
+ lib,
+ stdenv,
+ cmake,
+ hpp-core,
+ hpp-universal-robot,
+}:
+
+stdenv.mkDerivation {
+ pname = "hpp-manipulation";
+ version = "5.0.0";
+
+ src = lib.fileset.toSource {
+ root = ./.;
+ fileset = lib.fileset.unions [
+ ./CMakeLists.txt
+ ./doc
+ ./include
+ ./package.xml
+ ./plugins
+ ./src
+ ./tests
+ ];
+ };
+
+ strictDeps = true;
+
+ nativeBuildInputs = [ cmake ];
+ propagatedBuildInputs = [
+ hpp-core
+ hpp-universal-robot
+ ];
+
+ doCheck = true;
+
+ meta = {
+ description = "Classes for manipulation planning";
+ homepage = "https://github.com/humanoid-path-planner/hpp-manipulation";
+ license = lib.licenses.bsd2;
+ maintainers = [ lib.maintainers.nim65s ];
+ };
+}
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000000000000000000000000000000000000..c03e5d0fd003d8b8bbf36b55f516b115c2065477
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,251 @@
+{
+ "nodes": {
+ "flake-parts": {
+ "inputs": {
+ "nixpkgs-lib": [
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719877454,
+ "narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
+ "type": "github"
+ },
+ "original": {
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "type": "github"
+ }
+ },
+ "hpp-constraints": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "flake-parts"
+ ],
+ "hpp-pinocchio": "hpp-pinocchio",
+ "hpp-statistics": "hpp-statistics",
+ "hpp-util": "hpp-util",
+ "nixpkgs": [
+ "hpp-core",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719584695,
+ "narHash": "sha256-8K94IgUt8kpdRDASnstfX14cBQN4ZK6+LmvOuq6Sg0I=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-constraints",
+ "rev": "acd1c62fdfcdb329fd0dea19ae2f18e471e3ef08",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-constraints",
+ "type": "github"
+ }
+ },
+ "hpp-core": {
+ "inputs": {
+ "flake-parts": [
+ "flake-parts"
+ ],
+ "hpp-constraints": "hpp-constraints",
+ "nixpkgs": [
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719770669,
+ "narHash": "sha256-GzlQ4kfiMUf9qVP5t+/qoQZbBIOe1JPdmL7+86dJVaQ=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-core",
+ "rev": "5aa007c687c080608c9864d239f523d452bd7181",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-core",
+ "type": "github"
+ }
+ },
+ "hpp-environments": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-pinocchio",
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-pinocchio",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719580427,
+ "narHash": "sha256-T76zgTJrGm7maKBPwgX+FgQ7MPN7NoLvdZvzARPo9V0=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-environments",
+ "rev": "1c727bcc85145a1f5236357fa73df5a183a31f04",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-environments",
+ "type": "github"
+ }
+ },
+ "hpp-pinocchio": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "hpp-environments": "hpp-environments",
+ "hpp-util": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-util"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719582071,
+ "narHash": "sha256-sRWf973UZIdyrS0fhd+vXdTucR9d7Eks9yU85kcFxfo=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-pinocchio",
+ "rev": "4ec6186223ce18f4c48605421a7ef583fe827352",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-pinocchio",
+ "type": "github"
+ }
+ },
+ "hpp-statistics": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "hpp-util": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-util"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719582334,
+ "narHash": "sha256-bzGI7z6hTGkuNs71Vcb3vsVpey1SuR7Okx4rJU1LHFs=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-statistics",
+ "rev": "613b1f9c2788cb33097c1f1c0e4216420665a1e0",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-statistics",
+ "type": "github"
+ }
+ },
+ "hpp-universal-robot": {
+ "inputs": {
+ "flake-parts": [
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719769533,
+ "narHash": "sha256-Fyq7P+YZDGUKxOrif0id1WIeMKu5o/7FM+CRpBCPC2A=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-universal-robot",
+ "rev": "789a540f150b7dc50f3409d94338b7aa96f74084",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-universal-robot",
+ "type": "github"
+ }
+ },
+ "hpp-util": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719580825,
+ "narHash": "sha256-trfl8A+P7a1gnACnTXNK98TYWWDAOM3PKfkXxpC3X/8=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-util",
+ "rev": "0504f15818a92c7a257cd6b60cd8b6092bd6dbfa",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-util",
+ "type": "github"
+ }
+ },
+ "nixpkgs": {
+ "locked": {
+ "lastModified": 1719674427,
+ "narHash": "sha256-z2hCpVyfnmYTA5iabf1SW4peFV9itE1JJcXNBKIFkDg=",
+ "owner": "nim65s",
+ "repo": "nixpkgs",
+ "rev": "b81610d293fac26c2ec6a81718a979bc25f8c155",
+ "type": "github"
+ },
+ "original": {
+ "owner": "nim65s",
+ "ref": "gepetto",
+ "repo": "nixpkgs",
+ "type": "github"
+ }
+ },
+ "root": {
+ "inputs": {
+ "flake-parts": "flake-parts",
+ "hpp-core": "hpp-core",
+ "hpp-universal-robot": "hpp-universal-robot",
+ "nixpkgs": "nixpkgs"
+ }
+ }
+ },
+ "root": "root",
+ "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000000000000000000000000000000000000..b2c1c393e825c8ae1c6056752500e3a29393842a
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,55 @@
+{
+ description = "Classes for manipulation planning";
+
+ nixConfig = {
+ extra-substituters = [ "https://gepetto.cachix.org" ];
+ extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
+ };
+
+ inputs = {
+ nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+ flake-parts = {
+ url = "github:hercules-ci/flake-parts";
+ inputs.nixpkgs-lib.follows = "nixpkgs";
+ };
+ hpp-core = {
+ url = "github:humanoid-path-planner/hpp-core";
+ inputs.nixpkgs.follows = "nixpkgs";
+ inputs.flake-parts.follows = "flake-parts";
+ };
+ hpp-universal-robot = {
+ url = "github:humanoid-path-planner/hpp-universal-robot";
+ inputs.nixpkgs.follows = "nixpkgs";
+ inputs.flake-parts.follows = "flake-parts";
+ };
+ };
+
+ outputs =
+ inputs@{ flake-parts, ... }:
+ flake-parts.lib.mkFlake { inherit inputs; } {
+ imports = [ ];
+ systems = [
+ "x86_64-linux"
+ "aarch64-linux"
+ "aarch64-darwin"
+ "x86_64-darwin"
+ ];
+ perSystem =
+ {
+ self',
+ pkgs,
+ system,
+ ...
+ }:
+ {
+ packages = {
+ inherit (pkgs) cachix;
+ default = pkgs.callPackage ./. {
+ hpp-core = inputs.hpp-core.packages.${system}.default;
+ hpp-universal-robot = inputs.hpp-universal-robot.packages.${system}.default;
+ };
+ };
+ devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+ };
+ };
+}
diff --git a/package.xml b/package.xml
index 2037746a27a9afb8cec23d4603425ebba00d1cf3..90cc3ed56719d6fbffde09d7c6b7597aa9c0cf69 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version='1.0'?>
<package format='2'>
<name>hpp-manipulation</name>
- <version>5.0.0</version>
+ <version>5.1.0</version>
<description>Classes for manipulation planning. </description>
<maintainer email='hpp@laas.fr'>Joseph Mirabel</maintainer>
diff --git a/pyproject.toml b/pyproject.toml
index a5333a8b34f59be815cc36db7c829347b3b3578e..a68d75e5a3a1538680ab8afc93658df828064be3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,7 @@ dependencies = [
description = "Classes for manipulation planning."
license = "BSD-2-Clause"
name = "hpp-manipulation"
-version = "5.0.0"
+version = "5.1.0"
[tool.ruff]
extend-exclude = ["cmake"]