From 23a638ebfb180aa7d4ea75f17e3d89477dcb6509 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 3 Jan 2025 12:02:06 +0100
Subject: [PATCH 1/4] core: Fix aba explicit template instantiation

core: Fix typo
---
 include/pinocchio/algorithm/aba.txx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/pinocchio/algorithm/aba.txx b/include/pinocchio/algorithm/aba.txx
index 848a8ffd4e..3152c99cdd 100644
--- a/include/pinocchio/algorithm/aba.txx
+++ b/include/pinocchio/algorithm/aba.txx
@@ -7,7 +7,7 @@
 
 namespace pinocchio
 {
-  extern template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs & aba<
+  extern template PINOCCHIO_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI const context::VectorXs & aba<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,
@@ -21,7 +21,7 @@ namespace pinocchio
     const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
     const Convention);
 
-  extern template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs & aba<
+  extern template PINOCCHIO_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI const context::VectorXs & aba<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,

From a5bc9d0c5cc7d7ab15550562df7c773baedb10a0 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 3 Jan 2025 12:03:51 +0100
Subject: [PATCH 2/4] changelog: Add entry

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 34569aafc6..d14d68601f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Fix mjcf Euler angle parsing: use xyz as a default value for eulerseq compiler option ([#2526](https://github.com/stack-of-tasks/pinocchio/pull/2526))
+- Fix aba explicit template instantiation ([#2541](https://github.com/stack-of-tasks/pinocchio/pull/2541))
 
 ## [3.3.1] - 2024-12-13
 

From f7a92a40efb7a971ba8b5d8fe65b6b30b4ce8701 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Mon, 6 Jan 2025 14:17:55 +0100
Subject: [PATCH 3/4] CMake: fix RPATH on macos

Re-apply #1908 which was
somehow forgottent during the v3 merge.

fix #2545
---
 bindings/python/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index e0f4a1e756..41fe8e28f3 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -115,7 +115,7 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
                # On Windows, shared library are treat as binary
                RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 
-  if(UNIX AND NOT APPLE)
+  if(UNIX)
     get_relative_rpath(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
     set_target_properties(${PYTHON_LIB_NAME} PROPERTIES INSTALL_RPATH "${${PYWRAP}_INSTALL_RPATH}")
   endif()

From afb68f1cd7719a78f934733a9fac10aaa0c04761 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Mon, 6 Jan 2025 14:21:39 +0100
Subject: [PATCH 4/4] add changelog entry

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0e755c36a5..4265c77757 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix mjcf Euler angle parsing: use xyz as a default value for eulerseq compiler option ([#2526](https://github.com/stack-of-tasks/pinocchio/pull/2526))
 - Fix aba explicit template instantiation ([#2541](https://github.com/stack-of-tasks/pinocchio/pull/2541))
 - Add parsing meshes with vertices for MJCF format ([#2537](https://github.com/stack-of-tasks/pinocchio/pull/2537))
+- CMake: fix RPATH on macos ([#2546](https://github.com/stack-of-tasks/pinocchio/pull/2546))
 
 ## [3.3.1] - 2024-12-13