nix: switch to flakoboros

[nim65s]

lots of clean, and should fix ci

[nim65s]

for the records, this is working with pinocchio 3.

but when I switch to pinocchio 4 I get :

14/17 Test  #4: aligator-test-py-constrained-dynamics ....***Failed    2.20 sec
============================= test session starts ==============================
platform linux -- Python 3.13.11, pytest-8.4.2, pluggy-1.6.0
rootdir: /build/source
configfile: pyproject.toml
collected 2 items

../../../tests/python/test_constrained_dynamics.py F.                    [100%]

=================================== FAILURES ===================================
_________________________________ test_inv_dyn _________________________________

    def test_inv_dyn():
        model, rcm = createFourBarLinkages()
        data = model.createData()
        rcd = rcm.createData()
        q0 = model.q_init.copy()
        v0 = np.zeros(model.nv)
        nu = model.nv
        B = np.eye(nu)
        tau0, _fc = aligator.underactuatedConstrainedInverseDynamics(
            model, data, q0, v0, B, [rcm], [rcd]
        )
    
        # test the resulting acceleration is zero
        if ALIGATOR_PINOCCHIO_V4:
            pin.initConstraintDynamics(model, data, [rcm], [rcd])
        else:
            pin.initConstraintDynamics(model, data, [rcm])
        prox = pin.ProximalSettings(1e-12, 1e-10, 30)
        a0 = pin.constraintDynamics(model, data, q0, v0, tau0, [rcm], [rcd], prox)
>       assert np.allclose(a0, 0.0)
E       assert False
E        +  where False = <function allclose at 0x7fff53665430>(array([-2.25816088, 13.41048217,  5.02403886]), 0.0)
E        +    where <function allclose at 0x7fff53665430> = np.allclose

../../../tests/python/test_constrained_dynamics.py:205: AssertionError
----------------------------- Captured stdout call -----------------------------
constraint_value: 0.000e+00
constraint_value: 0.000e+00
constraint_value: 0.000e+00
Convergence achieved
=========================== short test summary info ============================
FAILED ../../../tests/python/test_constrained_dynamics.py::test_inv_dyn - ass...
========================= 1 failed, 1 passed in 1.32s ==========================
─iter─┬───alpha───┬─inner_crit─┬─prim_err──┬─dual_err──┬───preg────┬───cost────┬───dphi0────┬───merit───┬─────ΔM─────┬─aliter─┬───mu───
    1 │ 1.000e+00 │  1.031e+01 │ 2.364e-02 │ 1.031e+01 │ 1.000e-09 │ 5.718e+00 │ -1.773e+03 │ 8.362e+01 │ -8.113e+02 │      1 │   0.01 
    2 │ 1.000e+00 │  3.816e-02 │ 5.093e-03 │ 3.816e-02 │ 3.333e-10 │ 4.385e+00 │ -1.567e+02 │ 6.103e+00 │ -7.752e+01 │      1 │   0.01 
    3 │ 1.000e+00 │  7.612e-03 │ 2.755e-05 │ 7.612e-03 │ 1.111e-10 │ 4.372e+00 │ -8.635e-01 │ 5.668e+00 │ -4.349e-01 │      2 │   0.01 
    4 │ 1.000e+00 │  3.413e-04 │ 8.026e-10 │ 3.413e-04 │ 1.000e-10 │ 4.372e+00 │ -2.433e-05 │ 5.667e+00 │ -4.542e-04 │      2 │   0.01 
    5 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 1.000e-10 │ 4.372e+00 │ -5.944e-11 │ 5.667e+00 │  6.271e-13 │      3 │   0.01 
    6 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 3.333e-10 │ 4.372e+00 │ -5.944e-11 │ 5.667e+00 │  6.155e-13 │      3 │   0.01 
    7 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 1.111e-09 │ 4.372e+00 │ -5.944e-11 │ 5.667e+00 │  6.191e-13 │      3 │   0.01 
    8 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 3.704e-09 │ 4.372e+00 │ -5.942e-11 │ 5.667e+00 │  6.404e-13 │      3 │   0.01 
    9 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 1.235e-08 │ 4.372e+00 │ -5.938e-11 │ 5.667e+00 │  6.075e-13 │      3 │   0.01 
   10 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 4.115e-08 │ 4.372e+00 │ -5.923e-11 │ 5.667e+00 │  6.235e-13 │      3 │   0.01 
   11 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 1.372e-07 │ 4.372e+00 │ -5.873e-11 │ 5.667e+00 │  5.969e-13 │      3 │   0.01 
   12 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 4.572e-07 │ 4.372e+00 │ -5.714e-11 │ 5.667e+00 │  5.542e-13 │      3 │   0.01 
   13 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 1.524e-06 │ 4.372e+00 │ -5.245e-11 │ 5.667e+00 │  3.935e-13 │      3 │   0.01 
   14 │ 1.000e-06 │  1.350e-05 │ 8.026e-10 │ 1.350e-05 │ 5.081e-06 │ 4.372e+00 │ -4.139e-11 │ 5.667e+00 │  2.753e-14 │      3 │   0.01 
   15 │ 1.000e+00 │  1.350e-05 │ 2.276e-14 │ 1.350e-05 │ 1.694e-05 │ 4.372e+00 │ -2.468e-11 │ 5.667e+00 │ -6.726e-07 │      3 │   0.01 
Successfully converged

[ManifoldFR]

Unfortunately a known issue :(
Will fix for 0.19.1 if I ever get the time