Big refactor

.envrc

@@ -0,0 +1 @@
+use flake . --impure

README.md

@@ -2,11 +2,11 @@
 
 [Cachix Cache](https://robossembler.cachix.org)
 
-Для установки в свою систему blender 3.4.1
+Для установки в свою систему Blender с настройками Robossembler
 * `nix profile install gitlab:robossembler/nix-robossembler-overlay#blender`
 
 Запуск локальных окружений для разработки
-* Python-модуль bpy: `nix develop gitlab:robossembler/nix-robossembler-overlay#bpy`
+* Python-окружение для Perception навыков робота: `nix develop gitlab:robossembler/nix-robossembler-overlay#perception`
 * ROS2 Rolling `nix develop gitlab:robossembler/nix-robossembler-overlay#ros`
 
 Для внесения изменений в репозиторий:

default.nix

@@ -1,4 +1,4 @@
-{ mkDerivation, mayo, wrapQtAppsHook, lib }:
+{ mkDerivation, pkgs, mayo, wrapQtAppsHook, lib, rbs-workbench, cad-gen, cg-gen }:
 let
   step2stl = 
     name: file:
@@ -20,6 +20,63 @@ let
         rm ${pname}
       '';
     };
-  rlib = { inherit step2stl; };
+
+  freecad2parts =
+    file:
+    let
+      pname = "${file}-parts";
+      extension = lib.last (lib.strings.splitString "." file);
+      cad_export_script = pkgs.writers.writePython3 "cad_export_script.py"
+        { libraries = [ rbs-workbench ]; }
+        ''
+        import FreeCAD as App
+        import freecad.robossembler.utils.freecad_exporters as rbs
+        import sys
+
+        path = sys.argv[4]
+        print(path)
+        doc = App.openDocument(path)
+        rbs.publish_project_database(doc)
+        App.closeDocument(doc.Name)
+        '';
+    in
+    lib.throwIfNot
+      (lib.elem extension ["FCStd"])
+      ''Input file have a "${extension}" extension, but valid FreeCAD file should have "FCStd" extention''
+    mkDerivation rec {
+      inherit pname;
+      version = "unstable";
+      src = ./.;
+      nativeBuildInputs = [ cad-gen pkgs.freecad ] ++ pkgs.freecad.buildInputs;
+      buildInputs = [ ];
+      dontWrapQtApps = true;
+      buildPhase = ''
+        export PYTHONPATH="${rbs-workbench}/${pkgs.python3.sitePackages}"
+        ${pkgs.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
+        #${pkgs.freecad}/bin/freecadcmd -h
+        #${cad-gen}/bin/cad-gen ${file}
+        mv parts* trees* $out
+      '';
+    };
+
+  parts-packages =
+    parts-package:
+    let
+      parts = lib.trivial.importJSON "${parts-package.src}/parts.json";
+      pkgSet = builtins.listToAttrs (map ({ material_path, name, part_path }: { inherit name; value = part_path; }) parts );
+      mkPkg =
+        { name, value }:
+        mkDerivation {
+          src = "${parts-package}";
+          pname = name;
+          installPhase = ''
+            outputs = [ "stl" ];
+            ln ${parts-package}/${value} $stl
+          '';
+        };
+    in
+    lib.lists.forEach mkPkg pkgSet;
+
+  rlib = { inherit step2stl freecad2parts parts-packages; };
 in
-rlib
+rlib

flake.lock

@@ -33,15 +33,15 @@
         "type": "github"
       }
     },
-    "gazebo": {
+    "gazebo-overlay": {
       "inputs": {
         "flake-utils": [
-          "ros-flake",
+          "ros-overlay",
           "flake-utils"
         ],
         "nixgl": "nixgl",
         "nixpkgs": [
-          "ros-flake",
+          "ros-overlay",
           "nixpkgs"
         ]
       },
@@ -128,25 +128,29 @@
     "root": {
       "inputs": {
         "flake-utils": [
-          "ros-flake",
+          "ros-overlay",
           "flake-utils"
         ],
-        "gazebo": "gazebo",
+        "gazebo-overlay": "gazebo-overlay",
         "nixpkgs": "nixpkgs_2",
-        "ros-flake": "ros-flake"
+        "ros-nixpkgs": [
+          "ros-overlay",
+          "nixpkgs"
+        ],
+        "ros-overlay": "ros-overlay"
       }
     },
-    "ros-flake": {
+    "ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils_2",
         "nixpkgs": "nixpkgs_3"
       },
       "locked": {
-        "lastModified": 1711215320,
+        "lastModified": 1715462692,
-        "narHash": "sha256-dIjE3NR/sTED8uOLUzqSgj+OaRDQuZK6d9U1EAWamx4=",
+        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "1b9585ae8f529b2b392203f2dda6fb96311621a9",
+        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
         "type": "github"
       },
       "original": {

flake.nix

@@ -2,247 +2,51 @@
   description = "Robossembler Development Environments on Nix";
   inputs = {
     nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
-    flake-utils.follows = "ros-flake/flake-utils";
+    flake-utils.follows = "ros-overlay/flake-utils";
-    ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=develop";
+    ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
-    gazebo = {
+    ros-nixpkgs.follows = "ros-overlay/nixpkgs";
+    gazebo-overlay = {
       url = "github:movefasta/gazebo-sim-overlay";
-      inputs.flake-utils.follows = "ros-flake/flake-utils";
+      inputs.flake-utils.follows = "ros-overlay/flake-utils";
-      inputs.nixpkgs.follows = "ros-flake/nixpkgs";
+      inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
 
       # Transitive inputs "not in registry" https://github.com/NixOS/nix/issues/5790
-      # inputs.nixgl.inputs.nixpkgs.follows = "ros-flake/nixpkgs";
+      # inputs.nixgl.inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
-      # inputs.nixgl.inputs.flake-utils.follows = "ros-flake/flake-utils";
+      # inputs.nixgl.inputs.flake-utils.follows = "ros-overlay/flake-utils";
     };
   };
 
-  outputs = { self, nixpkgs, ros-flake, gazebo, flake-utils }:
+  outputs = { self, nixpkgs, ros-overlay, ros-nixpkgs, gazebo-overlay, flake-utils }:
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          # pkgs = nixpkgs.legacyPackages.${system}.extend overlay;
+          pkgs = import nixpkgs { inherit system; overlays = [ 
-          ros = ros-flake.legacyPackages.${system};
+            (import ./overlay.nix)
-
+            gazebo-overlay.overlays.default
-          # single source for Robossembler Framework packages
-          rbsFrameworkSrc = pkgs.fetchgit {
-            url = "https://gitlab.com/robossembler/framework";
-            hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
-            rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
-          };
-
-          pkgs = import nixpkgs { inherit system; overlays = [ overlay gazebo.overlays.default ]; };
-
-          overlay = final: prev: {
-            # -- PLACEHOLDER for overlay
-            # freecad = prev.freecad.overrideAttrs
-            #   (old: { cmakeFlags = old.cmakeFlags ++ [ "-DBUILD_GUI=OFF" ]; });
-            # cmakeFlag -BUILD_GUI=OFF for build without gui
-            pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
-              (
-                python-final: python-prev: {
-                 iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
-                    version = "unstable";
-                    src = pkgs.fetchFromGitHub {
-                      owner = "facebookresearch";
-                      repo = "iopath";
-                      rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
-                      hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
-                    };
-                  });
-                }
-              )
             ];
           };
-
+          ros = import ros-nixpkgs { inherit system; overlays = [
-          # overrided packages and attributes for nix-ros-overlay
+            ros-overlay.overlays.default
-          humble-overrided = ros.humble.overrideScope (final: prev: {
+            (import ./ros)
-            # remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
+          ];};
-            behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: { 
-              propagatedBuildInputs = old.propagatedBuildInputs ++ [ pkgs.zeromq ];
-            });
-            moveit-core = prev.moveit-core.overrideAttrs (old: { 
-              propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
-            });
-            moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { 
-              propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
-            });
-          });
-          
-          # robossembler custom packages; defined here for share between devShells and packages
-          cg_preferences = pkgs.fetchgit {
-            url = "https://gitflic.ru/project/brothermechanic/cg_preferences.git";
-            sha256 = "sha256-/mNNjvrhIxSZVv1/LSJ7+c/dXH3E0Orh5Zr0oVPLquY=";
-          };
-          rs_logo = pkgs.fetchgit {
-            url = "https://gitlab.com/robossembler/logo.git";
-            rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
-            sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
-            fetchLFS = true;
-          };
-          blender' = pkgs.blender.override {
-            cudaSupport = true;
-            spaceNavSupport = false;
-            waylandSupport = false;
-          };
-          blender = blender'.overrideAttrs (old: {
-            optix = pkgs.fetchzip {
-              # url taken from the archlinux blender PKGBUILD
-              url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
-              sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
-            };
-            patches = old.patches ++ [ "${cg_preferences}/patches/cg-defaults.patch" ];
-            buildInputs = old.buildInputs ++ [ pkgs.imath pkgs.git ];
-            postPatch = old.postPatch + ''
-              cp ${cg_preferences}/share/00_cg_preferences_service.py scripts/startup/
-              cp ${cg_preferences}/share/startup.blend release/datafiles/
-              cp ${rs_logo}/raster/robossembler_1024x512_roboty-rossii.png  release/datafiles/splash.png
-            '';
-            env.NIX_CFLAGS_COMPILE = old.env.NIX_CFLAGS_COMPILE + " -I${pkgs.imath}/include/Imath";
-            postInstall = old.postInstall + ''
-              cp -r ${cg_preferences}/cg_preferences $out/share/blender/${
-                pkgs.lib.versions.majorMinor pkgs.blender.version
-              }/scripts/addons/
-            '';
-          });
-          bpy = blender.overrideAttrs (old: {
-            pname = "bpy";
-            src = pkgs.fetchurl {
-              url = "https://download.blender.org/source/${old.pname}-${old.version}.tar.xz";
-              hash = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
-            };
-            cmakeFlags = old.cmakeFlags ++ [
-              "-DWITH_PYTHON_INSTALL=OFF"
-              "-DWITH_AUDASPACE=OFF"
-              "-DWITH_PYTHON_MODULE=ON"
-              "-DWITH_MEM_JEMALLOC=OFF"
-              "-DWITH_INSTALL_PORTABLE=ON"
-            ];
-            postInstall = ''
-              mkdir -p $out/nix-support
-              mkdir -p $out/lib/python${pkgs.python3.pythonVersion}/site-packages
-              ln -s $out/bpy $out/lib/python${pkgs.python3.pythonVersion}/site-packages/bpy
-              echo ${pkgs.python3} >> $out/nix-support/propagated-build-inputs
-            '';
-          });
-          bpy-wheel = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy-wheel { };
-          pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
-          pytorch3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pytorch3d { };
-          mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
-          fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
-          open3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/open3d {  };
-          unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
-          blenderproc = pkgs.python3Packages.callPackage ./blenderproc.nix { };
-          test-script = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/test-script { };
-          webdataset = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/webdataset { };
-          ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
-          megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
-          spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
-          rcg-pipeline = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/rcg-pipeline { bpy = bpy-lib; inherit rbsFrameworkSrc; };
-          rbs-workbench = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/freecad.robossembler { inherit freecad-lib; inherit rbsFrameworkSrc; };
-          freecad-lib = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./pkgs/misc/freecad-lib { });
-          bpy-lib = pkgs.python3Packages.toPythonModule bpy;
-          cad-gen = 
-          let
-            cad_export_script = pkgs.writers.writePython3 "cad_export_script.py"
-            { libraries = [ rbs-workbench ]; }
-            ''
-            import FreeCAD as App
-            import freecad.robossembler.utils.freecad_exporters as rbs
-            import sys
-
-            path = sys.argv[4]
-            print(path)
-            doc = App.openDocument(path)
-            rbs.publish_project_database(doc)
-            App.closeDocument(doc.Name)
-            '';
-          in
-          pkgs.writeShellScriptBin "cad-gen"
-            ''
-            export PYTHONPATH="${rbs-workbench}/${pkgs.python3.sitePackages}"
-            ${pkgs.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
-            '';
-          cg-gen = pkgs.writers.writePython3Bin "cg-gen"
-            { libraries = [ rcg-pipeline ]; }
-            ''
-            from rcg_pipeline import rcg_full_pipeline
-            import sys
-            rcg_full_pipeline(sys.argv[1])
-            '';
         in
         {
-          inherit pkgs;
 
           rlib = import ./. { 
+            inherit pkgs;
+            inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
             inherit (pkgs.stdenv) mkDerivation;
-            inherit (pkgs) lib;
-            inherit mayo;
             inherit (pkgs.libsForQt5) wrapQtAppsHook;
           };
 
           packages = {
-            inherit unified-planning test-script cad-gen cg-gen blender bpy;
+            inherit (pkgs) cad-gen cg-gen blender;
           };
 
-          devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+          inherit ros pkgs;
 
-          devShells.gazebo = gazebo.devShells.${system}.default;
+          devShells = {
-
+            default =
-          devShells.ros = 
-            pkgs.mkShell {
-              buildInputs = (with humble-overrided; [
-                ros2run
-                rmw-fastrtps-dynamic-cpp
-                urdf
-                ament-pep257
-                ament-lint-auto
-                xacro
-                ament-cmake
-                rclcpp-action
-                tf2
-                action-msgs
-                ament-copyright
-                pythonPackages.pytest
-                rosidl-default-generators
-                behaviortree-cpp-v3
-                geometry-msgs
-                rosidl-default-runtime
-                rclpy
-                std-msgs
-                ament-lint-common
-                ament-flake8
-                tf2-ros
-                rclcpp
-                moveit-core
-                moveit-msgs
-                moveit-ros-planning
-                moveit-ros-planning-interface
-                gazebo-ros2-control
-                plansys2-bringup
-                image-transport
-                cv-bridge
-                example-interfaces
-              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat gazebo_sim ]);
-              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
-            };
-
-          devShells.all = pkgs.mkShell { 
-            packages = [ blender fstl mayo ];
-          };
-
-          devShells.perception =
-            let
-              rbs-packages = p: with p; [
-                torch
-                torchvision
-                torchaudio
-                detectron2
-              ];
-            in
-            pkgs.mkShell {
-              packages = [ (pkgs.python3.withPackages rbs-packages) ];
-            };
-
-          devShells.default =
             let
               my-python-packages = p: with p; [ 
                 unified-planning
@@ -251,22 +55,46 @@
                 spatialmath
                 rcg-pipeline
                 rbs-workbench
-                ledger
               ];
             in
             pkgs.mkShell {
-              packages = with pkgs; [ 
+              packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
-                freecad
-                mayo
-                bashInteractive
-              ] ++ [ (pkgs.python3.withPackages my-python-packages) ];
-              buildInputs = [  ];
-
-              # Run when the shell is started up
-              shellHook = ''
-                ${pkgs.python3}/bin/python --version
-              '';
             };
+
+            ros = pkgs.mkShell {
+              name = "ROS environment";
+              packages = [
+                ros.colcon
+                (with ros.rosPackages.humble; buildEnv {
+                  paths = [
+                    ros-core
+                    rmw-fastrtps-dynamic-cpp
+                  ];
+                })
+              ];
+              # ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
+              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
+            };
+
+            all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
+
+            ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+
+            gazebo = gazebo-overlay.devShells.${system}.default;
+
+            perception =
+              let
+                perception-packages = p: with p; [
+                  torch
+                  torchvision
+                  torchaudio
+                  detectron2
+                ];
+              in
+              pkgs.mkShell {
+                packages = [ (pkgs.python3.withPackages perception-packages) ];
+              };
+          }; 
         }
       );
 

overlay.nix

@@ -0,0 +1,5 @@
+final: prev: with prev.lib;
+foldr composeExtensions (_: _: {}) [
+  (import ./pkgs)
+  (import ./ros)
+] final prev

pkgs/blender/default.nix

@@ -0,0 +1,34 @@
+{ fetchgit, fetchzip, blender, imath, git, lib, ... }:
+let
+  cg_preferences = fetchgit {
+    url = "https://gitflic.ru/project/brothermechanic/cg_preferences.git";
+    sha256 = "sha256-FkF1c5MhqtG2COIpSBdoJ1aE0r8/ABtmqFLqNkF0zT0=";
+  };
+
+  rs_logo = fetchgit {
+    url = "https://gitlab.com/robossembler/logo.git";
+    rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
+    sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
+    fetchLFS = true;
+  };
+in
+blender.overrideAttrs (old: {
+    optix = fetchzip {
+      # url taken from the archlinux blender PKGBUILD
+      url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
+      sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
+    };
+    patches = old.patches ++ [ "${cg_preferences}/patches/cg-defaults.patch" ];
+    buildInputs = old.buildInputs ++ [ imath git ];
+    postPatch = old.postPatch + ''
+      cp ${cg_preferences}/share/00_cg_preferences_service.py scripts/startup/
+      cp ${cg_preferences}/share/startup.blend release/datafiles/
+      cp ${rs_logo}/raster/robossembler_1024x512_roboty-rossii.png  release/datafiles/splash.png
+    '';
+    env.NIX_CFLAGS_COMPILE = old.env.NIX_CFLAGS_COMPILE + " -I${imath}/include/Imath";
+    postInstall = old.postInstall + ''
+      cp -r ${cg_preferences}/cg_preferences $out/share/blender/${
+        lib.versions.majorMinor blender.version
+      }/scripts/addons/
+    '';
+  })

pkgs/default.nix

@@ -0,0 +1,111 @@
+self: super: with self.lib; let
+  
+  # single source for Robossembler Framework packages
+
+  rbsFrameworkSrc = self.fetchgit {
+    url = "https://gitlab.com/robossembler/framework";
+    hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
+    rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
+  };
+  
+  bpy = self.blender.overrideAttrs (old: {
+    pname = "bpy";
+    src = self.fetchurl {
+      url = "https://download.blender.org/source/${old.pname}-${old.version}.tar.xz";
+      hash = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
+    };
+    cmakeFlags = old.cmakeFlags ++ [
+      "-DWITH_PYTHON_INSTALL=OFF"
+      "-DWITH_AUDASPACE=OFF"
+      "-DWITH_PYTHON_MODULE=ON"
+      "-DWITH_MEM_JEMALLOC=OFF"
+      "-DWITH_INSTALL_PORTABLE=ON"
+    ];
+    postInstall = ''
+      mkdir -p $out/nix-support
+      mkdir -p $out/lib/python${self.python3.pythonVersion}/site-packages
+      ln -s $out/bpy $out/lib/python${self.python3.pythonVersion}/site-packages/bpy
+      echo ${self.python3} >> $out/nix-support/propagated-build-inputs
+    '';
+  });
+
+in {
+
+  # Robossembler custom packages; defined here for share between devShells and packages
+
+  # General packages
+
+  mayo = self.libsForQt5.callPackage ./mayo { };
+  fstl = self.libsForQt5.callPackage ./fstl { };
+  blender = self.callPackage ./blender { blender = super.blender.override {
+      cudaSupport = true;
+      spaceNavSupport = false;
+      waylandSupport = false;
+    };
+  };
+
+  # Python packages
+
+
+
+  pythonPackagesExtensions = super.pythonPackagesExtensions ++ [
+    (
+      python-final: python-prev: {
+        iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
+          version = "unstable";
+          src = self.fetchFromGitHub {
+            owner = "facebookresearch";
+            repo = "iopath";
+            rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
+            hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
+          };
+        });
+        unified-planning = self.python3Packages.callPackage ./unified-planning { };
+        bpy-wheel = self.python3Packages.callPackage ./bpy-wheel { };
+        pysdf = self.python3Packages.callPackage ./pysdf { };
+        pytorch3d = self.python3Packages.callPackage ./pytorch3d { };
+        blenderproc = self.python3Packages.callPackage ./blenderproc.nix { };
+        test-script = self.python3Packages.callPackage ./test-script { };
+        webdataset = self.python3Packages.callPackage ./webdataset { };
+        ansitable = self.python3Packages.callPackage ./ansitable { };
+        megapose6d = self.python3Packages.callPackage ./megapose6d { inherit (python-final) webdataset; };
+        spatialmath = self.python3Packages.callPackage ./spatialmath { inherit (python-final) ansitable; };
+        rcg-pipeline = self.python3Packages.callPackage ./rcg-pipeline { inherit (python-final) bpy-lib; inherit rbsFrameworkSrc; };
+        rbs-workbench = self.python3Packages.callPackage ./freecad.robossembler { inherit (python-final) freecad-lib; inherit rbsFrameworkSrc; };
+        freecad-lib = self.python3Packages.toPythonModule (self.callPackage ./freecad-lib { });
+        bpy-lib = self.python3Packages.toPythonModule bpy;
+      }
+    )
+  ];
+
+  # Assets Generators
+  cad-gen = 
+    let
+      cad_export_script = self.writers.writePython3 "cad_export_script.py"
+        { libraries = [ self.python3Packages.rbs-workbench ]; }
+        ''
+        import FreeCAD as App
+        import freecad.robossembler.utils.freecad_exporters as rbs
+        import sys
+
+        path = sys.argv[4]
+        print(path)
+        doc = App.openDocument(path)
+        rbs.publish_project_database(doc)
+        App.closeDocument(doc.Name)
+        '';
+    in
+    self.writeShellScriptBin "cad-gen"
+      ''
+      export PYTHONPATH="${self.python3Packages.rbs-workbench}/${self.python3.sitePackages}"
+      ${self.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
+      '';
+
+  cg-gen = self.writers.writePython3Bin "cg-gen"
+    { libraries = [ self.python3Packages.rcg-pipeline ]; }
+    ''
+    from rcg_pipeline import rcg_full_pipeline
+    import sys
+    rcg_full_pipeline(sys.argv[1])
+    '';
+}

pkgs/rcg-pipeline/default.nix

@@ -8,7 +8,7 @@
 , cudaSupport ? config.cudaSupport
 , numpy
 , setuptools
-, bpy
+, bpy-lib
 , rbsFrameworkSrc
 , ... }:
 
@@ -27,7 +27,7 @@ buildPythonPackage rec {
 
   propagatedBuildInputs = [
     numpy
-    bpy
+    bpy-lib
   ];
 
   # TODO - see later, pyproject.toml duntime deps check doesnt work

ros/default.nix

@@ -0,0 +1,17 @@
+self: super:
+{
+  humble = super.rosPackages.humble.overrideScope (
+    final: prev: {
+      # remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
+      behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: {
+        propagatedBuildInputs = old.propagatedBuildInputs ++ [ self.zeromq self.pkg-config ];
+      });
+      moveit-core = prev.moveit-core.overrideAttrs (old: { 
+          propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
+      });
+      moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { 
+          propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
+      });
+    }
+  );
+}