robossembler/nix-overlay
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Big refactor

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This commit is contained in:
Igor Brylyov 2024-06-28 09:18:26 +00:00
parent 327d559f71
commit 335a5ede21
25 changed files with 304 additions and 247 deletions
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1
.envrc Normal file
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@ -0,0 +1 @@
use flake . --impure

4
README.md
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@ -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:

63
default.nix
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@ -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

24
flake.lock generated
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@ -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,
"narHash": "sha256-dIjE3NR/sTED8uOLUzqSgj+OaRDQuZK6d9U1EAWamx4=",
"lastModified": 1715462692,
"narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
"owner": "lopsided98",
"repo": "nix-ros-overlay",
"rev": "1b9585ae8f529b2b392203f2dda6fb96311621a9",
"rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
"type": "github"
},
"original": {

288
flake.nix
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@ -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";
ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=develop";
gazebo = {
flake-utils.follows = "ros-overlay/flake-utils";
ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
ros-nixpkgs.follows = "ros-overlay/nixpkgs";
gazebo-overlay = {
url = "github:movefasta/gazebo-sim-overlay";
inputs.flake-utils.follows = "ros-flake/flake-utils";
inputs.nixpkgs.follows = "ros-flake/nixpkgs";
inputs.flake-utils.follows = "ros-overlay/flake-utils";
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.flake-utils.follows = "ros-flake/flake-utils";
# inputs.nixgl.inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
# 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.${system}.extend overlay;
ros = ros-flake.legacyPackages.${system};
# 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=";
};
});
}
)
pkgs = import nixpkgs { inherit system; overlays = [
(import ./overlay.nix)
gazebo-overlay.overlays.default
];
};
# overrided packages and attributes for nix-ros-overlay
humble-overrided = ros.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 ++ [ 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 $1
'';
cg-gen = pkgs.writers.writePython3Bin "cg-gen"
{ libraries = [ rcg-pipeline ]; }
''
from rcg_pipeline import rcg_full_pipeline
import sys
rcg_full_pipeline(sys.argv[1])
'';
ros = import ros-nixpkgs { inherit system; overlays = [
ros-overlay.overlays.default
(import ./ros)
];};
in
{
inherit pkgs;
rlib = import ./. {
inherit pkgs;
inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
inherit (pkgs.stdenv) mkDerivation;
inherit (pkgs) lib;
inherit mayo;
inherit (pkgs.libsForQt5) wrapQtAppsHook;
};
packages = {
inherit unified-planning test-script cad-gen cg-gen blender bpy;
inherit (pkgs) cad-gen cg-gen blender;
};
devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
inherit ros pkgs;
devShells.gazebo = gazebo.devShells.${system}.default;
devShells.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 =
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; [
freecad
mayo
bashInteractive
] ++ [ (pkgs.python3.withPackages my-python-packages) ];
buildInputs = [ ];
# Run when the shell is started up
shellHook = ''
${pkgs.python3}/bin/python --version
'';
packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
};
ros = pkgs.mkShell {
name = "ROS environment";
packages = [
ros.colcon
(with ros.rosPackages.humble; buildEnv {
paths = [
ros-core
rmw-fastrtps-dynamic-cpp
];
})
];
# ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
};
all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
gazebo = gazebo-overlay.devShells.${system}.default;
perception =
let
perception-packages = p: with p; [
torch
torchvision
torchaudio
detectron2
];
in
pkgs.mkShell {
packages = [ (pkgs.python3.withPackages perception-packages) ];
};
};
}
);

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

0
pkgs/development/python-modules/ansitable/default.nix → pkgs/ansitable/default.nix
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34
pkgs/blender/default.nix Normal file
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@ -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/
'';
})

0
pkgs/misc/bpy-lib/default.nix → pkgs/bpy-lib/default.nix
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0
pkgs/development/python-modules/bpy-wheel/default.nix → pkgs/bpy-wheel/default.nix
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111
pkgs/default.nix Normal file
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@ -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])
'';
}

0
pkgs/misc/freecad-lib/default.nix → pkgs/freecad-lib/default.nix
View file

0
pkgs/development/python-modules/freecad.robossembler/default.nix → pkgs/freecad.robossembler/default.nix
View file

0
pkgs/misc/fstl/default.nix → pkgs/fstl/default.nix
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0
pkgs/misc/mayo/default.nix → pkgs/mayo/default.nix
View file

0
pkgs/development/python-modules/megapose6d/default.nix → pkgs/megapose6d/default.nix
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0
pkgs/development/python-modules/open3d/default.nix → pkgs/open3d/default.nix
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0
pkgs/development/python-modules/pysdf/default.nix → pkgs/pysdf/default.nix
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0
pkgs/development/python-modules/pytorch3d/default.nix → pkgs/pytorch3d/default.nix
View file

4
pkgs/development/python-modules/rcg-pipeline/default.nix → pkgs/rcg-pipeline/default.nix
View file

@ -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

0
pkgs/development/python-modules/spatialmath/default.nix → pkgs/spatialmath/default.nix
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0
pkgs/development/python-modules/test-script/default.nix → pkgs/test-script/default.nix
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0
pkgs/development/python-modules/unified-planning/default.nix → pkgs/unified-planning/default.nix
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0
pkgs/development/python-modules/webdataset/default.nix → pkgs/webdataset/default.nix
View file

17
ros/default.nix Normal file
View file

@ -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 ];
});
}
);
}