Merge branch 'framework-packages'

BPY: rewrite as overlay

Closes #18

See merge request robossembler/nix-robossembler-overlay!7

.envrc

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

.gitlab-ci.yml

@@ -10,6 +10,7 @@ default:
   before_script:
     - mkdir -p /etc/nix
     - echo "experimental-features = nix-command flakes" >> /etc/nix/nix.conf
+    - export NIXPKGS_ALLOW_UNFREE=1
     - cachix use "$CACHIX_CACHE_NAME"
 
 general-packages:
@@ -17,18 +18,23 @@ general-packages:
   inherit:
     default: [before_script, image]
   script:
-    - cachix watch-exec robossembler -- nix develop .#all  -c echo "General Packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#all --impure -c echo "General Packages is BUILT"
 
 ros-packages:
   stage: build
   inherit:
     default: [before_script, image]
   script:
-    - cachix watch-exec robossembler -- nix develop .#ros -c echo "ROS environment is BUILT"
+    # Gazebo security freeimage-unstable-2021-11-01’ is marked as insecure
+    #   /nix/store/28gcncrir6wd8n6n762y92lbm632cxcy-gazebo-sim
+    # └───/nix/store/bw3nx4nrvwbnj9b6hdg4p0iyxnakqca8-gz-common5-5.4.2
+    #     └───/nix/store/hwr0f25hiqv1pjnqyg0sp1gv9grb198b-freeimage-unstable-2021-11-01
+    - export NIXPKGS_ALLOW_INSECURE=1
+    - cachix watch-exec robossembler -- nix develop .#ros --impure -c echo "ROS environment is BUILT"
 
 perception-packages:
   stage: build
   inherit:
     default: [before_script, image]
   script:
-    - cachix watch-exec robossembler -- nix develop .#perception -c echo "PERCEPTION packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#perception --impure -c echo "PERCEPTION packages is BUILT"

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

@@ -1,15 +1,12 @@
 {
   "nodes": {
     "flake-utils": {
-      "inputs": {
-        "systems": "systems"
-      },
       "locked": {
-        "lastModified": 1689068808,
-        "narHash": "sha256-6ixXo3wt24N/melDWjq70UuHQLxGV8jZvooRanIHXw0=",
+        "lastModified": 1659877975,
+        "narHash": "sha256-zllb8aq3YO3h8B/U0/J1WBgAL8EX5yWf5pMj3G0NAmc=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "919d646de7be200f3bf08cb76ae1f09402b6f9b4",
+        "rev": "c0e246b9b83f637f4681389ecabcb2681b4f3af0",
         "type": "github"
       },
       "original": {
@@ -18,13 +15,91 @@
         "type": "github"
       }
     },
+    "flake-utils_2": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1705309234,
+        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "gazebo-overlay": {
+      "inputs": {
+        "flake-utils": [
+          "ros-overlay",
+          "flake-utils"
+        ],
+        "nixgl": "nixgl",
+        "nixpkgs": [
+          "ros-overlay",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1711612492,
+        "narHash": "sha256-QEz9HZCth8kxz8nrqZ9/hhomAfSW6E0ngmoIb00NXQ8=",
+        "owner": "movefasta",
+        "repo": "gazebo-sim-overlay",
+        "rev": "4f1c3c115b55795ec7d7af43d0b16f7ef18dcc44",
+        "type": "github"
+      },
+      "original": {
+        "owner": "movefasta",
+        "repo": "gazebo-sim-overlay",
+        "type": "github"
+      }
+    },
+    "nixgl": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1685908677,
+        "narHash": "sha256-E4zUPEUFyVWjVm45zICaHRpfGepfkE9Z2OECV9HXfA4=",
+        "owner": "guibou",
+        "repo": "nixGL",
+        "rev": "489d6b095ab9d289fe11af0219a9ff00fe87c7c5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "guibou",
+        "repo": "nixGL",
+        "type": "github"
+      }
+    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1695298503,
-        "narHash": "sha256-eDuN/+479v5gfVqwmJRYVX/Skh+TYSifAXdJ9xMqiP4=",
+        "lastModified": 1660551188,
+        "narHash": "sha256-a1LARMMYQ8DPx1BgoI/UN4bXe12hhZkCNqdxNi6uS0g=",
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "rev": "441dc5d512153039f19ef198e662e4f3dbb9fd65",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs_2": {
+      "locked": {
+        "lastModified": 1712307699,
+        "narHash": "sha256-/PzHcPvBvJeZTY9JCEtbNljYLecwggveHQ2oHPlTycA=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "b1370f72c01cee73c8648baf158453d60f3127e2",
+        "rev": "3541c7628de9414f999ced044c95a284584f4ec1",
         "type": "github"
       },
       "original": {
@@ -34,13 +109,13 @@
         "type": "github"
       }
     },
-    "nixpkgs_2": {
+    "nixpkgs_3": {
       "locked": {
-        "lastModified": 1691006197,
-        "narHash": "sha256-DbtxVWPt+ZP5W0Usg7jAyTomIM//c3Jtfa59Ht7AV8s=",
+        "lastModified": 1707268954,
+        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "66aedfd010204949cb225cf749be08cb13ce1813",
+        "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
         "type": "github"
       },
       "original": {
@@ -53,24 +128,29 @@
     "root": {
       "inputs": {
         "flake-utils": [
-          "ros-flake",
+          "ros-overlay",
           "flake-utils"
         ],
-        "nixpkgs": "nixpkgs",
-        "ros-flake": "ros-flake"
+        "gazebo-overlay": "gazebo-overlay",
+        "nixpkgs": "nixpkgs_2",
+        "ros-nixpkgs": [
+          "ros-overlay",
+          "nixpkgs"
+        ],
+        "ros-overlay": "ros-overlay"
       }
     },
-    "ros-flake": {
+    "ros-overlay": {
       "inputs": {
-        "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs_2"
+        "flake-utils": "flake-utils_2",
+        "nixpkgs": "nixpkgs_3"
       },
       "locked": {
-        "lastModified": 1694916346,
-        "narHash": "sha256-3Fb5sRqFhpIVCK8hH0dtRNyJHV7zvVavZEbTGZWNy4g=",
+        "lastModified": 1715462692,
+        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "148dc07305802c41369839fb2d4d5291571ddb69",
+        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
         "type": "github"
       },
       "original": {

flake.nix

@@ -2,197 +2,103 @@
   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";
+    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-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-overlay/nixpkgs";
+      # inputs.nixgl.inputs.flake-utils.follows = "ros-overlay/flake-utils";
+    };
   };
 
-  outputs = { self, nixpkgs, ros-flake, 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};
-
-          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
+            ];
+            config.allowUnfree = true; # for cuda
+          };
+          ros = import ros-nixpkgs { inherit system;
+            overlays = [
+              ros-overlay.overlays.default
+              (import ./ros)
             ];
           };
-
-          # 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-ahEakvluX7vd+OY6zaDeZIFS8WbsTevRzuEXlBu2/fg=";
-          };
-          rs_logo = pkgs.fetchgit {
-            url = "https://gitlab.com/robossembler/logo.git";
-            rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
-            sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
-            fetchLFS = true;
-          };
-          blender' = pkgs.blender.override {
-            python310Packages = pkgs.python311Packages;
-            cudaSupport = false;
-            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/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 = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
-          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; };
         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 mayo pysdf fstl unified-planning test-script blender;
-            zoz = pkgs.btop;
+            inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
           };
 
-          devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+          inherit ros pkgs;
 
-          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 ]);
-              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
-            };
-
-          devShells.all = pkgs.mkShell { 
-            packages = [ mayo blender bpy pysdf fstl ];
-          };
-
-          devShells.perception =
-            let
-              rbs-packages = p: with p; [
-                pytorch3d
-                torch
-                torchvision
-                torchaudio
-                detectron2
-              ];
-            in
-            pkgs.mkShell {
-              packages = [ (pkgs.python3.withPackages rbs-packages) ];
-            };
-
-          devShells.default =
+          devShells = {
+            default =
             let
               my-python-packages = p: with p; [ 
-                pysdf
                 unified-planning
                 pybullet
                 scipy
                 spatialmath
-                bpy
+                rcg-pipeline
+                rbs-workbench
               ];
             in
             pkgs.mkShell {
-              packages = [ (pkgs.python3.withPackages my-python-packages) pkgs.freecad mayo pkgs.bashInteractive ];
-              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) ];
+              };
+          }; 
         }
       );
 

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/bpy-lib/default.nix

@@ -0,0 +1,14 @@
+{ stdenv
+, bpy
+, python3
+}:
+stdenv.mkDerivation {
+  inherit (bpy) version;
+  pname = "bpy-lib";
+  src = bpy;
+  buildInputs = [ python3 ];
+  installPhase = ''
+    mkdir -p $out/lib/python${python3.pythonVersion}
+    ln -s ${bpy}/bpy $out/lib/python${python3.pythonVersion}/site-packages
+  '';
+}

pkgs/bpy-wheel/default.nix

@@ -0,0 +1,31 @@
+{ buildPythonPackage, fetchPypi, python3Packages, lib, autoPatchelfHook, blender, pythonImportsCheckHook, config, cudaSupport ? config.cudaSupport }:
+buildPythonPackage rec {
+  format = "wheel";
+  pname = "bpy";
+  version = "4.1.0";
+
+  src = fetchPypi rec {
+    inherit pname version format;
+    sha256 = "sha256-bGOlo3NvYMdbXw0UaKGkP7gRVdilKHdwfPtoAF27dLQ=";
+    dist = python;
+    python = "cp311";
+    abi = "cp311";
+    platform = "manylinux_2_28_x86_64";
+  };
+  propagatedBuildInputs = with python3Packages; [ requests numpy cython zstandard ];
+  buildInputs = blender.buildInputs;
+  nativeBuildInputs = [ autoPatchelfHook pythonImportsCheckHook ];
+  autoPatchelfIgnoreMissingDeps = true;
+  pythonImportsCheck = [ "bpy" ];
+
+  meta = with lib; {
+    description = "3D Creation/Animation/Publishing System";
+    homepage = "https://www.blender.org";
+    # They comment two licenses: GPLv2 and Blender License, but they
+    # say: "We've decided to cancel the BL offering for an indefinite period."
+    # OptiX, enabled with cudaSupport, is non-free.
+    license = with licenses; [ gpl2Plus ] ++ optional cudaSupport unfree;
+    platforms = [ "x86_64-linux" ];
+    maintainers = with maintainers; [ brothermechanic ];
+  };
+}

pkgs/default.nix

@@ -0,0 +1,121 @@
+self: super: with self.lib; let
+  
+  # single source for Robossembler Framework packages
+
+  rbsFrameworkSrc = self.fetchgit {
+    url = "https://gitlab.com/robossembler/framework";
+    hash = "sha256-q1032Lu2xnMWZkr+T0rLhbpdmceDHygHC6BN3AKbFVk=";
+    rev = "69b8512d6b5dafe0571b5d73a910a26bbc6a84a5";
+  };
+
+  pddlSpecGeneratorSrc = self.fetchgit {
+    url = "https://gitlab.com/robossembler/pddl-spec-generator";
+    hash = "sha256-g/yaaIHRJriPwvVr2pVytQZmJG/BYvsg4q64yEps0T8=";
+    rev = "61dcd1553365436f13107f395d1ee7e7b012c3e6";
+  };
+  
+  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])
+    '';
+
+  pddl-spec-gen = pddlSpecGeneratorSrc;
+  dataset-gen = rbsFrameworkSrc;
+
+}

pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch

@@ -1,10 +0,0 @@
---- a/intern/locale/boost_locale_wrapper.cpp
-+++ b/intern/locale/boost_locale_wrapper.cpp
-@@ -7,6 +7,7 @@
- 
- #include <boost/locale.hpp>
- #include <stdio.h>
-+#include <iostream>
- 
- #include "boost_locale_wrapper.h"
- 

pkgs/development/python-modules/bpy/blender-fix-desktop.patch

@@ -1,10 +0,0 @@
---- a/release/freedesktop/blender.desktop
-+++ b/release/freedesktop/blender.desktop
-@@ -84,6 +84,6 @@ Icon=blender
- Terminal=false
- Type=Application
- PrefersNonDefaultGPU=true
--X-KDE-RunOnDiscreteGpu=true
-+X-PreferRunOnDiscreteGPU=true
- Categories=Graphics;3DGraphics;
- MimeType=application/x-blender;

pkgs/development/python-modules/bpy/cg-defaults.patch

@@ -1,84 +0,0 @@
-diff -Naur a/source/blender/makesdna/DNA_modifier_defaults.h b/source/blender/makesdna/DNA_modifier_defaults.h
---- a/source/blender/makesdna/DNA_modifier_defaults.h	2020-12-24 20:07:32.000000000 +0300
-+++ b/source/blender/makesdna/DNA_modifier_defaults.h	2020-12-28 00:11:53.397550988 +0300
-@@ -43,7 +43,7 @@
-     .length = 0.0f, \
-     .merge_dist = 0.01f, \
-     .fit_type = MOD_ARR_FIXEDCOUNT, \
--    .offset_type = MOD_ARR_OFF_RELATIVE, \
-+    .offset_type = MOD_ARR_OFF_CONST, \
-     .flags = 0, \
-     .count = 2, \
-     .uv_offset = {0.0f, 0.0f}, \
-@@ -51,8 +51,8 @@
- 
- #define _DNA_DEFAULT_BevelModifierData \
-   { \
--    .value = 0.1f, \
--    .res = 1, \
-+    .value = 0.01f, \
-+    .res = 2, \
-     .flags = 0, \
-     .val_flags = MOD_BEVEL_AMT_OFFSET, \
-     .profile_type = MOD_BEVEL_PROFILE_SUPERELLIPSE, \
-@@ -93,7 +93,7 @@
- #define _DNA_DEFAULT_CastModifierData \
-   { \
-     .object = NULL, \
--    .fac = 0.5f, \
-+    .fac = 1.0f, \
-     .radius = 0.0f, \
-     .size = 0.0f, \
-     .defgrp_name = "", \
-@@ -259,7 +259,7 @@
- 
- #define _DNA_DEFAULT_DecimateModifierData \
-   { \
--    .percent = 1.0f, \
-+    .percent = 0.1f, \
-     .iter = 0, \
-     .delimit = 0, \
-     .symmetry_axis = 0, \
-@@ -567,7 +567,7 @@
-     .vgroup_name = "", \
-     .factor = DEG2RADF(45.0f), \
-     .limit = {0.0f, 1.0f}, \
--    .mode = MOD_SIMPLEDEFORM_MODE_TWIST, \
-+    .mode = MOD_SIMPLEDEFORM_MODE_BEND, \
-     .axis = 0, \
-     .deform_axis = 0, \
-     .flag = 0, \
-@@ -608,7 +608,7 @@
-     .crease_inner = 0.0f, \
-     .crease_outer = 0.0f, \
-     .crease_rim = 0.0f, \
--    .flag = MOD_SOLIDIFY_RIM, \
-+    .flag = MOD_SOLIDIFY_RIM | MOD_SOLIDIFY_EVEN, \
-     .mat_ofs = 0, \
-     .mat_ofs_rim = 0, \
-     .merge_tolerance = 0.0001f, \
-@@ -619,7 +619,7 @@
-     .subdivType = 0, \
-     .levels = 1, \
-     .renderLevels = 2, \
--    .flags = eSubsurfModifierFlag_UseCrease | eSubsurfModifierFlag_ControlEdges, \
-+    .flags = eSubsurfModifierFlag_UseCrease | eSubsurfModifierFlag_ControlEdges | eSubsurfModifierFlag_UseRecursiveSubdivision, \
-     .uv_smooth = SUBSURF_UV_SMOOTH_PRESERVE_BOUNDARIES, \
-     .quality = 3, \
-     .boundary_smooth = SUBSURF_BOUNDARY_SMOOTH_ALL, \
-diff -Naur a/source/blender/makesdna/DNA_view3d_defaults.h b/source/blender/makesdna/DNA_view3d_defaults.h
---- a/source/blender/makesdna/DNA_view3d_defaults.h	2020-12-24 20:07:32.000000000 +0300
-+++ b/source/blender/makesdna/DNA_view3d_defaults.h	2020-12-27 22:52:32.467466785 +0300
-@@ -94,9 +94,9 @@
-     .flag = V3D_SELECT_OUTLINE, \
-     .flag2 = V3D_SHOW_RECONSTRUCTION | V3D_SHOW_ANNOTATION, \
-  \
--    .lens = 50.0f, \
--    .clip_start = 0.01f, \
--    .clip_end = 1000.0f, \
-+    .lens = 85.0f, \
-+    .clip_start = 0.001f, \
-+    .clip_end = 100.0f, \
-  \
-     .bundle_size = 0.2f, \
-     .bundle_drawtype = OB_PLAINAXES, \

pkgs/development/python-modules/bpy/cg_environment.patch

@@ -1,45 +0,0 @@
---- /dev/null	2023-08-11 22:07:27.012000310 +0300
-+++ b/scripts/startup/cg_environment.py	2023-08-11 00:44:51.704718595 +0300
-@@ -0,0 +1,42 @@
-+#!/usr/bin/python3
-+# -*- coding: utf-8 -*-
-+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
-+#
-+# This program is free software; you can redistribute it and/or modify
-+# it under the terms of the GNU General Public License as published by
-+# the Free Software Foundation; either version 3 of the License, or
-+# (at your option) any later version.
-+#
-+# This program is distributed in the hope that it will be useful,
-+# but WITHOUT ANY WARRANTY; without even the implied warranty of
-+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-+# GNU General Public License for more details.
-+
-+__doc__ = 'Environment for use CG Overlay'
-+__version__ = '0.1'
-+
-+import bpy
-+from bpy.app.handlers import persistent
-+import addon_utils
-+
-+
-+@persistent
-+def cg_env(dummy):
-+    '''Scripts environment'''
-+    addon_utils.enable('cg_preferences', default_set=True)
-+
-+    print('CG Environment activated!')
-+
-+
-+def register():
-+    '''register blender module'''
-+    bpy.app.handlers.load_post.append(cg_env)
-+
-+
-+def unregister():
-+    '''unregister blender module'''
-+    bpy.app.handlers.load_post.remove(cg_env)
-+
-+
-+if __name__ == '__main__':
-+    register()

pkgs/development/python-modules/bpy/default.nix

@@ -1,213 +0,0 @@
-# TODO WITH_CYCLES_OSL
-# TODO WITH_NANOVDB
-# TODO WITH_CLANG
-{ config, stdenv, lib, fetchurl, fetchzip, fetchgit, makeWrapper, cmake, git-lfs
-, boost, ocl-icd, gettext, zlib, zstd, pugixml, llvmPackages, clang
-, libepoxy, libXi, libX11, libXext, libXrender, libXxf86vm
-, libGLU, libGL, glew, addOpenGLRunpath, freeglut
-, openimageio, opencolorio, openexr, ilmbase, libjpeg, libpng, libtiff, libwebp, potrace
-, embree, gmp, openvdb, tbb, openimagedenoise, opensubdiv, freetype, libharu, brotli
-, ffmpeg, fftw, libsndfile
-, python310Packages, buildPythonPackage, fetchPypi, pkgs, lzma, freecad
-, cudaSupport ? config.cudaSupport or false, cudaPackages ? { }
-, hipSupport ? false, hip # comes with a significantly larger closure size
-, colladaSupport ? true, opencollada
-, waylandSupport ? stdenv.isLinux, pkg-config, wayland, wayland-protocols, libffi, libdecor, libxkbcommon, dbus
-}:
-
-let
-  python = python310Packages.python;
-  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=";
-  };
-  cg_preferences = fetchgit {
-    url = "https://gitlab.com/brothermechanic/cg_preferences.git";
-    rev = "db192525ff41dfae4c063dc914a2c3fe5850d480";
-    sha256 = "sha256-+eLWdokH/5odzOTykgrmG36U8h+Wf8YGOxe1oIy4dJo=";
-    fetchLFS = true;
-  };
-
-
-in
-stdenv.mkDerivation rec {
-  pname = "bpy";
-  version = "3.6.1";
-
-  src = fetchurl {
-    url = "https://download.blender.org/source/blender-${version}.tar.xz";
-    hash = "sha256-JJF+cbyya0kAJXBU2do4tiMWx0J9cyNTO0HKmztFrE0=";
-  };
-
-  patches = [
-    ./cg-defaults.patch
-    ./x112.patch
-    ./blender-fix-desktop.patch
-    ./blender-fix-boost-1.81-iostream.patch
-  ];
-
-  nativeBuildInputs =
-    [ cmake makeWrapper python310Packages.wrapPython llvmPackages.llvm.dev
-    ]
-    ++ lib.optionals cudaSupport [ addOpenGLRunpath ]
-    ++ lib.optionals waylandSupport [ pkg-config ];
-  buildInputs =
-    [ boost ffmpeg gettext glew ilmbase
-      freetype libjpeg libpng libsndfile libtiff libwebp
-      opencolorio openexr openimageio python zlib pkgs.zstd.dev fftw
-      (opensubdiv.override { inherit cudaSupport; })
-      tbb
-      gmp
-      pugixml
-      potrace
-      libharu
-      brotli
-      libepoxy
-      lzma
-      optix
-    ]
-    ++ lib.optionals waylandSupport [
-      wayland wayland-protocols libffi libdecor libxkbcommon dbus
-    ]
-    ++ lib.optionals (!stdenv.isAarch64) [
-      openimagedenoise
-      embree
-    ]
-    ++ (if (!stdenv.isDarwin) then [
-      libXi libX11 libXext libXrender
-      libGLU libGL
-      libXxf86vm
-      # OpenVDB currently doesn't build on darwin
-      openvdb
-    ]
-    else [
-      llvmPackages.openmp clang
-    ])
-    ++ lib.optional cudaSupport cudaPackages.cudatoolkit
-    ++ lib.optional colladaSupport opencollada
-  ;
-  pythonPath = with python310Packages; [ numpy requests ];
-
-  postPatch = ''
-    cp ${cg_preferences}/startup.blend release/datafiles/
-  '' +
-    (if stdenv.isDarwin then ''
-      : > build_files/cmake/platform/platform_apple_xcode.cmake
-      substituteInPlace source/creator/CMakeLists.txt \
-        --replace '${"$"}{LIBDIR}/python' \
-                  '${python}'
-      substituteInPlace build_files/cmake/platform/platform_apple.cmake \
-        --replace '${"$"}{LIBDIR}/python' \
-                  '${python}' \
-        --replace '${"$"}{LIBDIR}/opencollada' \
-                  '${opencollada}' \
-        --replace '${"$"}{PYTHON_LIBPATH}/site-packages/numpy' \
-                  '${python310Packages.numpy}/${python.sitePackages}/numpy'
-    '' else ''
-      substituteInPlace extern/clew/src/clew.c --replace '"libOpenCL.so"' '"${ocl-icd}/lib/libOpenCL.so"'
-    '') +
-    (lib.optionalString hipSupport ''
-      substituteInPlace extern/hipew/src/hipew.c --replace '"/opt/rocm/hip/lib/libamdhip64.so"' '"${hip}/lib/libamdhip64.so"'
-      substituteInPlace extern/hipew/src/hipew.c --replace '"opt/rocm/hip/bin"' '"${hip}/bin"'
-    '');
-
-  cmakeFlags =
-    [
-      "-DWITH_PYTHON_INSTALL=OFF"
-      "-DWITH_AUDASPACE=OFF"
-      "-DWITH_PYTHON_MODULE=ON"
-      "-DWITH_MEM_JEMALLOC=OFF"
-      "-DWITH_INSTALL_PORTABLE=ON"
-      #___________
-      "-DPYTHON_LIBPATH=${python}/lib"
-      "-DPYTHON_VERSION=${python.pythonVersion}"
-      "-DPYTHON_INCLUDE_DIR=${python}/include/${python.libPrefix}"
-      "-DPYTHON_LIBRARY=${python.libPrefix}"
-      "-DWITH_PYTHON_INSTALL_NUMPY=OFF"
-      "-DPYTHON_NUMPY_PATH=${python310Packages.numpy}/${python.sitePackages}"
-      "-DPYTHON_NUMPY_INCLUDE_DIRS=${python310Packages.numpy}/${python.sitePackages}/numpy/core/include"
-      "-DWITH_PYTHON_INSTALL_REQUESTS=OFF"
-      "-DWITH_ALEMBIC=OFF"
-      "-DWITH_OPENVDB=ON"
-      "-DWITH_NANOVDB=ON"
-      "-DWITH_IMAGE_OPENJPEG=OFF"
-      "-DWITH_OPENCOLLADA=${if colladaSupport then "ON" else "OFF"}"
-      "-DWITH_OPENAL=OFF"
-      "-DWITH_SDL=OFF"
-      "-DWITH_PULSEAUDIO=OFF"
-      "-DWITH_JACK=OFF"
-      "-DWITH_OPENMP=ON"
-      "-DWITH_OPENCOLORIO=ON"
-      "-DWITH_OPENSUBDIV=ON"
-      "-DWITH_TBB=ON"
-      "-DWITH_USD=OFF"
-      "-DWITH_XR_OPENXR=OFF"
-      "-DWITH_NINJA_POOL_JOBS=OFF"
-      "-DBUILD_SHARED_LIBS=OFF"
-      "-DWITH_BUILDINFO=OFF"
-      "-DWITH_HYDRA=OFF"
-      "-DWITH_MATERIALX=OFF"
-      "-DWITH_LINKER_LLD=ON"
-      "-DWITH_LIBS_PRECOMPILED=OFF"
-      "-DWITH_INTERNATIONAL=ON"
-    ]
-    ++ lib.optionals stdenv.hostPlatform.isAarch64 [
-      "-DWITH_CYCLES_EMBREE=OFF"
-    ]
-    ++ lib.optionals stdenv.isDarwin [
-      "-DWITH_CYCLES_OSL=OFF" # requires LLVM
-      "-DWITH_OPENVDB=OFF" # OpenVDB currently doesn't build on darwin
-      "-DLIBDIR=/does-not-exist"
-    ]
-    ++ lib.optionals cudaSupport [
-      "-DWITH_CYCLES_CUDA_BINARIES=ON"
-      "-DCUDA_NVCC_FLAGS=-std=c++14"
-      "-DWITH_CYCLES_DEVICE_OPTIX=ON"
-      "-DOPTIX_INCLUDE_DIR=${optix}"
-    ]
-    # Clang doesn't support "-export-dynamic"
-    ++ lib.optional stdenv.cc.isClang "-DPYTHON_LINKFLAGS="
-    ++ lib.optionals waylandSupport [
-      "-DWITH_GHOST_WAYLAND=ON"
-      "-DWITH_GHOST_WAYLAND_DBUS=ON"
-      "-DWITH_GHOST_WAYLAND_DYNLOAD=OFF"
-      "-DWITH_GHOST_WAYLAND_LIBDECOR=ON"
-    ];
-
-  env.NIX_CFLAGS_COMPILE = "-I${ilmbase.dev}/include/OpenEXR -I${python}/include/${python.libPrefix}";
-
-  # Since some dependencies are built with gcc 6, we need gcc 6's
-  # libstdc++ in our RPATH. Sigh.
-  NIX_LDFLAGS = lib.optionalString cudaSupport "-rpath ${stdenv.cc.cc.lib}/lib";
-
-  postInstall = ''
-    mkdir -p $out/lib/python3.10/site-packages
-    mkdir -p $out/nix-support
-    mv $out/bpy $out/lib/python3.10/site-packages/
-    echo ${python} >> $out/nix-support/propagated-build-inputs
-  '' + ''
-    mkdir $out/lib/python3.10/site-packages/bpy/3.6/scripts/addons/cg_preferences
-    cp -r ${cg_preferences}/* $out/lib/python3.10/site-packages/bpy/3.6/scripts/addons/cg_preferences/
-  '';
-  # Set RUNPATH so that libcuda and libnvrtc in /run/opengl-driver(-32)/lib can be
-  # found. See the explanation in libglvnd.
-  postFixup = ''
-    buildPythonPath $out/lib/python3.10/site-packages
-  '';
-
-  passthru = { inherit python; };
-
-  meta = with lib; {
-    description = "3D Creation/Animation/Publishing System module";
-    homepage = "https://www.blender.org";
-    # They comment two licenses: GPLv2 and Blender License, but they
-    # say: "We've decided to cancel the BL offering for an indefinite period."
-    # OptiX, enabled with cudaSupport, is non-free.
-    license = with licenses; [ gpl2Plus ] ++ optional cudaSupport unfree;
-    platforms = [ "x86_64-linux" "x86_64-darwin" "aarch64-linux" ];
-    broken = stdenv.isDarwin;
-    maintainers = with maintainers; [ goibhniu veprbl brothermechanic ];
-    mainProgram = "bpy";
-  };
-}

pkgs/development/python-modules/bpy/x112.patch

@@ -1,46 +0,0 @@
---- a/intern/ghost/CMakeLists.txt
-+++ b/intern/ghost/CMakeLists.txt
-@@ -183,6 +183,13 @@
-       ${X11_X11_INCLUDE_PATH}
-     )
- 
-+    list(APPEND LIB
-+      ${X11_X11_LIB}
-+      -lXext
-+      -lXxf86vm
-+      ${X11_Xrender_LIB}
-+    )
-+
-     list(APPEND SRC
-       intern/GHOST_DisplayManagerX11.cpp
-       intern/GHOST_SystemX11.cpp
-@@ -234,6 +241,9 @@
-       list(APPEND INC_SYS
-         ${X11_xf86vmode_INCLUDE_PATH}
-       )
-+      list(APPEND LIB
-+        ${X11_Xf86vmode_LIB}
-+      )
-     endif()
- 
-     if(WITH_X11_XFIXES)
-@@ -241,6 +251,9 @@
-       list(APPEND INC_SYS
-         ${X11_Xfixes_INCLUDE_PATH}
-       )
-+      list(APPEND LIB
-+        ${X11_Xfixes_LIB}
-+      )
-     endif()
- 
-     if(WITH_X11_ALPHA)
-@@ -252,6 +265,9 @@
-       list(APPEND INC_SYS
-         ${X11_Xinput_INCLUDE_PATH}
-       )
-+      list(APPEND LIB
-+        ${X11_Xinput_LIB}
-+      )
-     endif()
- 
-     add_definitions(-DWITH_GHOST_X11)

pkgs/freecad-lib/default.nix

@@ -0,0 +1,14 @@
+{ stdenv
+, freecad
+, python3
+}:
+stdenv.mkDerivation {
+  inherit (freecad) version;
+  pname = "freecad-lib";
+  src = freecad;
+  buildInputs = [ python3 ];
+  installPhase = ''
+    mkdir -p $out/lib/python${python3.pythonVersion}
+    ln -s ${freecad}/lib $out/lib/python${python3.pythonVersion}/site-packages
+  '';
+}

pkgs/freecad.robossembler/default.nix

@@ -0,0 +1,45 @@
+{ buildPythonPackage
+, fetchgit
+, python3Packages
+, lib
+, autoPatchelfHook
+, pythonImportsCheckHook
+, config
+, setuptools
+, freecad-lib
+, pytestCheckHook
+, toPythonModule
+, python
+, rbsFrameworkSrc
+, ... }:
+
+buildPythonPackage rec {
+  name = "freecad.robossembler";
+  version = "1.0.0";
+  format = "setuptools";
+
+  src = rbsFrameworkSrc;
+
+  sourceRoot = "${src.name}/freecad_workbench";
+
+  nativeBuildInputs = [
+    setuptools
+  ];
+
+  buildInputs = [ freecad-lib ];
+
+  propagatedBuildInputs = [
+    freecad-lib
+  ];
+  
+  pythonImportsCheck = [ "freecad.robossembler" ];
+
+  doCheck = false;
+  
+  meta = with lib; {
+    description = "Robossembler CG Pipeline Python Module";
+    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}

pkgs/mayo/default.nix

@@ -9,13 +9,13 @@
 
 stdenv.mkDerivation rec {
   pname = "mayo";
-  version = "0.6.0";
+  version = "0.8.0";
 
   src = fetchFromGitHub {
     owner = "fougue";
     repo = "mayo";
     rev = "v${version}";
-    hash = "sha256-seRk02jYiABjoO35AG47ioCByBIdLibJ4QHLeXW8cXQ=";
+    hash = "sha256-/MavLqC3BBRmlqMZIhKEYJPTV6pvLKlCNMXGJ6vnmUg=";
   };
 
   buildInputs = [ qtbase opencascade-occt ];

pkgs/rcg-pipeline/default.nix

@@ -0,0 +1,44 @@
+{ buildPythonPackage
+, fetchgit
+, python3Packages
+, lib
+, autoPatchelfHook
+, pythonImportsCheckHook
+, config
+, cudaSupport ? config.cudaSupport
+, numpy
+, setuptools
+, bpy-lib
+, rbsFrameworkSrc
+, ... }:
+
+buildPythonPackage rec {
+  name = "rcg_pipeline";
+  version = "1.0.0";
+  format = "pyproject";
+
+  src = rbsFrameworkSrc;
+
+  sourceRoot = "${src.name}/rcg_pipeline";
+
+  nativeBuildInputs = [
+    setuptools
+  ];
+
+  propagatedBuildInputs = [
+    numpy
+    bpy-lib
+  ];
+
+  # TODO - see later, pyproject.toml duntime deps check doesnt work
+  dontCheckRuntimeDeps = true;
+
+  pythonImportsCheck = [ "rcg_pipeline" ];
+
+  meta = with lib; {
+    description = "Robossembler CG Pipeline Python Module";
+    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}

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 ];
+      });
+    }
+  );
+}