From 9c9356f385c96bb59c840a99dd06c0f7b211665e Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@dezcom.org>
Date: Tue, 10 Dec 2024 14:14:34 +0000
Subject: [PATCH 1/3] Unfree allow blender

---
 flake.nix | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/flake.nix b/flake.nix
index d3a0835..0a3803c 100644
--- a/flake.nix
+++ b/flake.nix
@@ -20,15 +20,19 @@
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          pkgs = import nixpkgs { inherit system; overlays = [ 
-            (import ./overlay.nix)
-            gazebo-overlay.overlays.default
+          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)
             ];
           };
-          ros = import ros-nixpkgs { inherit system; overlays = [
-            ros-overlay.overlays.default
-            (import ./ros)
-          ];};
         in
         {
 

From fa6d03b6870ad7fb9ff72823bd210d3ec03f9ee7 Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Tue, 10 Dec 2024 18:02:52 +0300
Subject: [PATCH 2/3] update src for robossembler framework with submodules

---
 pkgs/default.nix | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pkgs/default.nix b/pkgs/default.nix
index b4319af..fd7e945 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -4,8 +4,8 @@ self: super: with self.lib; let
 
   rbsFrameworkSrc = self.fetchgit {
     url = "https://gitlab.com/robossembler/framework";
-    hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
-    rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
+    hash = "sha256-q1032Lu2xnMWZkr+T0rLhbpdmceDHygHC6BN3AKbFVk=";
+    rev = "69b8512d6b5dafe0571b5d73a910a26bbc6a84a5";
   };
   
   bpy = self.blender.overrideAttrs (old: {

From 63811823bddb2906008dd5e368cfd5caac1c11a3 Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Thu, 12 Dec 2024 18:59:29 +0300
Subject: [PATCH 3/3] add  pddl-spec-gen dataset-gen as packages

---
 flake.nix        |  2 +-
 pkgs/default.nix | 10 ++++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/flake.nix b/flake.nix
index 0a3803c..451a443 100644
--- a/flake.nix
+++ b/flake.nix
@@ -44,7 +44,7 @@
           };
 
           packages = {
-            inherit (pkgs) cad-gen cg-gen blender;
+            inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
           };
 
           inherit ros pkgs;
diff --git a/pkgs/default.nix b/pkgs/default.nix
index b4319af..a22155a 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -7,6 +7,12 @@ self: super: with self.lib; let
     hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
     rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
   };
+
+  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";
@@ -108,4 +114,8 @@ in {
     import sys
     rcg_full_pipeline(sys.argv[1])
     '';
+
+  pddl-spec-gen = pddlSpecGeneratorSrc;
+  dataset-gen = rbsFrameworkSrc;
+
 }