STEP file parser

wip
Add test device and camera package, devshell for CI nix-ros-overlay
2024-03-22 16:31:17 +03:00 · 2024-03-05 19:12:13 +03:00 · 2024-03-05 11:31:14 +03:00 · 2024-02-13 19:08:22 +03:00
34 changed files with 681 additions and 571 deletions
--- a/.envrc
+++ b/.envrc
@ -1 +0,0 @@
 use flake . --impure
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@ -10,7 +10,6 @@ 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:
@ -18,23 +17,18 @@ general-packages:
  inherit:
    default: [before_script, image]
  script:
-    - cachix watch-exec robossembler -- nix develop .#all --impure -c echo "General Packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#all  -c echo "General Packages is BUILT"
 ros-packages:
  stage: build
  inherit:
    default: [before_script, image]
  script:
-    # Gazebo security freeimage-unstable-2021-11-01’ is marked as insecure
+    - cachix watch-exec robossembler -- nix develop .#ros -c echo "ROS environment is BUILT"
    #   /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 --impure -c echo "PERCEPTION packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#perception -c echo "PERCEPTION packages is BUILT"
--- a/README.md
+++ b/README.md
@ -2,11 +2,11 @@
 [Cachix Cache](https://robossembler.cachix.org)
-Для установки в свою систему Blender с настройками Robossembler
+Для установки в свою систему blender 3.4.1
 * `nix profile install gitlab:robossembler/nix-robossembler-overlay#blender`
 Запуск локальных окружений для разработки
-* Python-окружение для Perception навыков робота: `nix develop gitlab:robossembler/nix-robossembler-overlay#perception`
+* Python-модуль bpy: `nix develop gitlab:robossembler/nix-robossembler-overlay#bpy`
 * ROS2 Rolling `nix develop gitlab:robossembler/nix-robossembler-overlay#ros`
 Для внесения изменений в репозиторий:
--- a/default.nix
+++ b/default.nix
@ -1,4 +1,4 @@
-{ mkDerivation, pkgs, mayo, wrapQtAppsHook, lib, rbs-workbench, cad-gen, cg-gen }:
+{ mkDerivation, mayo, wrapQtAppsHook, lib }:
 let
  step2stl = 
    name: file:
@ -20,63 +20,6 @@ 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
--- a/flake.lock
+++ b/flake.lock
@ -1,21 +1,6 @@
 {
  "nodes": {
    "flake-utils": {
      "locked": {
        "lastModified": 1659877975,
        "narHash": "sha256-zllb8aq3YO3h8B/U0/J1WBgAL8EX5yWf5pMj3G0NAmc=",
        "owner": "numtide",
        "repo": "flake-utils",
        "rev": "c0e246b9b83f637f4681389ecabcb2681b4f3af0",
        "type": "github"
      },
      "original": {
        "owner": "numtide",
        "repo": "flake-utils",
        "type": "github"
      }
    },
    "flake-utils_2": {
      "inputs": {
        "systems": "systems"
      },
@ -33,83 +18,7 @@
        "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": 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": "3541c7628de9414f999ced044c95a284584f4ec1",
        "type": "github"
      },
      "original": {
        "owner": "NixOS",
        "ref": "master",
        "repo": "nixpkgs",
        "type": "github"
      }
    },
    "nixpkgs_3": {
      "locked": {
        "lastModified": 1707268954,
        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
@ -128,29 +37,27 @@
    "root": {
      "inputs": {
        "flake-utils": [
-          "ros-overlay",
+          "ros-flake",
          "flake-utils"
        ],
-        "gazebo-overlay": "gazebo-overlay",
+        "nixpkgs": [
-        "nixpkgs": "nixpkgs_2",
+          "ros-flake",
        "ros-nixpkgs": [
          "ros-overlay",
          "nixpkgs"
        ],
-        "ros-overlay": "ros-overlay"
+        "ros-flake": "ros-flake"
      }
    },
-    "ros-overlay": {
+    "ros-flake": {
      "inputs": {
-        "flake-utils": "flake-utils_2",
+        "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs_3"
+        "nixpkgs": "nixpkgs"
      },
      "locked": {
-        "lastModified": 1715462692,
+        "lastModified": 1709607719,
-        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
+        "narHash": "sha256-+oTI07ElC5VcaERw/DjPqhuazsUph01dnnBijHor9KU=",
        "owner": "lopsided98",
        "repo": "nix-ros-overlay",
-        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
+        "rev": "4dc55d14c34472a47897b0b4b79cce7b2ebad7a4",
        "type": "github"
      },
      "original": {
--- a/flake.nix
+++ b/flake.nix
@ -1,104 +1,219 @@
 {
  description = "Robossembler Development Environments on Nix";
  inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
+    nixpkgs.follows = "ros-flake/nixpkgs";
-    flake-utils.follows = "ros-overlay/flake-utils";
+    flake-utils.follows = "ros-flake/flake-utils";
-    ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
+    ros-flake.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-overlay, ros-nixpkgs, gazebo-overlay, flake-utils }:
+  outputs = { self, nixpkgs, ros-flake, flake-utils }:
    flake-utils.lib.eachDefaultSystem
      (system:
        let
-          pkgs = import nixpkgs { inherit system;
+          pkgs = nixpkgs.legacyPackages.${system}.extend overlay;
-            overlays = [ 
+          ros = ros-flake.legacyPackages.${system};
-              (import ./overlay.nix)
+
-              gazebo-overlay.overlays.default
+          overlay = final: prev: {
-            ];
+            # -- PLACEHOLDER for overlay
-            config.allowUnfree = true; # for cuda
+            # freecad = prev.freecad.overrideAttrs
-          };
+            #   (old: { cmakeFlags = old.cmakeFlags ++ [ "-DBUILD_GUI=OFF" ]; });
-          ros = import ros-nixpkgs { inherit system;
+            # cmakeFlag -BUILD_GUI=OFF for build without gui
-            overlays = [
+            pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
-              ros-overlay.overlays.default
+              (
-              (import ./ros)
+                python-final: python-prev: {
                  iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
                    version = "unstable";
                    src = pkgs.fetchFromGitHub {
                      owner = "facebookresearch";
                      repo = "iopath";
                      rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
                      hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
                    };
                  });
                }
              )
            ];
          };
          # 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; };
          test-system = pkgs.callPackage ./pkgs/systems/test { };
        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 (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
+            inherit mayo pysdf fstl unified-planning test-script blender;
          };
-          inherit ros pkgs;
+          devices = {
            inherit test-system;
          };
-          devShells = {
+          devShells.camera = 
-            default =
+            pkgs.mkShell {
              buildInputs = (with humble-overrided; [
                ros-core
                realsense2-camera
                realsense2-description
              ]);
            };
          devShells.ci = pkgs.mkShell {
            buildInputs = 
              (with pkgs; [ jq ]) ++ 
              (with humble-overrided; [ 
                superflore
                (python3.withPackages (p: with p; [ python3Packages.rosdep python3Packages.rosdistro ]))
              ]); 
          };
          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 =
            let
              my-python-packages = p: with p; [ 
                pysdf
                unified-planning
                pybullet
                scipy
                spatialmath
-                rcg-pipeline
+                bpy
                rbs-workbench
              ];
            in
            pkgs.mkShell {
-              packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
+              packages = [ (pkgs.python3.withPackages my-python-packages) pkgs.freecad mayo pkgs.bashInteractive ];
              buildInputs = [  ];
              # Run when the shell is started up
              shellHook = ''
                ${pkgs.python3}/bin/python --version
              '';
            };
            ros = pkgs.mkShell {
              name = "ROS environment";
              packages = [
                ros.colcon
                (with ros.rosPackages.humble; buildEnv {
                  paths = [
                    ros-core
                    rmw-fastrtps-dynamic-cpp
                  ];
                })
              ];
              # ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
            };
            all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
            ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
            gazebo = gazebo-overlay.devShells.${system}.default;
            perception =
              let
                perception-packages = p: with p; [
                  torch
                  torchvision
                  torchaudio
                  detectron2
                ];
              in
              pkgs.mkShell {
                packages = [ (pkgs.python3.withPackages perception-packages) ];
              };
          }; 
        }
      );
--- a/overlay.nix
+++ b/overlay.nix
@ -1,5 +0,0 @@
 final: prev: with prev.lib;
 foldr composeExtensions (_: _: {}) [
  (import ./pkgs)
  (import ./ros)
 ] final prev
--- a/parse_step_file.py
+++ b/parse_step_file.py
@ -0,0 +1,33 @@
 import sys
 import SimpleITK
 from OCC.Exchange import STEPControl_Reader
 from OCC.IFSelect import IFSelect_RetDone
 from OCC.TopoDS import TopoDS_Shape
 def save_shape(shape, filename):
    from OCC.STEPControl import STEPControl_Writer
    writer = STEPControl_Writer()
    writer.Transfer(shape, STEPControl_Reader().StepModel(), False)
    writer.Write(filename)
 def parse_step_file(filepath):
    reader = STEPControl_Reader()
    status = reader.ReadFile(filepath.encode('utf-8'))
    if status == IFSelect_RetDone:
        nbr = reader.NbRootsForTransfer()
        reader.TransferRoots()
        shapes = [reader.Shape(i) for i in range(1, nbr + 1)]
        solids = []
        for i, shape in enumerate(shapes, start=1):
            filename = f"solid_{i}.step"
            save_shape(shape, filename)
            solids.append({"name": f"solid_{i}", "file": filename})
        return solids
 if __name__ == "__main__":
    step_file_path = sys.argv[1]
    solids = parse_step_file(step_file_path)
    print(solids)  # This print is simplistic; in practice, you might write this to a file or handle differently.
--- a/pkgs/blender/default.nix
+++ b/pkgs/blender/default.nix
@ -1,34 +0,0 @@
 { 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/
    '';
  })
--- a/pkgs/bpy-lib/default.nix
+++ b/pkgs/bpy-lib/default.nix
@ -1,14 +0,0 @@
 { 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
  '';
 }
--- a/pkgs/bpy-wheel/default.nix
+++ b/pkgs/bpy-wheel/default.nix
@ -1,31 +0,0 @@
 { 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 ];
  };
 }
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@ -1,121 +0,0 @@
 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;
 }
--- a/pkgs/development/python-modules/ansitable/default.nix
+++ b/pkgs/development/python-modules/ansitable/default.nix
--- a/pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch
+++ b/pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch
@ -0,0 +1,10 @@
 --- 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"
--- a/pkgs/development/python-modules/bpy/blender-fix-desktop.patch
+++ b/pkgs/development/python-modules/bpy/blender-fix-desktop.patch
@ -0,0 +1,10 @@
 --- 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;
--- a/pkgs/development/python-modules/bpy/cg-defaults.patch
+++ b/pkgs/development/python-modules/bpy/cg-defaults.patch
@ -0,0 +1,84 @@
 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, \
--- a/pkgs/development/python-modules/bpy/cg_environment.patch
+++ b/pkgs/development/python-modules/bpy/cg_environment.patch
@ -0,0 +1,45 @@
 --- /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()
--- a/pkgs/development/python-modules/bpy/default.nix
+++ b/pkgs/development/python-modules/bpy/default.nix
@ -0,0 +1,213 @@
 # 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";
  };
 }
--- a/pkgs/development/python-modules/bpy/x112.patch
+++ b/pkgs/development/python-modules/bpy/x112.patch
@ -0,0 +1,46 @@
 --- 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)
--- a/pkgs/development/python-modules/megapose6d/default.nix
+++ b/pkgs/development/python-modules/megapose6d/default.nix
--- a/pkgs/development/python-modules/open3d/default.nix
+++ b/pkgs/development/python-modules/open3d/default.nix
--- a/pkgs/development/python-modules/pysdf/default.nix
+++ b/pkgs/development/python-modules/pysdf/default.nix
--- a/pkgs/development/python-modules/pytorch3d/default.nix
+++ b/pkgs/development/python-modules/pytorch3d/default.nix
--- a/pkgs/development/python-modules/spatialmath/default.nix
+++ b/pkgs/development/python-modules/spatialmath/default.nix
--- a/pkgs/development/python-modules/test-script/default.nix
+++ b/pkgs/development/python-modules/test-script/default.nix
--- a/pkgs/development/python-modules/unified-planning/default.nix
+++ b/pkgs/development/python-modules/unified-planning/default.nix
--- a/pkgs/development/python-modules/webdataset/default.nix
+++ b/pkgs/development/python-modules/webdataset/default.nix
--- a/pkgs/freecad-lib/default.nix
+++ b/pkgs/freecad-lib/default.nix
@ -1,14 +0,0 @@
 { 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
  '';
 }
--- a/pkgs/freecad.robossembler/default.nix
+++ b/pkgs/freecad.robossembler/default.nix
@ -1,45 +0,0 @@
 { 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 = "${src.name}/freecad_workbench";
  nativeBuildInputs = [
    setuptools
  ];
  buildInputs = [ freecad-lib ];
  propagatedBuildInputs = [
    freecad-lib
  ];
  pythonImportsCheck = [ "freecad.robossembler" ];
  doCheck = false;
  meta = with lib; {
    description = "Robossembler CG Pipeline Python Module";
    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
    license = licenses.mit;
    maintainers = with maintainers; [ ];
  };
 }
--- a/pkgs/misc/fstl/default.nix
+++ b/pkgs/misc/fstl/default.nix
--- a/pkgs/misc/mayo/default.nix
+++ b/pkgs/misc/mayo/default.nix
@ -9,13 +9,13 @@
 stdenv.mkDerivation rec {
  pname = "mayo";
-  version = "0.8.0";
+  version = "0.6.0";
  src = fetchFromGitHub {
    owner = "fougue";
    repo = "mayo";
    rev = "v${version}";
-    hash = "sha256-/MavLqC3BBRmlqMZIhKEYJPTV6pvLKlCNMXGJ6vnmUg=";
+    hash = "sha256-seRk02jYiABjoO35AG47ioCByBIdLibJ4QHLeXW8cXQ=";
  };
  buildInputs = [ qtbase opencascade-occt ];
--- a/pkgs/rcg-pipeline/default.nix
+++ b/pkgs/rcg-pipeline/default.nix
@ -1,44 +0,0 @@
 { 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; [ ];
  };
 }
--- a/pkgs/systems/test/default.nix
+++ b/pkgs/systems/test/default.nix
@ -0,0 +1,36 @@
 { lib
 , stdenv
 , fetchgit
 }:
 stdenv.mkDerivation rec {
  pname = "grip-tool";
  version = "unstable";
  src = fetchgit {
    url = "https://gitlab.com/robossembler/assets-library";
    rev = "876ad8c479c6043089e1cf08b2b8a456560a512c";
    hash = "sha256-3pAbfO0stHTt3drOgVJ44Al/rZc+XQ9/KGUJqxQIhl8=";
    fetchLFS = true;
  };
  device = true;
  outputs = [ "out" "blend" "doc" ];
  installPhase = ''
    mkdir $doc
    cp '${src}/README.md' $doc
    mkdir $blend
    ln -s ${src}/blender/assets/robossembler-asset.blend $blend
    mkdir $out
    cp -r ${src} $out
  '';
  meta = with lib; {
    description = "Robossembler Assets Library";
    homepage = "https://gitlab.com/robossembler/forks/robossembler-stuff";
    license = with licenses; [ ];
    maintainers = with maintainers; [ ];
  };
 }
--- a/ros/default.nix
+++ b/ros/default.nix
@ -1,17 +0,0 @@
 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 ];
      });
    }
  );
 }
Author	SHA1	Message	Date
Igor Brylyov	27738cd215	STEP file parser	2024-03-22 16:31:17 +03:00
Igor Brylyov	0e599a886e	wip	2024-03-05 19:12:13 +03:00
Igor Brylyov	ad54d2e26d	Add test device and camera package, devshell for CI nix-ros-overlay	2024-03-05 11:31:14 +03:00
Igor Brylyov	518c912058	nixpkgs input follows nix-ros-overlay	2024-02-13 19:08:22 +03:00