Merge branch 'framework-packages'

flake.nix

@@ -20,15 +20,19 @@
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          pkgs = import nixpkgs { inherit system; overlays = [ 
+          pkgs = import nixpkgs { inherit system;
-            (import ./overlay.nix)
+            overlays = [ 
-            gazebo-overlay.overlays.default
+              (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
         {
 
@@ -40,7 +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;

pkgs/default.nix

@@ -4,8 +4,14 @@ self: super: with self.lib; let
 
   rbsFrameworkSrc = self.fetchgit {
     url = "https://gitlab.com/robossembler/framework";
-    hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
+    hash = "sha256-q1032Lu2xnMWZkr+T0rLhbpdmceDHygHC6BN3AKbFVk=";
-    rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
+    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: {
@@ -108,4 +114,8 @@ in {
     import sys
     rcg_full_pipeline(sys.argv[1])
     '';
+
+  pddl-spec-gen = pddlSpecGeneratorSrc;
+  dataset-gen = rbsFrameworkSrc;
+
 }