.envrc

@@ -0,0 +1,5 @@
+if ! has nix_direnv_version || ! nix_direnv_version 2.3.0; then
+    source_url "https://raw.githubusercontent.com/nix-community/nix-direnv/2.3.0/direnvrc" "sha256-Dmd+j63L84wuzgyjITIfSxSD57Tx7v51DMxVZOsiUD8="
+fi
+use flake
+

.gitignore

@@ -1 +1,3 @@
 result
+*-profile*
+.direnv

flake.lock

@@ -5,11 +5,11 @@
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1681202837,
+        "lastModified": 1689068808,
-        "narHash": "sha256-H+Rh19JDwRtpVPAWp64F+rlEtxUWBAQW28eAi3SRSzg=",
+        "narHash": "sha256-6ixXo3wt24N/melDWjq70UuHQLxGV8jZvooRanIHXw0=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "cfacdce06f30d2b68473a46042957675eebb3401",
+        "rev": "919d646de7be200f3bf08cb76ae1f09402b6f9b4",
         "type": "github"
       },
       "original": {
@@ -23,11 +23,11 @@
         "systems": "systems_2"
       },
       "locked": {
-        "lastModified": 1681202837,
+        "lastModified": 1685518550,
-        "narHash": "sha256-H+Rh19JDwRtpVPAWp64F+rlEtxUWBAQW28eAi3SRSzg=",
+        "narHash": "sha256-o2d0KcvaXzTrPRIo0kOLV0/QXHhDQ5DTi+OxcjO8xqY=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "cfacdce06f30d2b68473a46042957675eebb3401",
+        "rev": "a1720a10a6cfe8234c0e93907ffe81be440f4cef",
         "type": "github"
       },
       "original": {
@@ -38,11 +38,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1685043182,
+        "lastModified": 1690924695,
-        "narHash": "sha256-eL1j47UUPVRI8itz/4EUah9cVtZtuII6m/jSE+mBn7A=",
+        "narHash": "sha256-1yshNzds/qJztMoJk0Sa2xhKwSLaOAuepR6ABWbrgRU=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "ba5d0dc56bddf881ca7bb62266351a9692a8d157",
+        "rev": "7282565b1ca9ba7b293b899411e70167f4a7c1ff",
         "type": "github"
       },
       "original": {
@@ -54,11 +54,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1681059042,
+        "lastModified": 1687112859,
-        "narHash": "sha256-f6HH1U/+YbM7vjnOOydPJt/Ia7Rn+ApCOryFNb3eGbk=",
+        "narHash": "sha256-oJhMiKnJeb47gTxyyIgAJf+aWC4IbVmG3wgL3ZVJ0Eg=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "28aa66a5d7d196573aed06968b2e37ab98875511",
+        "rev": "f68a0d0fd7539d93c7454989f71fd1c824f3b46f",
         "type": "github"
       },
       "original": {
@@ -81,11 +81,11 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1684512309,
+        "lastModified": 1690347395,
-        "narHash": "sha256-tIfBfgVqYWJycuTMo03NH4TS29f9FGCfz1ubYKJyD2s=",
+        "narHash": "sha256-FUAvjcpVyDMZ2zCqUrpGlLtRZlF3PqW2alpyi82bMa8=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "24dbaec76c6e9caf2a22ffd63ffd8b15667bd7e5",
+        "rev": "3205dadcff4e1fbc779ce3962bafcf3e9f3e931b",
         "type": "github"
       },
       "original": {

flake.nix

@@ -10,9 +10,16 @@
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          pkgs = nixpkgs.legacyPackages.${system};
+          pkgs = nixpkgs.legacyPackages.${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
+          };
+
           # 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
@@ -28,17 +35,21 @@
           });
           
           # robossembler custom packages; defined here for share between devShells and packages
-          blender = pkgs.callPackage ./pkgs/misc/blender { };
+          blender = pkgs.callPackage ./pkgs/misc/blender
+            { inherit (pkgs.darwin.apple_sdk.frameworks) Cocoa CoreGraphics ForceFeedback OpenAL OpenGL; };
           bpy = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
           pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
           darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
-          open3d = pkgs.callPackage ./open3d.nix { };
+          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 { webdataset = webdataset; };
+          spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { ansitable = ansitable; };
           slic3r = pkgs.callPackage ./pkgs/misc/slic3r { };
         in
         {
@@ -52,7 +63,7 @@
           };
 
           packages = {
-            inherit mayo blender bpy pysdf fstl darknet unified-planning slic3r megapose6d;
+            inherit mayo blender bpy pysdf fstl darknet unified-planning slic3r megapose6d test-script;
             gazebo = ros.humble.gazebo;
           };
 
@@ -90,21 +101,42 @@
                 image-transport
                 cv-bridge
                 example-interfaces
-              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat ]) ++ [ megapose6d ];
+              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat ]);
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
             };
 
           devShells.all = pkgs.mkShell { 
             packages = [ mayo blender bpy pysdf fstl darknet slic3r ];
           };
-          devShells.bpy = pkgs.mkShell { packages = [ bpy pysdf pkgs.freecad blender ]; };
+
-          devShells.up =
+          devShells.default =
             let
-              my-python-packages = p: with p; [ unified-planning ]; 
+              my-python-packages = p: with p; [ 
+                bpy
+                pysdf
+                unified-planning 
+                pybullet
+                scipy
+                spatialmath
+              ];
             in
             pkgs.mkShell {
-              packages = [ (pkgs.python3.withPackages my-python-packages) ];
+              packages = [ (pkgs.python3.withPackages my-python-packages) pkgs.freecad mayo ];
+              buildInputs = [  ];
+
+              # Run when the shell is started up
+              shellHook = ''
+                ${pkgs.python3}/bin/python --version
+              '';
             };
         }
       );
+
+  nixConfig = {
+    extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" ];
+    extra-trusted-public-keys = [ 
+      "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo="
+      "robossembler.cachix.org-1:56jBJHroRQSGpZFkW8XMquuzQTjAF/XTo6MogmBM7SQ="
+    ];
+  };
 }

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

@@ -0,0 +1,33 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, colored
+, numpy
+}:
+
+buildPythonPackage rec {
+  pname = "ansitable";
+  version = "0.9.7";
+  format = "setuptools";
+
+  src = fetchFromGitHub {
+    owner = "petercorke";
+    repo = "ansitable";
+    rev = version;
+    hash = "sha256-LRSdnHLcmQfwSpxnd3JjaLzpECWWnzi8aWLanu9qRUI=";
+  };
+
+  propagatedBuildInputs = [
+    colored
+    numpy
+  ];
+
+  pythonImportsCheck = [ "ansitable" ];
+
+  meta = with lib; {
+    description = "Quick, easy and pretty display of tabular data or matrices, with optional ANSI color and borders";
+    homepage = "https://github.com/petercorke/ansitable";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}

pkgs/development/python-modules/open3d/default.nix

@@ -0,0 +1,71 @@
+{ stdenv, lib, buildPythonPackage, fetchPypi, scipy, scikitlearn, numpy
+, matplotlib, ipywidgets, plyfile, pandas, pyyaml, tqdm, tree, unzip, zip
+, autoPatchelfHook, pytorchWithCuda, libtensorflow-bin, libusb, cudaPackages
+, libGL }:
+
+let
+  addict = buildPythonPackage {
+    pname = "addict";
+    version = "2.4.0";
+
+    src = fetchPypi {
+      pname = "addict";
+      version = "2.4.0";
+      sha256 = "1574sicy5ydx9pvva3lbx8qp56z9jbdwbj26aqgjhyh61q723cmk";
+    };
+  };
+
+in buildPythonPackage {
+  pname = "open3d";
+  version = "0.12.0";
+  format = "wheel";
+
+  src = fetchPypi {
+    pname = "open3d";
+    version = "0.12.0";
+    format = "wheel";
+    python = "cp37";
+    abi = "cp37m";
+    platform = "manylinux2014_x86_64";
+    sha256 = "11ysnk2wni4ffg5gipi5yx0i7qa2p11rfaqgwzlp6f1z4fgfsiac";
+  };
+
+  # sklearn dependency does not exist ofc... Why can't people
+  # package their shit normally. This tilts me so much.
+  patchPhase = ''
+    ${unzip}/bin/unzip ./dist/open3d-0.12.0-cp37-cp37m-manylinux2014_x86_64.whl -d tmp
+    rm ./dist/open3d-0.12.0-cp37-cp37m-manylinux2014_x86_64.whl
+    sed -i 's/sklearn/scikit-learn/g' tmp/open3d-0.12.0.dist-info/METADATA
+    cd tmp
+    ${zip}/bin/zip -0 -r ../dist/open3d-0.12.0-cp37-cp37m-manylinux2014_x86_64.whl ./*
+    cd ../
+  '';
+
+  nativeBuildInputs = [
+    autoPatchelfHook
+  ];
+
+  buildInputs = [
+    # so deps
+    stdenv.cc.cc.lib
+    libusb.out
+    pytorchWithCuda
+    libtensorflow-bin
+    cudaPackages.cudatoolkit_10_1.lib
+    libGL
+  ];
+
+  propagatedBuildInputs = [
+    # py deps
+    ipywidgets
+    tqdm
+    pyyaml
+    pandas
+    plyfile
+    scipy
+    scikitlearn
+    numpy
+    addict
+    matplotlib
+  ];
+}

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

@@ -0,0 +1,71 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, setuptools
+, ansitable
+, matplotlib
+, numpy
+, scipy
+, typing-extensions
+, coverage
+, flake8
+, pytest
+, pytest-timeout
+, pytest-xvfb
+, sympy
+, sphinx
+, sphinx-autodoc-typehints
+, sphinx-rtd-theme
+, sphinxcontrib-jsmath
+}:
+
+buildPythonPackage rec {
+  pname = "spatialmath";
+  version = "unstable-2023-06-07";
+  format = "pyproject";
+
+  src = fetchFromGitHub {
+    owner = "petercorke";
+    repo = "spatialmath-python";
+    rev = "0a7761dcd563e91eb55e75d8f0b2a93198762315";
+    hash = "sha256-kawe9yHX7T+Bvy7BfuKbotEjlnpynQAooBsynGJSfjo=";
+  };
+
+  nativeBuildInputs = [
+    setuptools
+  ];
+
+  propagatedBuildInputs = [
+    ansitable
+    matplotlib
+    numpy
+    scipy
+    typing-extensions
+  ];
+
+  passthru.optional-dependencies = {
+    dev = [
+      coverage
+      flake8
+      pytest
+      pytest-timeout
+      pytest-xvfb
+      sympy
+    ];
+    docs = [
+      sphinx
+      sphinx-autodoc-typehints
+      sphinx-rtd-theme
+      sphinxcontrib-jsmath
+    ];
+  };
+
+  pythonImportsCheck = [ "spatialmath" ];
+
+  meta = with lib; {
+    description = "Create,  manipulate and convert representations of position and orientation in 2D or 3D using Python";
+    homepage = "https://github.com/petercorke/spatialmath-python";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}

pkgs/development/python-modules/test-script/default.nix

@@ -0,0 +1,25 @@
+{ writers, python3Packages }:
+writers.writePython3Bin "test-script" { libraries = []; } ''
+import sys
+import os
+
+
+def my_function():
+    arg = sys.argv[1]
+    number = int(arg)
+    if (number == 1):
+        os.makedirs('13')
+    if (number == 2):
+        raise Exception("error")
+    if (number == 3):
+        print(200)
+        print(200)
+        print(200)
+        print(200)
+        print(200)
+        print(200)
+
+
+if __name__ == '__main__':
+    my_function()
+''

pkgs/development/python-modules/unified-planning/default.nix

@@ -1,7 +1,6 @@
 { lib
 , python3
 , fetchFromGitHub
-, fetchPypi
 , clingo
 }:
 let
@@ -10,9 +9,9 @@ let
   antlr472-python3-runtime = buildPythonPackage rec {
     pname = "antlr4-python3-runtime";
     version = "v4.7.2";
-    src = fetchPypi {
+    src = builtins.fetchTarball {
-      inherit pname version;
+      url = "https://files.pythonhosted.org/packages/29/14/8ac135ec7cc9db3f768e2d032776718c6b23f74e63543f0974b4873500b2/antlr4-python3-runtime-4.7.2.tar.gz";
-      hash = "sha256-Fozc7I+5FS6EqHym/SYbPVTI9jWPQqs7gTsUpxk7tQs=";
+      sha256 = "0m7axw4fys10da5bwpz39nkdji15z8jka3w11m5dx0ym0lag0qvh";
     };
     meta = with lib; {
       description = "Runtime for ANTLR";