flake.nix

@@ -22,6 +22,13 @@
           # pkgs = nixpkgs.legacyPackages.${system}.extend overlay;
           ros = ros-flake.legacyPackages.${system};
 
+          # single source for Robossembler Framework packages
+          rbsFrameworkSrc = pkgs.fetchgit {
+            url = "https://gitlab.com/robossembler/framework";
+            hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
+            rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
+          };
+
           pkgs = import nixpkgs { inherit system; overlays = [ overlay gazebo.overlays.default ]; };
 
           overlay = final: prev: {
@@ -32,7 +39,7 @@
             pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
               (
                 python-final: python-prev: {
-                  iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
+                 iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
                     version = "unstable";
                     src = pkgs.fetchFromGitHub {
                       owner = "facebookresearch";
@@ -110,14 +117,11 @@
               "-DWITH_INSTALL_PORTABLE=ON"
             ];
             postInstall = ''
-              mkdir -p $out/lib/python${pkgs.python3.pythonVersion}/site-packages
               mkdir -p $out/nix-support
-              mv $out/bpy $out/lib/python${pkgs.python3.pythonVersion}/site-packages/
+              mkdir -p $out/lib/python${pkgs.python3.pythonVersion}/site-packages
+              ln -s $out/bpy $out/lib/python${pkgs.python3.pythonVersion}/site-packages/bpy
               echo ${pkgs.python3} >> $out/nix-support/propagated-build-inputs
             '';
-            postFixup = ''
-              buildPythonPath $out/lib/python${pkgs.python3.pythonVersion}/site-packages
-            '';
           });
           bpy-wheel = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy-wheel { };
           pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
@@ -132,7 +136,10 @@
           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; };
-          rcg-pipeline = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/rcg-pipeline { inherit bpy-wheel; };
+          rcg-pipeline = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/rcg-pipeline { bpy = bpy-lib; inherit rbsFrameworkSrc; };
+          rbs-workbench = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/freecad.robossembler { inherit freecad-py; inherit rbsFrameworkSrc; };
+          freecad-py = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./pkgs/misc/freecad-lib { });
+          bpy-lib = pkgs.python3Packages.toPythonModule bpy;
         in
         {
           inherit pkgs;
@@ -145,7 +152,7 @@
           };
 
           packages = {
-            inherit mayo pysdf fstl unified-planning test-script blender bpy bpy-wheel rcg-pipeline;
+            inherit mayo pysdf fstl unified-planning test-script blender bpy bpy-wheel rcg-pipeline freecad-py bpy-lib;
           };
 
           devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
@@ -215,10 +222,16 @@
                 scipy
                 spatialmath
                 rcg-pipeline
+                rbs-workbench
+                ledger
               ];
             in
             pkgs.mkShell {
-              packages = [ (pkgs.python3.withPackages my-python-packages) pkgs.freecad mayo pkgs.bashInteractive ];
+              packages = with pkgs; [ 
+                freecad
+                mayo
+                bashInteractive
+              ] ++ [ (pkgs.python3.withPackages my-python-packages) ];
               buildInputs = [  ];
 
               # Run when the shell is started up

pkgs/development/python-modules/freecad.robossembler/default.nix

@@ -0,0 +1,45 @@
+{ buildPythonPackage
+, fetchgit
+, python3Packages
+, lib
+, autoPatchelfHook
+, pythonImportsCheckHook
+, config
+, setuptools
+, freecad-py
+, 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-py ];
+
+  propagatedBuildInputs = [
+    freecad-py
+  ];
+  
+  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/development/python-modules/rcg-pipeline/default.nix

@@ -8,7 +8,8 @@
 , cudaSupport ? config.cudaSupport
 , numpy
 , setuptools
-, bpy-wheel
+, bpy
+, rbsFrameworkSrc
 , ... }:
 
 buildPythonPackage rec {
@@ -16,13 +17,8 @@ buildPythonPackage rec {
   version = "1.0.0";
   format = "pyproject";
 
-  # src = /home/movefasta/Documents/robossembler/framework;
+  src = rbsFrameworkSrc;
 
-  src = fetchgit {
-    url = "https://gitlab.com/robossembler/framework";
-    hash = "sha256-iLPphGbIGf7IRdedBSC2yJ2M3ttsHATvtOLot/04AZU=";
-    rev = "8268db0dec793bfa42d4fcba24c7d442938b7a25";
-  };
   sourceRoot = "${src.name}/rcg_pipeline";
 
   nativeBuildInputs = [
@@ -31,9 +27,12 @@ buildPythonPackage rec {
 
   propagatedBuildInputs = [
     numpy
-    bpy-wheel
+    bpy
   ];
 
+  # TODO - see later, pyproject.toml duntime deps check doesnt work
+  dontCheckRuntimeDeps = true;
+
   pythonImportsCheck = [ "rcg_pipeline" ];
 
   meta = with lib; {

pkgs/misc/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/misc/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
+  '';
+}