nix: move package to nixpkgs

.github/workflows/nix.yml

-name: "Nix CI"
+name: "CI - Nix"
 
-on: [pull_request, push]
+on:
+  push:
 
 jobs:
   tests:
@@ -11,10 +12,9 @@ jobs:
         os: [ubuntu]
     steps:
       - uses: actions/checkout@v4
-      - uses: DeterminateSystems/nix-installer-action@main
-      - uses: DeterminateSystems/magic-nix-cache-action@main
-      - run: nix --accept-flake-config build -L
-      - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
-        if: github.repository_owner == 'humanoid-path-planner'
-        env:
-          CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

default.nix

-{
-  lib,
-  cddlib,
-  clp,
-  cmake,
-  glpk,
-  hpp-centroidal-dynamics,
-  ndcurves,
-  python3Packages,
-  qpoases,
-}:
-
-python3Packages.buildPythonPackage {
-  pname = "hpp-bezier-com-traj";
-  version = "5.0.0";
-  pyproject = false;
-
-  src = lib.fileset.toSource {
-    root = ./.;
-    fileset = lib.fileset.unions [
-      ./CMakeLists.txt
-      ./include
-      ./package.xml
-      ./python
-      ./src
-      ./tests
-    ];
-  };
-
-  strictDeps = true;
-
-  nativeBuildInputs = [ cmake ];
-
-  propagatedBuildInputs = [
-    cddlib
-    clp
-    glpk
-    hpp-centroidal-dynamics
-    ndcurves
-    qpoases
-  ];
-
-  cmakeFlags = [ "-DUSE_GLPK=ON" ];
-
-  doCheck = true;
-
-  pythonImportsCheck = [ "hpp_bezier_com_traj" ];
-
-  meta = {
-    description = "Multi contact trajectory generation for the COM using Bezier curves";
-    homepage = "https://github.com/humanoid-path-planner/hpp-bezier-com-traj";
-    license = lib.licenses.bsd2;
-    maintainers = [ lib.maintainers.nim65s ];
-  };
-}

flake.lock

@@ -20,65 +20,17 @@
         "type": "github"
       }
     },
-    "hpp-centroidal-dynamics": {
-      "inputs": {
-        "flake-parts": [
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719769266,
-        "narHash": "sha256-z5JfncCDNHYhpGZ+CDiq/o/1g7bGbfiBrcEx0aIoD6w=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-centroidal-dynamics",
-        "rev": "f4622a437cf7a596897f38d61e5477a7b6387877",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-centroidal-dynamics",
-        "type": "github"
-      }
-    },
-    "ndcurves": {
-      "inputs": {
-        "flake-parts": [
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719583351,
-        "narHash": "sha256-N0XZQGm4uNArzPHbSl9bBM0kTwi7cCDOzPCM3lJ98Gk=",
-        "owner": "loco-3d",
-        "repo": "ndcurves",
-        "rev": "e84762286a356e185f38c9846ee8a9c4c49be43b",
-        "type": "github"
-      },
-      "original": {
-        "owner": "loco-3d",
-        "ref": "release/1.5.0",
-        "repo": "ndcurves",
-        "type": "github"
-      }
-    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1719674427,
-        "narHash": "sha256-z2hCpVyfnmYTA5iabf1SW4peFV9itE1JJcXNBKIFkDg=",
-        "owner": "nim65s",
+        "lastModified": 1727174734,
+        "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
+        "owner": "gepetto",
         "repo": "nixpkgs",
-        "rev": "b81610d293fac26c2ec6a81718a979bc25f8c155",
+        "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
         "type": "github"
       },
       "original": {
-        "owner": "nim65s",
-        "ref": "gepetto",
+        "owner": "gepetto",
         "repo": "nixpkgs",
         "type": "github"
       }
@@ -86,8 +38,6 @@
     "root": {
       "inputs": {
         "flake-parts": "flake-parts",
-        "hpp-centroidal-dynamics": "hpp-centroidal-dynamics",
-        "ndcurves": "ndcurves",
         "nixpkgs": "nixpkgs"
       }
     }

flake.nix

@@ -2,27 +2,16 @@
   description = "Multi contact trajectory generation for the COM using Bezier curves";
 
   inputs = {
-    nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+    nixpkgs.url = "github:gepetto/nixpkgs";
     flake-parts = {
       url = "github:hercules-ci/flake-parts";
       inputs.nixpkgs-lib.follows = "nixpkgs";
     };
-    hpp-centroidal-dynamics = {
-      url = "github:humanoid-path-planner/hpp-centroidal-dynamics";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
-    ndcurves = {
-      url = "github:loco-3d/ndcurves/release/1.5.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
   };
 
   outputs =
-    inputs@{ flake-parts, ... }:
-    flake-parts.lib.mkFlake { inherit inputs; } {
-      imports = [ ];
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
       systems = [
         "x86_64-linux"
         "aarch64-linux"
@@ -30,21 +19,25 @@
         "x86_64-darwin"
       ];
       perSystem =
+        { pkgs, self', ... }:
         {
-          self',
-          pkgs,
-          system,
-          ...
-        }:
-        {
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
           packages = {
-            inherit (pkgs) cachix;
-            default = pkgs.callPackage ./. {
-              hpp-centroidal-dynamics = inputs.hpp-centroidal-dynamics.packages.${system}.default;
-              ndcurves = inputs.ndcurves.packages.${system}.default;
-            };
+            default = self'.packages.hpp-bezier-com-traj;
+            hpp-bezier-com-traj = pkgs.hpp-bezier-com-traj.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./include
+                  ./package.xml
+                  ./python
+                  ./src
+                  ./tests
+                ];
+              };
+            });
           };
-          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
         };
     };
 }