diff --git a/default.nix b/default.nix
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa668f01276bc0ce0ae3aad44fe15dd8654fad
--- /dev/null
+++ b/default.nix
@@ -0,0 +1,42 @@
+{
+ lib,
+ stdenv,
+ cmake,
+ hpp-core,
+ hpp-universal-robot,
+}:
+
+stdenv.mkDerivation {
+ pname = "hpp-manipulation";
+ version = "5.0.0";
+
+ src = lib.fileset.toSource {
+ root = ./.;
+ fileset = lib.fileset.unions [
+ ./CMakeLists.txt
+ ./doc
+ ./include
+ ./package.xml
+ ./plugins
+ ./src
+ ./tests
+ ];
+ };
+
+ strictDeps = true;
+
+ nativeBuildInputs = [ cmake ];
+ propagatedBuildInputs = [
+ hpp-core
+ hpp-universal-robot
+ ];
+
+ doCheck = true;
+
+ meta = {
+ description = "Classes for manipulation planning";
+ homepage = "https://github.com/humanoid-path-planner/hpp-manipulation";
+ license = lib.licenses.bsd2;
+ maintainers = [ lib.maintainers.nim65s ];
+ };
+}
diff --git a/flake.lock b/flake.lock
index 5ac9fdc5b77421ee9346ea4d8d5d2403c6fd4b09..dc076a1056db640280f4d85812b8645cd99bf2cc 100644
--- a/flake.lock
+++ b/flake.lock
@@ -2,7 +2,9 @@
"nodes": {
"flake-parts": {
"inputs": {
- "nixpkgs-lib": "nixpkgs-lib"
+ "nixpkgs-lib": [
+ "nixpkgs"
+ ]
},
"locked": {
"lastModified": 1717285511,
@@ -18,13 +20,216 @@
"type": "github"
}
},
+ "hpp-constraints": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "flake-parts"
+ ],
+ "hpp-pinocchio": "hpp-pinocchio",
+ "hpp-statistics": "hpp-statistics",
+ "hpp-util": "hpp-util",
+ "nixpkgs": [
+ "hpp-core",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719584695,
+ "narHash": "sha256-8K94IgUt8kpdRDASnstfX14cBQN4ZK6+LmvOuq6Sg0I=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-constraints",
+ "rev": "acd1c62fdfcdb329fd0dea19ae2f18e471e3ef08",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-constraints",
+ "type": "github"
+ }
+ },
+ "hpp-core": {
+ "inputs": {
+ "flake-parts": [
+ "flake-parts"
+ ],
+ "hpp-constraints": "hpp-constraints",
+ "nixpkgs": [
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719586831,
+ "narHash": "sha256-oRFZsERQKzaW2NvgcKcxqJZtqtlk7rqDK2inhUTABiQ=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-core",
+ "rev": "733f884a03cde41aeae18758a26b28cf6fdf02fa",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-core",
+ "type": "github"
+ }
+ },
+ "hpp-environments": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-pinocchio",
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-pinocchio",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719580427,
+ "narHash": "sha256-T76zgTJrGm7maKBPwgX+FgQ7MPN7NoLvdZvzARPo9V0=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-environments",
+ "rev": "1c727bcc85145a1f5236357fa73df5a183a31f04",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-environments",
+ "type": "github"
+ }
+ },
+ "hpp-pinocchio": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "hpp-environments": "hpp-environments",
+ "hpp-util": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-util"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719582071,
+ "narHash": "sha256-sRWf973UZIdyrS0fhd+vXdTucR9d7Eks9yU85kcFxfo=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-pinocchio",
+ "rev": "4ec6186223ce18f4c48605421a7ef583fe827352",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-pinocchio",
+ "type": "github"
+ }
+ },
+ "hpp-statistics": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "hpp-util": [
+ "hpp-core",
+ "hpp-constraints",
+ "hpp-util"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719582334,
+ "narHash": "sha256-bzGI7z6hTGkuNs71Vcb3vsVpey1SuR7Okx4rJU1LHFs=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-statistics",
+ "rev": "613b1f9c2788cb33097c1f1c0e4216420665a1e0",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-statistics",
+ "type": "github"
+ }
+ },
+ "hpp-universal-robot": {
+ "inputs": {
+ "flake-parts": [
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719670288,
+ "narHash": "sha256-9gi96DhSqvAHlXUlTs6O7TG/3dTthL2LETHb1rqP75A=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-universal-robot",
+ "rev": "d9308abb98b864da8ab1041f66f6c78aef2e8d53",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-universal-robot",
+ "type": "github"
+ }
+ },
+ "hpp-util": {
+ "inputs": {
+ "flake-parts": [
+ "hpp-core",
+ "hpp-constraints",
+ "flake-parts"
+ ],
+ "nixpkgs": [
+ "hpp-core",
+ "hpp-constraints",
+ "nixpkgs"
+ ]
+ },
+ "locked": {
+ "lastModified": 1719580825,
+ "narHash": "sha256-trfl8A+P7a1gnACnTXNK98TYWWDAOM3PKfkXxpC3X/8=",
+ "owner": "humanoid-path-planner",
+ "repo": "hpp-util",
+ "rev": "0504f15818a92c7a257cd6b60cd8b6092bd6dbfa",
+ "type": "github"
+ },
+ "original": {
+ "owner": "humanoid-path-planner",
+ "ref": "release/5.1.0",
+ "repo": "hpp-util",
+ "type": "github"
+ }
+ },
"nixpkgs": {
"locked": {
- "lastModified": 1719575122,
- "narHash": "sha256-1x3SNH6GtWgpHmhxO4pCz6nidxjCAheF0FpSXSjqRrg=",
+ "lastModified": 1719674427,
+ "narHash": "sha256-z2hCpVyfnmYTA5iabf1SW4peFV9itE1JJcXNBKIFkDg=",
"owner": "nim65s",
"repo": "nixpkgs",
- "rev": "5206f72d0fadec6f15e6130a86c0695ceb5ec92d",
+ "rev": "b81610d293fac26c2ec6a81718a979bc25f8c155",
"type": "github"
},
"original": {
@@ -34,21 +239,11 @@
"type": "github"
}
},
- "nixpkgs-lib": {
- "locked": {
- "lastModified": 1717284937,
- "narHash": "sha256-lIbdfCsf8LMFloheeE6N31+BMIeixqyQWbSr2vk79EQ=",
- "type": "tarball",
- "url": "https://github.com/NixOS/nixpkgs/archive/eb9ceca17df2ea50a250b6b27f7bf6ab0186f198.tar.gz"
- },
- "original": {
- "type": "tarball",
- "url": "https://github.com/NixOS/nixpkgs/archive/eb9ceca17df2ea50a250b6b27f7bf6ab0186f198.tar.gz"
- }
- },
"root": {
"inputs": {
"flake-parts": "flake-parts",
+ "hpp-core": "hpp-core",
+ "hpp-universal-robot": "hpp-universal-robot",
"nixpkgs": "nixpkgs"
}
}
diff --git a/flake.nix b/flake.nix
index 94c479c56943fcf3cafaeca64c7ce4ed9a0cd09b..ed332b0a2befdeed342d154aca61f239ccb4480c 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,21 +1,33 @@
{
- description = "Description for the project";
+ description = "Classes for manipulation planning";
+
+ nixConfig = {
+ extra-substituters = [ "https://gepetto.cachix.org" ];
+ extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
+ };
inputs = {
- flake-parts.url = "github:hercules-ci/flake-parts";
nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+ flake-parts = {
+ url = "github:hercules-ci/flake-parts";
+ inputs.nixpkgs-lib.follows = "nixpkgs";
+ };
+ hpp-core = {
+ url = "github:humanoid-path-planner/hpp-core/release/5.1.0";
+ inputs.nixpkgs.follows = "nixpkgs";
+ inputs.flake-parts.follows = "flake-parts";
+ };
+ hpp-universal-robot = {
+ url = "github:humanoid-path-planner/hpp-universal-robot/release/5.1.0";
+ inputs.nixpkgs.follows = "nixpkgs";
+ inputs.flake-parts.follows = "flake-parts";
+ };
};
outputs =
inputs@{ flake-parts, ... }:
flake-parts.lib.mkFlake { inherit inputs; } {
- imports = [
- # To import a flake module
- # 1. Add foo to inputs
- # 2. Add foo as a parameter to the outputs function
- # 3. Add here: foo.flakeModule
-
- ];
+ imports = [ ];
systems = [
"x86_64-linux"
"aarch64-linux"
@@ -24,26 +36,20 @@
];
perSystem =
{
- config,
self',
- inputs',
pkgs,
system,
...
}:
{
- # Per-system attributes can be defined here. The self' and inputs'
- # module parameters provide easy access to attributes of the same
- # system.
-
- # Equivalent to inputs'.nixpkgs.legacyPackages.hello;
- packages.default = pkgs.hello;
+ packages = {
+ inherit (pkgs) cachix;
+ default = pkgs.callPackage ./. {
+ hpp-core = inputs.hpp-core.packages.${system}.default;
+ hpp-universal-robot = inputs.hpp-universal-robot.packages.${system}.default;
+ };
+ };
+ devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
};
- flake = {
- # The usual flake attributes can be defined here, including system-
- # agnostic ones like nixosModule and system-enumerating ones, although
- # those are more easily expressed in perSystem.
-
- };
};
}