From 2d9f676920f388fdc9aba6caeea102c4ac2523d5 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 18 Mar 2025 12:54:33 +0100
Subject: [PATCH] Nix: initial setup
---
.github/dependabot.yml | 6 +++
.github/workflows/nix.yml | 27 +++++++++++
.github/workflows/update-flake-lock.yml | 19 ++++++++
CHANGELOG.md | 1 +
flake.lock | 61 +++++++++++++++++++++++++
flake.nix | 48 +++++++++++++++++++
6 files changed, 162 insertions(+)
create mode 100644 .github/dependabot.yml
create mode 100644 .github/workflows/nix.yml
create mode 100644 .github/workflows/update-flake-lock.yml
create mode 100644 flake.lock
create mode 100644 flake.nix
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..203f3c8
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+ directory: "/"
+ schedule:
+ interval: "weekly"
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000..4d1df0f
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,27 @@
+name: "CI - Nix"
+
+on:
+ push:
+ branches:
+ - devel
+ - master
+ pull_request:
+ branches:
+ - devel
+ - master
+
+jobs:
+ tests:
+ name: "Nix build on ${{ matrix.os }}"
+ runs-on: "${{ matrix.os }}-latest"
+ strategy:
+ matrix:
+ os: [ubuntu, macos]
+ steps:
+ - uses: actions/checkout@v4
+ - uses: cachix/install-nix-action@v27
+ - uses: cachix/cachix-action@v15
+ with:
+ name: gepetto
+ authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+ - run: nix build -L
diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml
new file mode 100644
index 0000000..86aba17
--- /dev/null
+++ b/.github/workflows/update-flake-lock.yml
@@ -0,0 +1,19 @@
+name: update-flake-lock
+
+on:
+ workflow_dispatch:
+ schedule:
+ - cron: '0 18 23 * *'
+
+jobs:
+ lockfile:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout repository
+ uses: actions/checkout@v4
+ - name: Install Nix
+ uses: DeterminateSystems/nix-installer-action@main
+ - name: Update flake.lock
+ uses: DeterminateSystems/update-flake-lock@main
+ with:
+ token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
diff --git a/CHANGELOG.md b/CHANGELOG.md
index d1fffb6..d79a286 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Update Go2 collision for convex hull of mesh and remove "Head_upper", "Head_lower", "XX_calflower", "XX_calflower1" links and joints ([#260](https://github.com/Gepetto/example-robot-data/pull/260))
- Fix ROS2 installation ([#261](https://github.com/Gepetto/example-robot-data/pull/261))
- Add tiago pro ([#265](https://github.com/Gepetto/example-robot-data/pull/265))
+- Add nix flake
## [4.2.0] - 2024-12-08
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..d7bb863
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,61 @@
+{
+ "nodes": {
+ "flake-parts": {
+ "inputs": {
+ "nixpkgs-lib": "nixpkgs-lib"
+ },
+ "locked": {
+ "lastModified": 1741352980,
+ "narHash": "sha256-+u2UunDA4Cl5Fci3m7S643HzKmIDAe+fiXrLqYsR2fs=",
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "rev": "f4330d22f1c5d2ba72d3d22df5597d123fdb60a9",
+ "type": "github"
+ },
+ "original": {
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "type": "github"
+ }
+ },
+ "nixpkgs": {
+ "locked": {
+ "lastModified": 1742069588,
+ "narHash": "sha256-C7jVfohcGzdZRF6DO+ybyG/sqpo1h6bZi9T56sxLy+k=",
+ "owner": "NixOS",
+ "repo": "nixpkgs",
+ "rev": "c80f6a7e10b39afcc1894e02ef785b1ad0b0d7e5",
+ "type": "github"
+ },
+ "original": {
+ "owner": "NixOS",
+ "ref": "nixos-unstable",
+ "repo": "nixpkgs",
+ "type": "github"
+ }
+ },
+ "nixpkgs-lib": {
+ "locked": {
+ "lastModified": 1740877520,
+ "narHash": "sha256-oiwv/ZK/2FhGxrCkQkB83i7GnWXPPLzoqFHpDD3uYpk=",
+ "owner": "nix-community",
+ "repo": "nixpkgs.lib",
+ "rev": "147dee35aab2193b174e4c0868bd80ead5ce755c",
+ "type": "github"
+ },
+ "original": {
+ "owner": "nix-community",
+ "repo": "nixpkgs.lib",
+ "type": "github"
+ }
+ },
+ "root": {
+ "inputs": {
+ "flake-parts": "flake-parts",
+ "nixpkgs": "nixpkgs"
+ }
+ }
+ },
+ "root": "root",
+ "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..f3632a4
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,48 @@
+{
+ description = "Set of robot URDFs for benchmarking and developed examples";
+
+ inputs = {
+ flake-parts.url = "github:hercules-ci/flake-parts";
+ nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+ };
+
+ outputs =
+ inputs:
+ inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+ systems = inputs.nixpkgs.lib.systems.flakeExposed;
+ perSystem =
+ {
+ pkgs,
+ self',
+ ...
+ }:
+ {
+ apps.default = {
+ type = "app";
+ program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+ };
+ devShells.default = pkgs.mkShell {
+ inputsFrom = [ self'.packages.default ];
+ packages = [ (pkgs.python3.withPackages (p: [p.tomlkit])) ]; # for "make release"
+ };
+ packages = {
+ default = self'.packages.example-robot-data;
+ example-robot-data = pkgs.python3Packages.example-robot-data.overrideAttrs (_: {
+ src = pkgs.lib.fileset.toSource {
+ root = ./.;
+ fileset = pkgs.lib.fileset.unions [
+ ./CMakeLists.txt
+ ./colcon.pkg
+ ./include
+ ./package.xml
+ ./pyproject.toml
+ ./python
+ ./robots
+ ./unittest
+ ];
+ };
+ });
+ };
+ };
+ };
+}
--
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