diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index 94883509ceeba1aa882e7b46fcdb0242afc84ead..cc47550d2ea2cc1067ae03ed66d1d93c0a291ace 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -1,6 +1,7 @@
-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
diff --git a/default.nix b/default.nix
deleted file mode 100644
index b85d62e83a778cc4c209c043c0ee915422b2a791..0000000000000000000000000000000000000000
--- a/default.nix
+++ /dev/null
@@ -1,55 +0,0 @@
-{
- 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 ];
- };
-}
diff --git a/flake.lock b/flake.lock
index 18fdc93e7d01207588a07e733c5f5f5ac7c606f1..291df1360a2c22a6c50889fffd952a39bf8262a0 100644
--- a/flake.lock
+++ b/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"
}
}
diff --git a/flake.nix b/flake.nix
index cd0c51352c7f633db9679552952379584347fb57..10855e8c90bbb6bd8ec9b8dda14805007dee31d6 100644
--- a/flake.nix
+++ b/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 ]; };
};
};
}