python: tasks, sch-core-python

Author: arntanguy

module.nix

@@ -73,6 +73,7 @@ in
               spacevecalg
               rbdyn
               sch-core
+              sch-core-python
               tasks
               tasks-qld
               tvm

overlay.nix

@@ -52,6 +52,7 @@
     eigen-qld = prev.callPackage ./pkgs/eigen-qld { };
     eigen-quadprog = prev.callPackage ./pkgs/eigen-quadprog { };
     sch-core = prev.callPackage ./pkgs/sch-core { };
+    sch-core-python = prev.callPackage ./pkgs/sch-core-python { };
     #sch-visualization = prev.callPackage ./pkgs/sch-visualization {};
     sch-visualization = prev.callPackage ./pkgs/sch-visualization { };
     tasks-qld = prev.callPackage ./pkgs/tasks { };

pkgs/sch-core-python/default.nix

@@ -0,0 +1,65 @@
+{
+  lib,
+  stdenv,
+  cmake,
+  sch-core,
+  spacevecalg,
+  python3Packages,
+  fetchFromGitHub,
+}:
+
+stdenv.mkDerivation rec {
+  pname = "sch-core-python";
+  version = "1.0.5";
+
+  src = fetchFromGitHub {
+    owner = "jrl-umi3218";
+    repo = "sch-core-python";
+    rev = "9b4a7d8189de30dc49edc7ccb0e1283e85686e62";
+    hash = "sha256-Ml0fATe61R7tJ5m20Y7hjDwCa/WwIIG3f+qwV1zSz8k=";
+  };
+
+  nativeBuildInputs = [
+    cmake
+    python3Packages.cython
+    python3Packages.python
+    python3Packages.distutils
+    python3Packages.pytest
+  ];
+  propagatedBuildInputs = [
+    sch-core
+    spacevecalg
+    python3Packages.spacevecalg
+  ];
+
+  cmakeFlags = [
+    "-DINSTALL_DOCUMENTATION=OFF"
+  ];
+
+  # Override the default CMake install step
+  installPhase = ''
+    runHook preInstall
+
+    # 1. Define the destination directory inside the Nix store output
+    # Using python.sitePackages handles the "lib/python3.13/site-packages" string automatically
+    local targetDir="$out/${python3Packages.python.sitePackages}/sch"
+    mkdir -p "$targetDir"
+
+    ls -lR
+
+    # 2. Copy your built files from the build tree to the target store path
+    # (Adjust 'build/python/Release/eigen/' path if your build folder structure differs slightly)
+    cp -r python/Release/sch/* "$targetDir"
+
+    runHook postInstall
+  '';
+
+  doCheck = false;
+
+  meta = with lib; {
+    description = "sch-core: python bindings for sch-core - effective proximity queries";
+    homepage = "https://github.com/jrl-umi3218/sch-core-python";
+    license = licenses.bsd2;
+    platforms = platforms.all;
+  };
+}

pkgs/tasks/default.nix

@@ -5,6 +5,7 @@
   rbdyn,
   sch-core,
   eigen-qld,
+  python3Packages,
   with-lssol ? false,
   eigen-lssol ? null,
 }:
@@ -18,25 +19,30 @@ stdenv.mkDerivation rec {
     sha256 = "0if144c0jjpxk97fn2qszybdlx8b66qsa1kdkvwzfipvf8fh364q";
   };
 
-  nativeBuildInputs = [ cmake ];
+  nativeBuildInputs = [
+    cmake
+    python3Packages.distutils
+    python3Packages.pytest
+    python3Packages.cython
+    python3Packages.python
+  ];
   propagatedBuildInputs = [
     rbdyn
     sch-core
     eigen-qld
+    python3Packages.rbdyn
+    python3Packages.sch-core-python
   ]
   ++ lib.optional (with-lssol && eigen-lssol != null) eigen-lssol;
 
   cmakeFlags = [
-    "-DPYTHON_BINDING=OFF"
     "-DINSTALL_DOCUMENTATION=OFF"
   ];
 
-  postPatch = ''
-    # Remove the include from the main CMakeLists.txt
-    sed -i '/include(cmake\/cython\/cython.cmake)/d' CMakeLists.txt
-
-    # Add the include to the top of the python binding CMakeLists.txt
-    sed -i '1i include(cmake/cython/cython.cmake)' binding/python/CMakeLists.txt
+  # XXX: Without this fixupPhase fails due to RPATHS references to /build/
+  preFixup = ''
+    patchelf --shrink-rpath --allowed-rpath-prefixes "$NIX_STORE" $out/${python3Packages.python.sitePackages}/tasks/tasks.so
+    patchelf --shrink-rpath --allowed-rpath-prefixes "$NIX_STORE" $out/${python3Packages.python.sitePackages}/tasks/qp/qp.so
   '';
 
   doCheck = true;

py-pkgs/sch-core-python.nix

@@ -0,0 +1,9 @@
+{
+  toPythonModule,
+  pkgs,
+}:
+toPythonModule (
+  pkgs.sch-core-python.override {
+    inherit (pkgs) python3Packages;
+  }
+)

py-pkgs/tasks.nix

@@ -0,0 +1,9 @@
+{
+  toPythonModule,
+  pkgs,
+}:
+toPythonModule (
+  pkgs.tasks.override {
+    inherit (pkgs) python3Packages;
+  }
+)