Plain lib

lib._convertListToDrvs

Converts a list of strings or derivations into a list of derivations from pkgs.

Arguments:

• pkgs: The package set to resolve string names to derivations.
• vals: A list of strings (attribute names) or derivations. Null elements are ignored.
• ignoreMissing (optional, default: false): If true, missing derivations are skipped with a warning.

Returns:

• A list of derivations, resolving strings via pkgs.

@example

lib._convertListToDrvs {
  pkgs = pkgs;
  vals = [ pkgs.human-mj-description "human-mj-description" ];
}

Type: { pkgs: AttrSet, vals: [String | Derivation], ignoreMissing?: Bool } -> [Derivation]

lib.convertListToDrvsStrict

Converts a list of strings or derivations into a list of derivations from pkgs, throwing an error if any string is not found.

Arguments:

• pkgs: The package set to resolve string names to derivations.
• vals: A list of strings (attribute names) or derivations.

Returns:

• A list of derivations, resolving strings via pkgs. Throws an error if a string is missing.

@example

lib.convertListToDrvsStrict pkgs [ pkgs.human-mj-description "human-mj-description" ]
lib.convertListToDrvsStrict pkgs [ "mc-hrp4" ]

Type: pkgs: AttrSet -> vals: [String | Derivation] -> [Derivation]

lib.convertListToDrvs

Converts a list of strings or derivations into a list of derivations from pkgs, skipping missing strings with a warning.

Arguments:

• pkgs: The package set to resolve string names to derivations.
• vals: A list of strings (attribute names) or derivations.

Returns:

• A list of derivations, resolving strings via pkgs. Missing strings are skipped with a warning.

@example

lib.convertListToDrvs pkgs [ pkgs.human-mj-description "human-mj-description" ]
lib.convertListToDrvs pkgs [ "mc-hrp4" ]

Type: pkgs: AttrSet -> vals: [String | Derivation] -> [Derivation]

lib.drvsFromPassthruField

Returns a list of derivations from a passthru attribute (which may be a derivation, a string, or a list of both) in a list of derivations.

Arguments:

• pkgs: The package set to resolve string names to derivations.
• getField: A function that extracts the attribute from a derivation (e.g., drv: drv.passthru.robot.module).
• drvs: A list of derivations containing the field.

Returns:

• A flat list of derivations extracted from the passthru field of each input derivation.

@example

lib.drvsFromPassthruField pkgs (drv: drv.passthru.robot.module) [
  pkgs.human-mj-description
  pkgs.g1-mj-description
]

Type: pkgs: AttrSet -> getField: (Derivation -> a) -> drvs: [Derivation] -> [Derivation]

lib.mujocoRobotsFromRobotModules

Gathers MuJoCo robot derivations from a list of robot modules.

Each robot module should provide passthru.mujocoRobots = [ "robot-mj-description" ].

@param pkgs Set. The package set to look up derivations. @param robots List of derivations. The robot modules. @return List of derivations. The MuJoCo robot derivations from the modules.

lib.replaceMcMujocoInApps

Replaces the mc-mujoco derivation in the apps list with a version overridden with the given MuJoCo robots.

If an app in the list is pkgs.mc-mujoco, it is replaced with an overridden version using the provided mujocoRobots. Other apps are left unchanged.

@param apps List of derivations. The applications list. @param pkgs Set. The package set containing mc-mujoco and mc-mujoco-robots. @param mujocoRobots List of derivations. The MuJoCo robots to use in the override. @return List of derivations. The updated applications list.

lib.mkControllerSuperbuild

mkControllerSuperbuild

Constructs a superbuild attribute set for a given controller derivation.

Arguments:

• pkgs: The Nixpkgs package set.
• controller-drv: The controller derivation (attribute set) to wrap.
• extends (default: []): List of superbuilds to extend from.
• with-suggested (default: true): Whether to include suggested apps/robots.

Returns:

• extends: The list of extended superbuilds.
• runtime: Runtime environment (controllers, plugins, observers).
• apps: (optional) Suggested apps, if with-suggested is true.
• robots: (optional) Suggested robots, if with-suggested is true.
• devel: Development environment (controllers).
• enabled: The enabled controller name, if set.

Example

  let
    myControllerDrv = pkgs.stdenv.mkDerivation {
      name = "my-controller";
      # ... build instructions ...
      passthru = {
        plugins = [ footsteps-planner-plugin mc-joystick-plugin ];
        observers = [ some-observer ];
        controller = {
          Enabled = "ismpc_walking";
          MainRobot = "JVRC1";
        };
        suggests = {
          robots = [ "mc-hrp4" "mc-hrp2" ];
          apps = [ "mc-mujoco" ];
        };
      };
    };
  in
    mkControllerSuperbuild pkgs myControllerDrv { with-suggested = true; }