Update lipm-walking to 1.7.1 and default superbuild profiles

.gitignore

@@ -1,2 +1,3 @@
 ros-overlay/
 result
+.superbuild/

.mergify.yml

@@ -19,6 +19,9 @@ pull_request_rules:
     actions:
       queue:
 
+merge_queue:
+  queue_controls_comment: false
+
 # ensure that required CI jobs suceed
 queue_rules:
   - name: default

module.nix

@@ -160,6 +160,8 @@ in
             specialArgs = { inherit pkgs; };
           }).config;
 
+        maybe-mc-mujoco = lib.optional (!pkgs.stdenv.hostPlatform.isDarwin) pkgs.mc-mujoco;
+
         builtInConfigurations = {
           minimal = {
             runtime = { };
@@ -217,6 +219,53 @@ in
               ];
             };
           };
+
+          lipm-walking = with pkgs; {
+            extends = [ "default" ];
+            enabled = "LIPMWalking";
+            runtime = {
+              observers = [ mc-state-observation ];
+              apps = maybe-mc-mujoco;
+            };
+            devel = {
+              controllers = [ lipm-walking-controller ];
+            };
+          };
+
+          robogami = with pkgs; {
+            extends = [ "default" ];
+            mainRobot = "robogami";
+            enabled = "RobogamiController";
+            runtime = {
+              robots = [
+                mc-robogami
+              ];
+            };
+            devel = {
+              controllers = [ robogami-controller ];
+            };
+          };
+
+          panda-prosthesis = with pkgs; {
+            extends = [ "minimal" ];
+            runtime = {
+              robots = [
+                mc-panda-lirmm
+                mc-panda
+              ];
+
+              apps = [
+                mc-rtc-magnum
+              ];
+              config = "lib/mc_controller/etc/panda_prosthesis/mc_rtc.yaml";
+            };
+            devel = {
+              config = "lib64/mc_controller/etc/panda_prosthesis/mc_rtc.yaml";
+              controllers = [ panda-prosthesis ];
+              plugins = [ panda-prosthesis ];
+              robots = [ panda-prosthesis ];
+            };
+          };
         };
 
         configurations = builtInConfigurations // superbuildCfg.configurations;
@@ -311,6 +360,7 @@ in
                   state-observation
                   mesh-sampling
                   eigen-fmt
+                  copra
                   ;
 
                 # mc-rtc
@@ -353,10 +403,14 @@ in
                   env-mj-description
                   ;
 
-                inherit (pkgs) panda-prosthesis mc-force-shoe-plugin sphinx-cmake;
+                # Controllers
+                inherit (pkgs) panda-prosthesis robogami-controller lipm-walking-controller;
+
+                # Plugins
+                inherit (pkgs) mc-force-shoe-plugin;
 
                 # Tools
-                inherit (pkgs) mc-robot-tools;
+                inherit (pkgs) mc-robot-tools sphinx-cmake;
               }
               (lib.optionalAttrs (cfg.with-ros || superbuildCfg.withRos) {
                 inherit (pkgs) mc-rtc-ticker;

overlay.nix

@@ -81,8 +81,7 @@
     };
     # mc-state-observation = prev.callPackage ./pkgs/mc-rtc/observers/mc-state-observation;
     mc-state-observation = prev.callPackage ./pkgs/mc-rtc/observers/mc-state-observation { };
-    #lipm-walking-controller = prev.callPackage ./pkgs/mc-rtc/controllers/lipm-walking-controller {};
-    # lipm-walking-controller = prev.callPackage ./pkgs/mc-rtc/controllers/lipm-walking-controller {};
+    lipm-walking-controller = prev.callPackage ./pkgs/mc-rtc/controllers/lipm-walking-controller { };
     robogami-controller = prev.callPackage ./pkgs/mc-rtc/controllers/robogami-controller { };
     #mc-rtc-raylib = prev.callPackage ./pkgs/mc-rtc-raylib {};
     mc-rtc-msgs = prev.callPackage ./pkgs/mc-rtc-msgs { };

pkgs/copra/default.nix

@@ -1,31 +1,36 @@
 {
   stdenv,
   lib,
-  fetchurl,
+  fetchFromGitHub,
   cmake,
   boost,
   eigen-qld,
   eigen-quadprog,
+  jrl-cmakemodules,
 }:
 
-stdenv.mkDerivation {
+stdenv.mkDerivation rec {
   pname = "copra";
-  version = "1.2.2";
+  version = "1.3.3";
 
-  src = fetchurl {
-    url = "https://github.com/jrl-umi3218/copra/releases/download/v1.2.2/copra-v1.2.2.tar.gz";
-    sha256 = "1765z58rqgikkf9kp7f59skx45xbhlab6kxdp2kyvnqhn953gmvr";
+  src = fetchFromGitHub {
+    owner = "jrl-umi3218";
+    repo = "copra";
+    tag = "v${version}";
+    hash = "sha256-KD7Fu10JEkgVXjsfC6zE028U3yBJw/cFvW9o8NEHCVM=";
   };
 
-  nativeBuildInputs = [ cmake ];
+  nativeBuildInputs = [
+    cmake
+    jrl-cmakemodules
+  ];
   propagatedBuildInputs = [
     boost
     eigen-qld
     eigen-quadprog
   ];
 
   cmakeFlags = [
-    "-DBUILD_TESTING=OFF"
     "-DPYTHON_BINDING=OFF"
     "-DINSTALL_DOCUMENTATION=OFF"
   ];

pkgs/mc-rtc/controllers/lipm-walking-controller/default.nix

@@ -1,24 +1,21 @@
 {
   stdenv,
   lib,
-  fetchgit,
+  fetchFromGitHub,
   cmake,
   mc-rtc,
   copra,
 }:
 
-let
-  version = "1.6.0";
-in
-stdenv.mkDerivation {
+stdenv.mkDerivation rec {
   pname = "lipm-walking-controller";
-  version = "${version}";
+  version = "1.7.1";
 
-  # master branch as of 2021.01.25
-  src = fetchgit {
-    url = "https://github.com/jrl-umi3218/lipm_walking_controller";
-    rev = "e28e9552faff0ee110fcc3d6ce11dc6bb4759e31";
-    sha256 = "sha256-nj1XWy9XHbk9oP1H2mZsFqmBJ1lnNG0CnMEA20VG6eQ";
+  src = fetchFromGitHub {
+    owner = "jrl-umi3218";
+    repo = "lipm_walking_controller";
+    tag = "v${version}";
+    hash = "sha256-tPWzbxuJbJm5zlUzU8jQJSdTIOsW8mb/Ci2DOeFdr4M=";
   };
 
   nativeBuildInputs = [ cmake ];
@@ -28,13 +25,11 @@ stdenv.mkDerivation {
   ];
 
   cmakeFlags = [
-    "-DBUILD_TESTING=OFF"
-    "-DPYTHON_BINDING=OFF"
     "-DINSTALL_DOCUMENTATION=OFF"
     "-DMC_RTC_HONOR_INSTALL_PREFIX=ON"
   ];
 
-  doCheck = false;
+  doCheck = true;
 
   meta = with lib; {
     description = "Walking controller based on linear inverted pendulum tracking";

pkgs/mc-rtc/controllers/panda-prosthesis/default.nix

@@ -9,29 +9,25 @@
   screen,
   minicom,
   mc-panda-lirmm,
+  pkg-config,
 }:
 
 stdenv.mkDerivation {
   pname = "panda-prosthesis";
   version = "1.0.0";
 
-  src =
-    # TODO: release panda-prosthesis
-    # fetchgit {
-    #   #url = "https://github.com/ROLKNEEMATICS/panda_prosthesis";
-    #   url = "https://github.com/arntanguy/panda_prosthesis_rolkneematics";
-    #   # topic/ConnectModules
-    #   rev = "edef20d6a4b05ba5868e399d63984f18da64bac4";
-    #   sha256 = "sha256-yzIjxDpD0ry6j9+a5n6y+PAgYmtrtwUeZDFC0/M7aR4=";
-    # };
-    fetchFromGitHub {
-      owner = "arntanguy";
-      repo = "panda_prosthesis_rolkneematics";
-      rev = "734a0a3496042a33ba1ec74cb771c6fa17415e6e";
-      hash = "sha256-w3o5mYrwPic1/9ZkNPpwCtQ958L1e8vNoOBPx34+CxI=";
-    };
+  # TODO: release panda-prosthesis
+  src = fetchFromGitHub {
+    owner = "rolkneematics";
+    repo = "panda_prosthesis";
+    rev = "1653b020ae5ea207659fecc4ec0b0eaff65e369a";
+    hash = "sha256-ZOaSpVhhxuWGaRaE5JSgpc05FptT6eX8A07/yhdCi1k=";
+  };
 
-  nativeBuildInputs = [ cmake ];
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+  ];
   propagatedBuildInputs = [
     mc-rtc
     mc-panda-lirmm

templates/controller/.mergify.yml

@@ -23,3 +23,7 @@ queue_rules:
   - name: default
     merge_conditions:
       - check-success = "check-macos-linux-nix"
+
+merge_queue:
+  queue_controls_comment: false
+

templates/default/.mergify.yml

@@ -23,3 +23,6 @@ queue_rules:
   - name: default
     merge_conditions:
       - check-success = "check-macos-linux-nix"
+merge_queue:
+  queue_controls_comment: false
+

templates/flakoboros/.mergify.yml

@@ -23,3 +23,5 @@ queue_rules:
   - name: default
     merge_conditions:
       - check-success = "check-macos-linux-nix"
+merge_queue:
+  queue_controls_comment: false

templates/private/.mergify.yml

@@ -23,3 +23,5 @@ queue_rules:
   - name: default
     merge_conditions:
       - check-success = "check-macos-linux-nix"
+merge_queue:
+  queue_controls_comment: false

templates/ros/.mergify.yml

@@ -23,3 +23,5 @@ queue_rules:
   - name: default
     merge_conditions:
       - check-success = "check-macos-linux-nix"
+merge_queue:
+  queue_controls_comment: false