Skip to content

fix(superbuild): devshell should have a local mc_rtc.yaml config #89

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mergify merged 1 commit into from
Jul 22, 2026
Merged

fix(superbuild): devshell should have a local mc_rtc.yaml config #89

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 0 additions & 1 deletion lib/default.nix
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -264,7 +264,6 @@ rec {
inherit robots;
apps = replaceMcMujocoInApps apps pkgs mujocoRobots;
runApps = replaceMcMujocoInApps runApps pkgs mujocoRobots;
controllers = [ controller-drv ];
plugins = convertStrict c "plugins" ++ convertSuggested s "plugins";
observers = convertStrict c "observers" ++ convertSuggested s "observers";
}
Expand Down
24 changes: 19 additions & 5 deletions modules/superbuild/superbuild.nix
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -100,11 +100,11 @@ let
LoadUserConfiguration: false
'';

shellConfigs = [
mcRtcYaml
]
++ lib.optional (activeConfigPath != null) activeConfigPath
++ extraConfigPaths;
shellConfigs =
(lib.optional isDevel "${localPath}/mc_rtc.yaml")
++ (lib.optional (!isDevel) mcRtcYaml)
++ lib.optional (activeConfigPath != null) activeConfigPath
++ extraConfigPaths;

/**
`runAllAppsScripts`
Expand Down Expand Up @@ -244,7 +244,21 @@ in
${makeLoop " - Apps" listGroup.apps}
'';
in

lib.optionalString isDevel ''
cat > ${localPath}/mc_rtc.yaml <<EOF
---
${lib.optionalString (mainRobot != null && mainRobot != "") "MainRobot: \"${mainRobot}\""}
${lib.optionalString (enabled != null && enabled != "") "Enabled: \"${enabled}\""}
${lib.optionalString (timeStep != null) "Timestep: ${toString timeStep}"}
ControllerModulePaths: [${mkModulePaths "mc_controller" shellControllers}]
RobotModulePaths: [${mkModulePaths "mc_robots" shellRobots}]
ObserverModulePaths: [${mkModulePaths "mc_observers" shellObservers}]
GlobalPluginPaths: [${mkModulePaths "mc_plugins" shellPlugins}]
LoadUserConfiguration: false
EOF
''
+ ''
export PROJECT_DIR="$(pwd)/${relativeLocalPath}"
export INSTALL_DIR="$PROJECT_DIR/install"
mkdir -p $INSTALL_DIR
Expand Down
Loading