build: deps and environment change

.gitignore

@@ -182,9 +182,9 @@ cython_debug/
 .abstra/
 
 # Visual Studio Code
-#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore 
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
 #  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
-#  and can be added to the global gitignore or merged into this file. However, if you prefer, 
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
 #  you could uncomment the following to ignore the entire vscode folder
 # .vscode/
 
@@ -216,3 +216,14 @@ devenv.local.yaml
 
 # pre-commit
 .pre-commit-config.yaml
+
+# Devenv
+.devenv*
+devenv.local.nix
+devenv.local.yaml
+
+# direnv
+.direnv
+
+# pre-commit
+.pre-commit-config.yaml

devenv.lock

@@ -3,10 +3,10 @@
     "devenv": {
       "locked": {
         "dir": "src/modules",
-        "lastModified": 1764449550,
+        "lastModified": 1764927628,
         "owner": "cachix",
         "repo": "devenv",
-        "rev": "dfb58ac03bed07b93f629df55034bc50394d3971",
+        "rev": "247d7027f91368054fb0eefbd755a73d42b66fee",
         "type": "github"
       },
       "original": {
@@ -19,10 +19,10 @@
     "flake-compat": {
       "flake": false,
       "locked": {
-        "lastModified": 1761588595,
+        "lastModified": 1765121682,
         "owner": "edolstra",
         "repo": "flake-compat",
-        "rev": "f387cd2afec9419c8ee37694406ca490c3f34ee5",
+        "rev": "65f23138d8d09a92e30f1e5c87611b23ef451bf3",
         "type": "github"
       },
       "original": {
@@ -34,10 +34,10 @@
     "flake-compat_2": {
       "flake": false,
       "locked": {
-        "lastModified": 1761588595,
+        "lastModified": 1765121682,
         "owner": "edolstra",
         "repo": "flake-compat",
-        "rev": "f387cd2afec9419c8ee37694406ca490c3f34ee5",
+        "rev": "65f23138d8d09a92e30f1e5c87611b23ef451bf3",
         "type": "github"
       },
       "original": {
@@ -55,10 +55,10 @@
         ]
       },
       "locked": {
-        "lastModified": 1763988335,
+        "lastModified": 1765016596,
         "owner": "cachix",
         "repo": "git-hooks.nix",
-        "rev": "50b9238891e388c9fdc6a5c49e49c42533a1b5ce",
+        "rev": "548fc44fca28a5e81c5d6b846e555e6b9c2a5a3c",
         "type": "github"
       },
       "original": {
@@ -89,10 +89,10 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1761313199,
+        "lastModified": 1764580874,
         "owner": "cachix",
         "repo": "devenv-nixpkgs",
-        "rev": "d1c30452ebecfc55185ae6d1c983c09da0c274ff",
+        "rev": "dcf61356c3ab25f1362b4a4428a6d871e84f1d1d",
         "type": "github"
       },
       "original": {
@@ -108,10 +108,10 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1763677049,
+        "lastModified": 1765052656,
         "owner": "cachix",
         "repo": "nixpkgs-python",
-        "rev": "159d63dc49a4b12bf85fe0e83011a8b69ba1bcb0",
+        "rev": "04b27dbad2e004cb237db202f21154eea3c4f89f",
         "type": "github"
       },
       "original": {
@@ -122,10 +122,10 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1764316264,
+        "lastModified": 1764939437,
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "9a7b80b6f82a71ea04270d7ba11b48855681c4b0",
+        "rev": "00d2457e2f608b4be6fe8b470b0a36816324b0ae",
         "type": "github"
       },
       "original": {

devenv.nix

@@ -6,8 +6,8 @@
   ...
 }: {
   packages = with pkgs; [
-    glxinfo
+    mujoco
-    vulkan-tools
+    linuxHeaders
   ];
 
   languages.c.enable = true;
@@ -55,30 +55,19 @@
       );
   };
 
-  env = rec {
+  env = {
-    NIX_LD_LIBRARY_PATH = "$NIX_LD_LIBRARY_PATH:/usr/lib/wsl/lib/";
+    CPATH = "${pkgs.linuxHeaders}/include";
-    LD_LIBRARY_PATH = NIX_LD_LIBRARY_PATH;
+    KERNEL_DIR = "${pkgs.linuxHeaders}/include";
-
-    GLVND = "${pkgs.libglvnd}";
-    MESA = "${pkgs.mesa}";
-    MESAD = MESA;
-
-    GALLIUM_DRIVER = "d3d12";
-    MESA_D3D12_DEFAULT_ADAPTER_NAME = "NVIDIA";
-
-    # LIBGL_ALWAYS_INDIRECT = 0;
-    # __GLX_VENDOR_LIBRARY_NAME = "nvidia";
-    # __NV_PRIME_RENDER_OFFLOAD = 1;
-    # __VK_LAYER_NV_optimus = "NVIDIA_only";
-
-    # PYOPENGL_PLATFORM = "egl";
-    # EGL_PLATFORM = "wayland";
-    # __EGL_VENDOR_LIBRARY_DIRS = "${MESA}/share/glvnd/egl_vendor.d:${GLVND}/share/glvnd/egl_vendor.d";
-    # LIBGL_DRIVERS_PATH = "${MESA}/lib/dri";
   };
 
   # https://devenv.sh/basics/
   enterShell = ''
-    git --version # Use packages
+    export NIX_LD_LIBRARY_PATH="$NIX_LD_LIBRARY_PATH:${lib.makeLibraryPath [ pkgs.linuxHeaders ]}";
+    export LD_LIBRARY_PATH="$NIX_LD_LIBRARY_PATH";
+
+    echo "NIX_LD_LIBRARY_PATH set to $NIX_LD_LIBRARY_PATH"
+    echo "LD_LIBRARY_PATH set to $LD_LIBRARY_PATH"
+    echo "CPATH set to $CPATH"
+    echo "KERNEL_DIR set to $KERNEL_DIR"
   '';
 }

pyproject.toml

@@ -5,6 +5,8 @@ description = "Add your description here"
 readme = "README.md"
 requires-python = ">=3.12"
 dependencies = [
+    "mujoco>=3.4.0",
+    "robosuite>=1.5.1",
     "torch>=2.9.1",
     "torchvision>=0.24.1",
 ]