reachy-mini/devenv.nix at docker-sim · chops/reachy-mini · GitHub

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{ pkgs, lib, config, ... }: {
  # Reachy Mini MuJoCo Simulation Environment
  # Fully declarative development environment for robot simulation

  packages = with pkgs; [
    # OpenGL/Graphics dependencies for MuJoCo
    libGL
    libGLU
    libglvnd
    glew
    glfw
    mesa
    mesa.drivers
    xorg.libX11
    xorg.libXext
    xorg.libXrender
    xorg.libXrandr
    xorg.libXi
    xorg.libXcursor
    xorg.libXinerama
    xorg.libxcb
    libxkbcommon

    # GLib for OpenCV
    glib

    # Audio libraries (required even though we're not using sound)
    portaudio
    alsa-lib

    # Build tools
    gcc
    pkg-config

    # Git LFS for model files (MJCF assets)
    git-lfs

    # Development tools
    pre-commit
  ];

  # Python 3.10 with virtual environment
  languages.python = {
    enable = true;
    version = "3.10";
    venv.enable = true;
    venv.requirements = ''
      # Core dependencies
      numpy>=2.2.5,<2.3.0
      scipy==1.15.3
      opencv-python<=5.0
      psutil
      jinja2
      uvicorn[standard]
      fastapi
      pyserial
      huggingface-hub==0.34.4
      asgiref
      aiohttp
      log-throttling==0.0.3
      pyusb>=1.2.1
      libusb_package>=1.0.26.3
      pip>=25

      # MuJoCo simulation
      mujoco==3.3.0

      # Reachy Mini specific (will install from source)
      # These are not on PyPI, will be installed via pip install -e .
      # reachy_mini_motor_controller>=1.0.0
      # eclipse-zenoh>=1.4.0
      # cv2_enumerate_cameras>=1.2.1
      # reachy-mini-rust-kinematics>=1.0.1

      # Development tools
      pytest
      pytest-asyncio
      ruff==0.12.0
      mypy==1.18.2
      pre-commit
      onshape-to-robot==1.7.6
      placo==0.9.14
    '';
  };

  # Environment variables
  env = {
    # MuJoCo rendering backend
    # Options: "glfw" (GUI), "egl" (headless+GPU), "osmesa" (headless+CPU)
    MUJOCO_GL = "osmesa";

    # Ensure OpenGL and system libraries are found
    LD_LIBRARY_PATH = lib.makeLibraryPath [
      pkgs.libGL
      pkgs.libGLU
      pkgs.libglvnd
      pkgs.glew
      pkgs.glfw
      pkgs.mesa
      pkgs.mesa.drivers
      pkgs.glib
      pkgs.portaudio
      pkgs.alsa-lib
      pkgs.xorg.libxcb
      pkgs.libxkbcommon
    ];

    # Force software rendering to avoid GPU/Wayland issues
    LIBGL_ALWAYS_SOFTWARE = "1";
    __GLX_VENDOR_LIBRARY_NAME = "mesa";
  };

  # Shell initialization
  enterShell = ''
    echo "🤖 Reachy Mini MuJoCo Simulation Environment"
    echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━"
    echo "🐍 Python: $(python --version)"
    echo "📦 Virtual environment: .devenv/state/venv"
    echo "🎮 MuJoCo GL backend: $MUJOCO_GL (software rendering)"
    echo ""
    echo "📝 Quick start:"
    echo "  1. pip install -e .[mujoco,dev]      # Install reachy-mini"
    echo "  2. reachy-mini-daemon --sim          # Launch simulation"
    echo ""
    echo "💡 Access dashboard at: http://localhost:8000"
    echo "⚠️  Audio disabled | Using CPU rendering for stability"
    echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━"

    # Auto-setup git-lfs if not already done
    if ! git lfs env &>/dev/null 2>&1; then
      echo "🔧 Setting up Git LFS..."
      git lfs install
    fi
  '';
}