DRAFT: add maniskill3 package along with all of its dependencies

[howird]

Packages Modified/Added:

• python3Packages.maniskill3: builds from source
• python3Packages.sapien: now builds from source (with a lot of patches, will make a PR on the source repo)
  • builds and works with cudaSupport
  • TODO: implement option for non-cuda systems
• sapien-vulkan-2: builds from source
  • builds and works with cudaSupport
  • TODO: implement option for non-cuda systems
• python3Packages.mplib: uses prebuilt package from pypi since this commit, since I gave up on building from source
• python3Packages.fast-kinematics: derivation not building, its an optional dependency for maniskill so not urgent
• ompl: builds from source
• physx5: uses prebuilt libs
• physx5-gpu: uses prebuilt libs
• python3Packages.pytorch-kinematics: builds from source
• python3Packages.pytorch-seed: builds from source
• python3Packages.arm-pytorch-utilities: builds from source
• python3Packages.toppra: builds from source
• python3Packages.tyro: builds from source
• python3Packages.stable-baselines3: builds from source
• python3Packages.jaxlib: had a hash-mismatch error so this is a copy of the jaxlib on nixpkgs with the updated hash (and darwin related packages removed)
  • TODO: double check if this is still needed
• python3Packages.torch: had some build issues with this patch so i reverted it
  • TODO: double check if this is still needed
• maniskill devshell: uses some hacky environment variables

[breakds]

Hi @howird! Sorry I did not see the PR coming until today coz I was refactoring this repo.
Maniskill3 is a great add to the repo. Do you mind my using your code to migrate it?

[howird]

Sure, no problem. The sapien and sapien-vulkan packages were built from source but that required a bunch of modifications to the CMake setup to get working with nix, since i wanted to use the dependencies provided by nixpkgs. Not sure I followed best practices when updating them since I am somewhat new to nix, so look out for that.

[howird]

@breakds is there anything i can do to help get this merged?

[breakds]

Hi Howard, sorry that some of other stuff took priority and I forget about this for a while.
I have started to add those packages one by one and will consult you if I ran into problems. Part of the packages are already in under robotics now.