pow-cli 0.0.1__py3-none-any.whl

pow_cli/data/pow.default.toml

@@ -0,0 +1,21 @@
+[sim]
+version = "5.1.0"
+# add paths to additional extension folders
+ext_folder = []
+# Path to Isaac Sim assets, leave empty to use from default nvidia cloud
+# if path is provided, it will use the local assets path
+isaacsim_assets_path = ""
+
+[sim.ros]
+enable_ros = true
+isaacsim_ros_ws = ""
+# support: humble, jazzy
+ros_distro = "humble"
+
+[[sim.profiles]]
+name = "default"
+cpu_performance_mode = true
+headless = false
+extensions = ["isaacsim.code_editor.vscode"]
+raw_args = ["--/renderer/raytracingMotion/enabled=false"]
+open_scene_path = ""

pow_cli/init/TODO.md

@@ -0,0 +1,12 @@
+# TODO
+
+add init command for initial project for both sim and ros
+
+```bash
+# init project both sim and ros,
+# call 'pow sim init' and 'pow ros init' under the hood
+pow init
+
+pow init --type [sim, ros, both]
+pow init -t [sim, ros, both]
+```

pow_cli/lib/__init__.py

@@ -0,0 +1,3 @@
+from .path import get_isaacsim_path
+
+__all__ = ["get_isaacsim_path"]

pow_cli/lib/path.py

@@ -0,0 +1,15 @@
+from pathlib import Path
+
+
+def get_isaacsim_path() -> Path | None:
+    """Get the installation path of Isaac Sim.
+
+    Returns:
+        Path | None: Path to the Isaac Sim installation if found, None otherwise.
+    """
+    try:
+        import isaacsim
+
+        return Path(isaacsim.__file__).parent
+    except ImportError:
+        return None

pow_cli/main.py

@@ -0,0 +1,45 @@
+"""Isaac Powerpack CLI - Main entry point."""
+
+import click
+
+from .sim.add.local_assets import add_local_assets
+from .sim.check.check import check_compatibility
+from .sim.init.init_sim import init_sim
+from .sim.run.run import run
+
+
+@click.group()
+def pow():
+    """Isaac Powerpack CLI for Isaac Sim workflows."""
+    pass
+
+
+# Sim commands
+@pow.group(invoke_without_command=True)
+@click.pass_context
+def sim(ctx):
+    """Isaac Sim related commands.
+
+    Defaults to 'pow sim run' when no subcommand is specified.
+    """
+
+    # simulation command run only in x86_64 environment workstation, not in jetson device
+
+    if ctx.invoked_subcommand is None:
+        ctx.invoke(run)
+
+
+@sim.group()
+def add():
+    """Add resources to Isaac Sim."""
+    pass
+
+
+# Register commands
+add.add_command(add_local_assets)
+sim.add_command(run)
+sim.add_command(init_sim)
+sim.add_command(check_compatibility)
+
+if __name__ == "__main__":
+    pow()

pow_cli/sim/add/__init__.py

@@ -0,0 +1,3 @@
+from .local_assets import add_local_assets
+
+__all__ = ["add_local_assets"]

pow_cli/sim/add/local_assets.py

@@ -0,0 +1,308 @@
+import re
+import subprocess
+from pathlib import Path
+
+import click
+
+
+def get_isaacsim_kit_path():
+    """Get the path to isaacsim.exp.base.kit file.
+
+    Returns:
+        Path | None: Path to the kit file if isaacsim is installed, None otherwise.
+    """
+    try:
+        import isaacsim
+
+        return Path(isaacsim.__file__).parent / "apps" / "isaacsim.exp.base.kit"
+    except ImportError:
+        return None
+
+
+def update_pow_toml_assets_path(pow_toml_path: Path, asset_path: Path) -> None:
+    """Update pow.toml with isaacsim_assets_path.
+
+    Makes the path relative if inside cwd, or uses ~/ for home directory.
+
+    Args:
+        pow_toml_path: Path to the pow.toml file.
+        asset_path: Absolute path to the isaacsim_assets directory.
+
+    Returns:
+        str: The asset path string that was written to pow.toml.
+    """
+    # Update pow.toml with isaacsim_assets_path
+    content = pow_toml_path.read_text()
+    content = re.sub(
+        r"^(\s*isaacsim_assets_path\s*=\s*).*$",
+        rf'\g<1>"{asset_path}"',
+        content,
+        flags=re.MULTILINE,
+    )
+    pow_toml_path.write_text(content)
+
+
+def generate_settings_block(asset_base: Path) -> str:
+    """Generate the settings block to add to the kit file.
+
+    Args:
+        asset_base: Base path where Isaac assets are located.
+
+    Returns:
+        str: Formatted settings block string to append to the kit file.
+    """
+    return f'''
+
+# Local asset settings (added by pow cli)
+[settings]
+exts."isaacsim.asset.browser".visible_after_startup = true
+persistent.isaac.asset_root.default = "{asset_base}"
+
+exts."isaacsim.gui.content_browser".folders = [
+    "{asset_base}/Isaac/Robots",
+    "{asset_base}/Isaac/People",
+    "{asset_base}/Isaac/IsaacLab",
+    "{asset_base}/Isaac/Props",
+    "{asset_base}/Isaac/Environments",
+    "{asset_base}/Isaac/Materials",
+    "{asset_base}/Isaac/Samples",
+    "{asset_base}/Isaac/Sensors",
+]
+
+exts."isaacsim.asset.browser".folders = [
+    "{asset_base}/Isaac/Robots",
+    "{asset_base}/Isaac/People",
+    "{asset_base}/Isaac/IsaacLab",
+    "{asset_base}/Isaac/Props",
+    "{asset_base}/Isaac/Environments",
+    "{asset_base}/Isaac/Materials",
+    "{asset_base}/Isaac/Samples",
+    "{asset_base}/Isaac/Sensors",
+]
+# End: Local asset settings (added by pow cli)
+'''
+
+
+def update_kit_settings(asset_root: Path, version: str = "5.1.0") -> Path:
+    """Update the isaacsim.exp.base.kit file with local asset paths.
+
+    Args:
+        asset_root: Root directory containing the extracted Isaac assets.
+        version: Isaac Sim asset version string (e.g., "5.1.0").
+
+    Returns:
+        Path: Path to the asset base directory on success.
+
+    Raises:
+        FileNotFoundError: If isaacsim.exp.base.kit file is not found.
+    """
+    kit_path = get_isaacsim_kit_path()
+    if not kit_path or not kit_path.exists():
+        raise FileNotFoundError(
+            "Could not find isaacsim.exp.base.kit file. Is isaacsim installed?"
+        )
+
+    version_short = ".".join(version.split(".")[:2])  # 5.1.0 -> 5.1
+    asset_base = asset_root / "Assets" / "Isaac" / version_short
+    settings_block = generate_settings_block(asset_base)
+
+    # Read existing content and remove previous settings block if present
+    content = kit_path.read_text()
+    start_marker = "# Local asset settings (added by pow cli)"
+    end_marker = "# End: Local asset settings (added by pow cli)"
+
+    start_idx = content.find(start_marker)
+    end_idx = content.find(end_marker)
+
+    # Remove existing if both start and end marker is found
+    if start_idx != -1 and end_idx != -1:
+        end_idx += len(end_marker)
+        content = content[:start_idx].rstrip("\n") + content[end_idx:].lstrip("\n")
+        click.echo("Removing existing local asset settings...")
+
+    with open(kit_path, "w") as f:
+        f.write(content + settings_block)
+
+    click.echo(f"Added local asset settings this kit file:\n {kit_path}")
+    return asset_base
+
+
+def download_assets(target_path: Path, version: str = "5.1.0") -> None:
+    """Download Isaac Sim asset zip parts using aria2c.
+
+    Downloads three zip parts from NVIDIA's Isaac Sim asset server.
+    Supports resuming incomplete downloads.
+
+    Args:
+        target_path: Directory to download the zip files to.
+        version: Isaac Sim asset version string (e.g., "5.1.0").
+
+    Returns:
+        None
+
+    Raises:
+        subprocess.CalledProcessError: If aria2c download fails.
+    """
+    for i in range(1, 4):
+        zip_file = target_path / f"isaac-sim-assets-complete-{version}.zip.00{i}"
+        aria2_file = (
+            target_path / f"isaac-sim-assets-complete-{version}.zip.00{i}.aria2"
+        )
+
+        if aria2_file.exists():
+            click.echo(f"Incomplete download detected: {zip_file.name}. Resuming...")
+        elif not zip_file.exists():
+            click.echo(f"Missing asset: {zip_file.name}. Downloading...")
+        else:
+            click.echo(f"Found complete asset part: {zip_file.name}.")
+            continue
+
+        subprocess.run(
+            [
+                "aria2c",
+                f"https://download.isaacsim.omniverse.nvidia.com/isaac-sim-assets-complete-{version}.zip.00{i}",
+                "-d",
+                str(target_path),
+            ],
+            check=True,
+        )
+
+    click.echo(f"All isaac sim asset v{version} parts are present.")
+
+
+def extract_assets(
+    target_path: Path, version: str = "5.1.0", keep_zip: bool = False
+) -> None:
+    """Merge and extract Isaac Sim asset zip files.
+
+    Combines three zip parts into a single archive, extracts it to
+    target_path/isaacsim_assets, and optionally cleans up the zip files.
+
+    Args:
+        target_path: Directory containing the downloaded zip parts.
+        version: Isaac Sim asset version string (e.g., "5.1.0").
+        keep_zip: If True, keep zip files after extraction.
+
+    Returns:
+        None
+
+    Raises:
+        subprocess.CalledProcessError: If unzip extraction fails.
+    """
+    merged_zip = target_path / f"isaac-sim-assets-complete-{version}.zip"
+    zip_parts = [
+        target_path / f"isaac-sim-assets-complete-{version}.zip.001",
+        target_path / f"isaac-sim-assets-complete-{version}.zip.002",
+        target_path / f"isaac-sim-assets-complete-{version}.zip.003",
+    ]
+
+    if merged_zip.exists():
+        click.echo(f"Removing existing merged archive: {merged_zip}")
+        merged_zip.unlink()
+
+    click.echo("Merging zip parts...")
+
+    total_size = sum(p.stat().st_size for p in zip_parts)
+    written = 0
+
+    with open(merged_zip, "wb") as outfile:
+        for part in zip_parts:
+            with open(part, "rb") as infile:
+                while chunk := infile.read(1024 * 1024 * 10):  # 10MB chunks
+                    outfile.write(chunk)
+                    written += len(chunk)
+                    pct = (written / total_size) * 100
+                    click.echo(f"\r  Progress: {pct:.1f}%", nl=False)
+    click.echo()  # newline after progress
+    click.echo(f"Created merged archive: {merged_zip}")
+
+    click.echo("Extracting assets...")
+    subprocess.run(
+        ["unzip", str(merged_zip), "-d", str(target_path / "isaacsim_assets")],
+        check=True,
+    )
+    click.echo("Extraction complete.")
+
+    version_short = ".".join(version.split(".")[:2])  # 5.1.0 -> 5.1
+    click.echo(
+        f"Isaac Sim assets installed to: {target_path}/isaacsim_assets/Assets/Isaac/{version_short}"
+    )
+
+    click.echo("Cleaning up zip files parts...")
+    for part in zip_parts:
+        if part.exists():
+            part.unlink()
+
+    if merged_zip.exists() and not keep_zip:
+        merged_zip.unlink()
+    else:
+        click.echo(f"Keeping zip files at: {target_path}")
+
+    click.echo("Cleanup complete.")
+
+
+@click.command("local-assets")
+@click.argument("path", required=True)
+@click.option(
+    "-s",
+    "--skip-download",
+    is_flag=True,
+    help="Skip downloading and use existing files",
+)
+@click.option(
+    "-v",
+    "--version",
+    default="5.1.0",
+    help="Isaac Sim asset version (default: 5.1.0)",
+)
+@click.option(
+    "-k",
+    "--keep-zip",
+    is_flag=True,
+    help="Keep zip files after extraction",
+)
+def add_local_assets(
+    path: str, skip_download: bool, version: str, keep_zip: bool
+) -> None:
+    """Download Isaac Sim assets and install at target path.
+
+    Main CLI command that orchestrates downloading, extracting, and configuring
+    Isaac Sim local assets.
+
+    Args:
+        path: Target directory path for asset installation.
+        skip_download: If True, skip download and use existing files.
+        version: Isaac Sim asset version string (e.g., "5.1.0").
+        keep_zip: If True, keep zip files after extraction.
+
+    Returns:
+        None
+    """
+
+    # Check if project is initialized
+    pow_toml_path = Path.cwd() / "pow.toml"
+    if not pow_toml_path.exists():
+        raise click.ClickException(
+            "pow.toml not found. Please run 'pow sim init' first to initialize the workspace."
+        )
+
+    target_path = Path(path).resolve()
+
+    if not skip_download:
+        download_assets(target_path, version)
+        extract_assets(target_path, version, keep_zip)
+
+    # Update kit settings with local asset paths
+    update_kit_settings(target_path / "isaacsim_assets", version)
+
+    # Update pow.toml with isaacsim_assets_path
+    asset_path = target_path / "isaacsim_assets"
+    update_pow_toml_assets_path(pow_toml_path, asset_path)
+
+    click.echo(f"Updated isaacsim_assets_path settings in pow.toml:\n {asset_path}")
+    click.echo(
+        click.style(
+            f"Isaac sim local assets version {version} installation complete.",
+            fg="green",
+        )
+    )

pow_cli/sim/check/check.py

@@ -0,0 +1,25 @@
+import subprocess
+
+import click
+
+from ...lib.path import get_isaacsim_path
+
+
+@click.command("check")
+def check_compatibility() -> None:
+    isaacsim_path = get_isaacsim_path()
+    if isaacsim_path is None:
+        click.echo("Error: Isaac Sim not found. Please install Isaac Sim first.")
+        return False
+
+    try:
+        subprocess.run(
+            ["uv", "run", "isaacsim", "isaacsim.exp.compatibility_check"],
+            check=True,
+            text=True,
+        )
+
+        return True
+    except subprocess.CalledProcessError as e:
+        click.echo(f"Compatibility check failed: {e.stderr}")
+        return False

pow_cli/sim/init/init_sim.py

@@ -0,0 +1,324 @@
+import json
+import re
+import subprocess
+from importlib.resources import files
+from pathlib import Path
+
+import click
+import toml
+
+from ...lib import get_isaacsim_path
+
+
+def generate_vscode_settings() -> bool:
+    """Generate VS Code settings for Isaac Sim development.
+
+    Runs 'python -m isaacsim --generate-vscode-settings' to create
+    VS Code configuration for Isaac Sim extensions and Python paths.
+
+    Returns:
+        bool: True if settings were generated successfully, False otherwise.
+    """
+    try:
+        settings_path = Path.cwd() / ".vscode" / "settings.json"
+        if settings_path.exists():
+            click.echo("Skipped creating vscode settings, already exists.")
+            return True
+
+        # run isaacsim script to generate settings
+        subprocess.run(
+            ["uv", "run", "python", "-m", "isaacsim", "--generate-vscode-settings"],
+            check=True,
+            capture_output=True,
+            text=True,
+        )
+        click.echo("Generated vscode settings for Isaac Sim")
+
+        # replace absolute paths with ${workspaceFolder} in settings.json
+
+        settings_path = Path.cwd() / ".vscode" / "settings.json"
+        content = settings_path.read_text()
+
+        # Replace absolute paths before .venv with ${workspaceFolder}
+        # Pattern matches: "/any/path/.venv" -> "${workspaceFolder}/.venv"
+        updated_content = re.sub(
+            r'"[^"]+/\.venv/',
+            r'"${workspaceFolder}/.venv/',
+            content,
+        )
+
+        if content != updated_content:
+            settings_path.write_text(updated_content)
+        else:
+            click.echo(
+                "No absolute paths to replace with ${workspaceFolder} in VS Code settings"
+            )
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        click.echo(f"Error generating VS Code settings: {e.stderr}")
+        return False
+    except FileNotFoundError:
+        click.echo("Error: Python not found in PATH")
+        return False
+
+
+def fix_asset_browser_cache(isaacsim_path: Path) -> bool:
+    """Fix the Isaac Sim asset browser cache issue by creating an empty cache file.
+
+    The asset browser extension requires a cache.json file to exist. If it doesn't,
+    the browser may fail to load. This function creates an empty cache structure.
+
+    Args:
+        isaacsim_path: Path to the Isaac Sim installation directory.
+
+    Returns:
+        bool: True if cache was created or already exists, False otherwise.
+    """
+    cache_path = (
+        isaacsim_path
+        / "exts"
+        / "isaacsim.asset.browser"
+        / "cache"
+        / "isaacsim.asset.browser.cache.json"
+    )
+
+    if cache_path is None:
+        click.echo("Warning: Could not find isaacsim installation")
+        return False
+
+    # Create cache directory if it doesn't exist
+    cache_path.parent.mkdir(parents=True, exist_ok=True)
+
+    if cache_path.exists():
+        click.echo(
+            f"Skipped creating Asset browser cache, already exists:\n  {cache_path}"
+        )
+        return True
+
+    # Create empty cache structure
+    empty_cache = {}
+
+    with open(cache_path, "w") as f:
+        json.dump(empty_cache, f, indent=4)
+
+    click.echo(f"Created asset browser cache: {cache_path}")
+    return True
+
+
+def create_pow_config_toml() -> tuple[dict, bool]:
+    """Create pow.toml config file in the project root.
+
+    Copies the default pow.toml template to the current working directory.
+    If pow.toml already exists, it will not be overwritten.
+
+    Returns:
+        tuple[dict, bool]: A tuple containing:
+            - dict: The parsed pow.toml configuration dictionary.
+            - bool: True if pow.toml already existed, False if newly created.
+    """
+    pow_toml_path = Path.cwd() / "pow.toml"
+
+    if pow_toml_path.exists():
+        click.echo("Skipped creating pow.toml config, already exists.")
+        return (toml.load(pow_toml_path), True)
+
+    try:
+        default_toml = files("pow_cli").joinpath("data", "pow.default.toml")
+        content = default_toml.read_text()
+        pow_toml_path.write_text(content)
+        click.echo("Created pow.toml config")
+        return (toml.load(pow_toml_path), False)
+    except FileNotFoundError:
+        click.echo("Error: Default template not found in package")
+        return ({}, False)
+
+
+def update_pow_config_toml(pow_config: dict) -> None:
+    """Update pow.toml config file with ROS settings.
+
+    Uses regex replacement to preserve file formatting and comments.
+
+    Args:
+        pow_config: The pow.toml configuration dictionary with updated values.
+    """
+    pow_toml_path = Path.cwd() / "pow.toml"
+    content = pow_toml_path.read_text()
+
+    # Replace enable_ros value
+    enable_ros = str(pow_config["sim"]["ros"]["enable_ros"]).lower()
+    content = re.sub(
+        r"^(\s*enable_ros\s*=\s*).*$",
+        rf"\g<1>{enable_ros}",
+        content,
+        flags=re.MULTILINE,
+    )
+
+    # Replace ros_distro value
+    ros_distro = pow_config["sim"]["ros"]["ros_distro"]
+    content = re.sub(
+        r"^(\s*ros_distro\s*=\s*).*$",
+        rf'\g<1>"{ros_distro}"',
+        content,
+        flags=re.MULTILINE,
+    )
+
+    # Replace isaacsim_ros_ws value
+    isaacsim_ros_ws = pow_config["sim"]["ros"].get("isaacsim_ros_ws", "")
+    content = re.sub(
+        r"^(\s*isaacsim_ros_ws\s*=\s*).*$",
+        rf'\g<1>"{isaacsim_ros_ws}"',
+        content,
+        flags=re.MULTILINE,
+    )
+
+    pow_toml_path.write_text(content)
+
+
+def setup_ros_workspace(pow_config: dict, is_existing: bool) -> dict:
+    """Setup ROS workspace for Isaac Sim project.
+
+    Prompts the user to enable ROS integration and select a ROS distro.
+    If enabled, clones and installs isaac_ros_common in .pow/ directory.
+
+    Args:
+        pow_config: The pow.toml configuration dictionary.
+        is_existing: True if pow.toml already existed, False if newly created.
+
+    Returns:
+        dict: Updated pow_config with ros settings:
+            - sim.ros.enable_ros (bool): Whether ROS is enabled
+            - sim.ros.ros_distro (str): Selected ROS distro or empty string if disabled
+    """
+
+    # Ensure nested structure exists
+    if "sim" not in pow_config:
+        pow_config["sim"] = {}
+    if "ros" not in pow_config["sim"]:
+        pow_config["sim"]["ros"] = {}
+
+    if not is_existing:
+        # Ask if user wants to use ROS
+        enable_ros = click.confirm(
+            click.style(
+                "Do you want to enable ROS integration in IsaacSim?",
+                fg="bright_black",
+            ),
+            default=True,
+        )
+        if not enable_ros:
+            click.echo("Skipping ROS setup.")
+            pow_config["sim"]["ros"]["enable_ros"] = False
+            pow_config["sim"]["ros"]["ros_distro"] = ""
+            return pow_config
+
+        pow_config["sim"]["ros"]["enable_ros"] = True
+
+        # Select ROS distro
+        ros_distros = ["humble", "jazzy"]
+        click.echo(click.style("Available ROS distributions:", fg="bright_black"))
+        for i, distro in enumerate(ros_distros, 1):
+            click.echo(click.style(f"  {i}. {distro}", fg="bright_black", bold=True))
+
+        choice = click.prompt(
+            click.style("Select ROS distro", fg="bright_black"),
+            type=click.IntRange(1, len(ros_distros)),
+            default=1,  # humble
+        )
+        selected_distro = ros_distros[choice - 1]
+        pow_config["sim"]["ros"]["ros_distro"] = selected_distro
+        click.echo(f"Selected ROS distro: {selected_distro}")
+
+    # Setup .pow directory in user home
+    pow_dir = Path.home() / ".pow"
+    pow_dir.mkdir(parents=True, exist_ok=True)
+
+    # Clone IsaacSim-ros_workspaces
+    ros_workspace_path = pow_dir / "IsaacSim-ros_workspaces"
+
+    if ros_workspace_path.exists():
+        click.echo("IsaacSim-ros_workspaces already exists")
+    else:
+        click.echo("Cloning IsaacSim-ros_workspaces...")
+        try:
+            subprocess.run(
+                [
+                    "git",
+                    "clone",
+                    "-b",
+                    "IsaacSim-5.1.0",
+                    "--quiet",
+                    "https://github.com/isaac-sim/IsaacSim-ros_workspaces.git",
+                    str(ros_workspace_path),
+                ],
+                check=True,
+                capture_output=True,
+            )
+            click.echo(f"Cloned IsaacSim-ros_workspaces to: {ros_workspace_path}")
+        except subprocess.CalledProcessError as e:
+            click.echo(f"Error cloning IsaacSim-ros_workspaces: {e}")
+            pow_config["sim"]["ros"]["enable_ros"] = False
+            return pow_config
+
+    # Install the selected ROS workspace base on this guide
+    # https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html
+    ros_distro = pow_config["sim"]["ros"].get("ros_distro", "")
+    if ros_distro in ["humble", "jazzy"]:
+        # Install ROS dependencies
+        click.echo(f"Building ROS {ros_distro} workspace...")
+        try:
+            subprocess.run(
+                ["./build_ros.sh", "-d", ros_distro, "-v", "22.04"],
+                cwd=ros_workspace_path,
+                check=True,
+            )
+            click.echo(f"Built ROS {ros_distro} workspace.")
+        except subprocess.CalledProcessError as e:
+            click.echo(
+                f"Skipped build: failed to build ROS {ros_distro} workspace ({e})"
+            )
+            pow_config["sim"]["ros"]["enable_ros"] = False
+            return pow_config
+
+    # Store the ROS workspace path in config (use ~/ for home directory)
+    pow_config["sim"]["ros"]["isaacsim_ros_ws"] = str(ros_workspace_path).replace(
+        str(Path.home()), "~"
+    )
+
+    click.echo(f"Setup ROS workspace complete at path:\n  {ros_workspace_path}")
+
+    return pow_config
+
+
+@click.command("init")
+def init_sim() -> None:
+    """Initialize a new Isaac Sim project.
+
+    Returns:
+        None
+    """
+
+    # Check if isaacsim is installed
+
+    isaacsim_path = get_isaacsim_path()
+    if isaacsim_path is None:
+        click.echo("Error: Isaac Sim not found. Please install Isaac Sim first.")
+        return
+
+    # Create pow.toml config if not exists in root
+    pow_config, is_existing = create_pow_config_toml()
+
+    # Generate VS Code settings for Isaac Sim
+    generate_vscode_settings()
+
+    # Fix: isaacsim browser cache issue
+    fix_asset_browser_cache(isaacsim_path)
+
+    # Setup ROS workspace if user agrees
+    updated_powconfig = setup_ros_workspace(pow_config, is_existing)
+
+    # Update pow.toml with ROS settings
+    update_pow_config_toml(updated_powconfig)
+
+    click.echo(click.style("🎉 Successfully initialized Sim project 🎉", fg="green"))

pow_cli/sim/run/run.py

@@ -0,0 +1,109 @@
+"""Run Isaac Sim App command."""
+
+import platform
+from pathlib import Path
+
+import click
+import toml
+
+
+def find_project_root(start_path: Path | None = None) -> Path | None:
+    """Find the project root by locating pow.toml.
+
+    Searches from the start path upward through parent directories
+    until pow.toml is found or the filesystem root is reached.
+
+    Args:
+        start_path: Directory to start searching from (default: current directory).
+
+    Returns:
+        Path | None: Path to the directory containing pow.toml, or None if not found.
+    """
+    if start_path is None:
+        start_path = Path.cwd()
+
+    current = start_path.resolve()
+
+    while current != current.parent:
+        if (current / "pow.toml").exists():
+            return current
+        current = current.parent
+
+    # Check root as well
+    if (current / "pow.toml").exists():
+        return current
+
+    return None
+
+
+def load_config(project_root: Path) -> dict:
+    """Load pow.toml configuration.
+
+    Args:
+        project_root: Path to the project root directory.
+
+    Returns:
+        dict: Parsed TOML configuration.
+
+    Raises:
+        FileNotFoundError: If pow.toml is not found.
+    """
+    config_path = project_root / "pow.toml"
+    if not config_path.exists():
+        raise FileNotFoundError(f"Config file not found: {config_path}")
+
+    return toml.load(config_path)
+
+
+@click.command(
+    context_settings={"ignore_unknown_options": True, "allow_extra_args": True}
+)
+@click.pass_context
+def run(ctx) -> None:
+    """Run an Isaac Sim App.
+
+    Loads configuration from pow.toml in the project root.
+    Supports passing arbitrary flags to Isaac Sim.
+
+    Args:
+        ctx: Click context containing extra arguments.
+
+    Returns:
+        None
+    """
+    project_root = find_project_root()
+    if project_root is None:
+        raise click.ClickException(
+            click.style(
+                "Could not find pow.toml in current directory or any parent directory.",
+                fg="red",
+            )
+        )
+
+    config = load_config(project_root)
+    click.echo(f"Loaded config: {config}")
+
+    # Check x86_64 environment
+    if platform.machine().lower() not in ("x86_64", "amd64"):
+        raise click.ClickException(
+            click.style(
+                "This command is not supported on Jetson devices; it is intended for x86_64 systems.",
+                fg="red",
+            )
+        )
+
+    # check if system is Ubuntu Linux
+    os_release = Path("/etc/os-release")
+    if not os_release.exists() or "id=ubuntu" not in os_release.read_text().lower():
+        raise click.ClickException(
+            click.style("This command is supported only on Ubuntu.", fg="red")
+        )
+
+    # TODO: implement the actual run logic
+    click.echo("TODO: check and source isaac ros workspace")
+
+    click.echo(
+        f"TDO: Pass Extra arguments to isaacsim command (support for example --reset-user): {ctx.args}"
+    )
+
+    click.echo("TODO: ")

pow_cli-0.0.1.dist-info/METADATA

@@ -0,0 +1,23 @@
+Metadata-Version: 2.4
+Name: pow-cli
+Version: 0.0.1
+Summary: Command line interface for Isaac Powerpack
+Author: Titiwat Munintravong, Isaac Powerpack Contributors
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Requires-Python: >=3.10
+Requires-Dist: click>=8.1.7
+Requires-Dist: toml>=0.10.2
+Description-Content-Type: text/markdown
+
+# 👋 Isaac Powerpack Commandline
+
+This is early preview of the Isaac Powerpack Commandline Interface (CLI) tool, `pow-cli`, designed to to streamline Isaac ROS and Isaac Sim project setup and management
+
+### Current Features and Roadmap
+
+- CLI
+  - [x] Install Isaac Sim local assets (`sim add local-assets`, v5.1.0)
+  - [ ] Isaac Sim commands: `sim init`, `sim run` for simplified setup workflows
+  - [ ] Isaac ROS commands: `ros init`, `ros run`, `ros build` for streamlined Docker workflows

pow_cli-0.0.1.dist-info/RECORD

@@ -0,0 +1,20 @@
+pow_cli/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pow_cli/main.py,sha256=pU_MbiaxdailQegtlGml12k7sRR-nD2uShVGvJKx_Ts,926
+pow_cli/data/pow.default.toml,sha256=ozkZYTctxNU70Yv7d1YFr1JEI1k-SycfADGIYDaZqgM,541
+pow_cli/init/TODO.md,sha256=MergzyLTPLlkN3o7N3a8x1GnkyJuKsaFS08erDQwe4Y,240
+pow_cli/lib/__init__.py,sha256=DGGA4cjVSPSYoaWPH9t0fmlVXpKtmH7WK3zpgcNAmmQ,69
+pow_cli/lib/path.py,sha256=YTEKg0x8kqYOwHUtwlVm8jxKTlIawJdr5Ou9swOpui4,342
+pow_cli/sim/add/__init__.py,sha256=KGviq8twm0yU3lgLFnt3cAx_3CKAI0dOFzXagChwwHM,75
+pow_cli/sim/add/local_assets.py,sha256=mlirZnBWrOefRgLVSqYJtnXD2Jvu61BtF4sVe7v0CNI,9633
+pow_cli/sim/check/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pow_cli/sim/check/check.py,sha256=zhi33XwuYkTIbTVlZuIkjUb-rrodaK5CJjhHRO5p5ZA,626
+pow_cli/sim/init/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pow_cli/sim/init/init_sim.py,sha256=DOCpTPDkcdvFiItFrYxGPmbkjE5jjdhAx70ynTlzOo4,10646
+pow_cli/sim/run/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+pow_cli/sim/run/run.py,sha256=W91itBo2Vru6upg_lIotR4eE9V17flVRCMJNzVueg9s,2957
+pow_cli-0.0.1.dist-info/METADATA,sha256=0Tiu7-ZZ-49_LlraYFr7VL7nIniyapWZmPC_DKmbLac,852
+pow_cli-0.0.1.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+pow_cli-0.0.1.dist-info/entry_points.txt,sha256=yitjxOGWTr-M9ax2tOD9N7YTuWeyuIcCroVgNufTWZc,41
+pow_cli-0.0.1.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+pow_cli-0.0.1.dist-info/licenses/NOTICE,sha256=sJSYngRyeqzG5IHl-HaKRWFerfTZmBdTpl_YWGlgDks,202
+pow_cli-0.0.1.dist-info/RECORD,,

pow_cli-0.0.1.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: hatchling 1.28.0
+Root-Is-Purelib: true
+Tag: py3-none-any

pow_cli-0.0.1.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+pow = pow_cli.main:pow

pow_cli-0.0.1.dist-info/licenses/LICENSE

@@ -0,0 +1,201 @@
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pow_cli-0.0.1.dist-info/licenses/NOTICE

@@ -0,0 +1,5 @@
+Isaac Powerpack
+Copyright (c) 2025-present, Titiwat Munintravong and Isaac Powerpack contributors
+
+This product includes software developed by
+Titiwat Munintravong and the Isaac Powerpack contributors.