pow-cli 0.2.0rc2__tar.gz → 0.3.0__tar.gz

{pow_cli-0.2.0rc2 → pow_cli-0.3.0}/CHANGELOG.md

@@ -2,6 +2,147 @@
 
 All notable changes to the `pow-cli` package will be documented in this file.
 
+## [Unreleased]
+
+---
+
+## [0.3.0] - 2026-09-07
+
+### Added
+
+- **`pow lint` rule 4 — Isaac asset version mismatch.** Asset references pointing
+  at an `Assets/Isaac/<major>.<minor>` tree other than the one `[sim] version`
+  reads from are reported, and rewritten by `pow lint fix` (`version = "6.0.1"`
+  → `Assets/Isaac/6.0`). NVIDIA keeps every release's asset tree online, so a
+  stage authored against 5.1 kept loading 5.1 assets after the project moved to
+  6.0.1 with nothing to show for it. The target version is derived from the
+  configured version rather than tabulated, applies to every reference form (S3
+  URLs, `pow-assets`/`user-home` aliases, relative paths), and is skipped when
+  `pow.toml` sets no version
+
+- **Isaac Sim 6.0.1 support.** `pow init` step 4 now offers the installable
+  versions as an arrow-key picker — latest first, marking the latest release and
+  any already installed — or takes the version from the new `--sim-version`
+  flag, or from `[sim] version` in an existing `pow.toml` you chose to keep. The
+  picker falls back to a typed prompt when there is no terminal (piped stdin,
+  CI), so the command stays scriptable. Releases live in
+  `PowConfig.ISAACSIM_RELEASES`, which pins each version's download URL — 6.0.1
+  is served from `downloads.isaacsim.nvidia.com`, not the host used for 5.1.0 —
+  and the matching `IsaacSim-<version>` ROS workspace ref cloned during setup.
+- `pow sim` / `pow sim check` default `-v` to the Isaac Sim version actually
+  installed under `.pow/isaacsim/` instead of a fixed constant.
+- **`[sim] default_version` in `~/.pow/system.toml`** — pin the version `pow sim`
+  and `pow sim check` use when `-v` is omitted. Resolution order is `-v`, then
+  this key, then the newest version installed under `.pow/isaacsim/`; an empty
+  value means auto-detect. A pinned version that is not installed prints a
+  warning and falls back to the newest installed one. New `system.toml` files
+  are created with the key present and empty; existing files are left untouched
+  and read as unset.
+- `pow sim --help` now lists the options bare `pow sim` accepts (`-v/--version`,
+  `--ros`, `--no-ros`), which previously showed up only under
+  `pow sim launch --help`.
+- **`pow sim check`** — run the Isaac Sim compatibility check from the managed
+  installation (`.pow/isaacsim/<version>/isaac-sim.compatibility_check.sh`), with
+  `-v/--version` to pick the version. Needs no project and no extra pip
+  dependency; the script sets up its own ROS environment (forward
+  `-- --no-ros-env` to skip it). `pow sim` is now a command group whose default
+  subcommand is `launch` — bare `pow sim [args...]` still launches Isaac Sim and
+  forwards raw arguments exactly as before, and `pow sim launch` is the explicit
+  form
+
+### Changed
+
+- **`pow init` no longer replaces an existing `pow.toml`.** Choosing to update
+  the configuration used to overwrite the file with the bundled template, losing
+  custom `exts`, `raw_args`, `ros_bridge`, every `[[profiles]]` block and all
+  comments. It now patches only the three settings init asks about — `version`,
+  `enable_ros`, `isaacsim_ros_ws` — and leaves the rest of the document, key
+  order and comments included, exactly as written. Step 10 lists what changed
+  (`version: 5.1.0 → 6.0.1`), and says the file is already up to date when
+  nothing moved, in which case it is not rewritten at all. Keys the template has
+  and your file lacks are deliberately not back-filled. The step-2 prompt is
+  reworded from "override" to "Update settings in existing pow.toml?" to match.
+- The `_isaacsim` symlink is re-pointed when `pow init` installs a different
+  version, instead of being left on the previous installation. A real directory
+  at `_isaacsim` is never deleted; it is reported as an error.
+- `pow init` writes the selected `version` into the generated `pow.toml`.
+- Isaac Sim's bundled ROS 2 libraries are located by probing
+  `exts/isaacsim.ros2.core/<distro>/lib` and then
+  `exts/isaacsim.ros2.bridge/<distro>/lib`, so ROS works on 6.0.1, which renamed
+  the extension.
+
+### Security
+
+- **ROS containers no longer disable X11 access control with `xhost +`.** When
+  `DISPLAY` is set, `pow ros` now copies only the current display's Xauthority
+  record into a private temporary file, mounts it read-only in the container,
+  and sets the container's `XAUTHORITY` to that file. The host's authority file
+  and X server access-control settings are left unchanged, and the temporary
+  credentials are removed when the Docker client exits. Headless launches skip
+  X11 setup; GUI launches fail with an actionable message when `xauth` or valid
+  display credentials are unavailable. Existing running containers must be
+  recreated to receive the new authentication mount.
+- An Isaac Sim version can no longer escape `.pow/isaacsim/`: versions used as a
+  path component are validated, and download URLs are only ever read from the
+  release registry, never built from a supplied version string.
+- Archive members are chmod-ed via the path `zipfile` actually wrote rather than
+  a recomputed one, so a crafted zip cannot change permissions outside the
+  install directory; setuid/setgid bits in the archive are dropped.
+
+### Fixed
+
+- A `pow.toml` that is not valid TOML is reported as
+  `pow.toml is not valid TOML: <parse error>` with a pointer to fix or delete it,
+  instead of a raw `tomllib` traceback. No command rewrites the file to make it
+  parse.
+- An interrupted Isaac Sim download no longer leaves a truncated zip that the
+  next `pow init` mistakes for a complete archive: downloads land on a `.part`
+  file and are renamed only once finished.
+- Execute permissions are restored before `post_install.sh` runs, so an archive
+  without Unix mode bits no longer fails the install.
+- `pow asset` resolves the `.kit` file from the project's configured Isaac Sim
+  version instead of a hardcoded `5.1.0` path.
+- **`pow sim check` could report nothing at all** — inside Isaac Sim's bundled
+  Python the check extension failed with `ModuleNotFoundError: No module named
+  'packaging'` (then `'setuptools'`) and never produced a verdict. The vendor
+  launcher `isaac-sim.compatibility_check.sh` never sources
+  `setup_python_env.sh`, so whether `packaging` was importable depended on kit's
+  extension load order. pow now puts the installation's own bundled module
+  directories on `PYTHONPATH` and no longer forwards the host `PYTHONPATH` (which
+  typically targets another Python version, the same reason the ROS bridge
+  environment strips it)
+- **`pow sim check` exited 0 when the check produced no result** — Isaac Sim exits
+  0 even when the check app fails to start. The command now streams the output and
+  fails with a clear message if no `System checking result:` line appears; a
+  non-zero exit code from the check still takes priority
+
+### Removed
+
+- **`pow check`** — the standalone Isaac Sim compatibility check command has been
+  removed, replaced by `pow sim check` above. It ran the check through the pip
+  `isaacsim` entry point, so pow-cli no longer depends on the
+  `isaacsim[compatibility-check]` extra and `isaacsim-app` is no longer installed
+  as a transitive dependency
+- The `packaging` and `setuptools` runtime dependencies, which existed only for
+  that pip-based check. `pow sim check` reads those modules from the Isaac Sim
+  installation instead
+
+---
+
+## [0.2.0] - 2026-07-28
+
+Stable release of the 0.2.0 line, promoted from `0.2.0-rc.2` with no functional
+changes.
+
+Everything new since `0.1.1` is listed in the two release candidate entries
+below — headline items: the new `pow sim` and `pow ros build` commands, the
+`ros_bridge` and `ros_docker_image` config keys, Jazzy-only ROS 2 support
+(Humble removed), a faster `pow init` that no longer builds the ROS workspace,
+and fixes for `rosdep install`, `cpu_performance_mode`, and `ros2` tab
+completion inside the container.
+
+---
+
 ## [0.2.0-rc.2] - 2026-07-28
 
 ### Added

{pow_cli-0.2.0rc2 → pow_cli-0.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.4
+Metadata-Version: 2.5
 Name: pow-cli
-Version: 0.2.0rc2
+Version: 0.3.0
 Summary: Command line interface for Isaac Powerpack
 Author: Titiwat Munintravong, Isaac Powerpack Contributors
 License-Expression: Apache-2.0
@@ -10,10 +10,8 @@ Requires-Python: >=3.10
 Requires-Dist: aiohttp>=3.11.11
 Requires-Dist: click>=8.1.7
 Requires-Dist: distro>=1.9.0
-Requires-Dist: isaacsim[compatibility-check]>=5.1.0.0
-Requires-Dist: packaging>=26.0
+Requires-Dist: isaacsim>=5.1.0.0
 Requires-Dist: rich
-Requires-Dist: setuptools>=82.0.1
 Requires-Dist: tomlkit>=0.14.0
 Description-Content-Type: text/markdown
 

{pow_cli-0.2.0rc2 → pow_cli-0.3.0}/pow_cli/cli/init.py

@@ -1,5 +1,6 @@
 """Init command implementation."""
 
+import json
 import time
 from pathlib import Path
 
@@ -8,9 +9,10 @@ from rich.panel import Panel
 from rich.progress import BarColumn, Progress, SpinnerColumn, TextColumn
 from rich.prompt import Confirm
 
-from ..common.prompt import ask_path
+from ..common.prompt import ask_choice, ask_path
 from ..common.utils import console
 from ..core.initializer import Initializer
+from ..core.models.pow_config import PowConfig
 from ..core.ros_manager import RosManager
 
 
@@ -87,11 +89,14 @@ def _step2_check_existing_config(initializer: Initializer) -> bool:
         "[yellow]Found existing pow.toml[/yellow]"
     )
     override = Confirm.ask(
-        "   Do you want to override existing pow.toml?",
+        "   Update settings in existing pow.toml?",
         default=False,
     )
     if override:
-        console.print("   [green]Proceeding and will override pow.toml.[/green]")
+        console.print(
+            "   [green]Will update only version, enable_ros and isaacsim_ros_ws.[/green]"
+        )
+        console.print("   [dim]Your other settings and comments are kept.[/dim]")
     else:
         console.print("   [yellow]Proceeding with existing pow.toml.[/yellow]")
         initializer.read_config()
@@ -126,9 +131,61 @@ def _step3_global_folder(initializer: Initializer, global_path):
         )
 
 
-def _step4_download_isaacsim(initializer: Initializer) -> dict | None:
+def _version_choices() -> list[tuple[str, str]]:
+    """Installable versions, latest first, annotated for the picker."""
+    installed = set(PowConfig.installed_versions())
+    latest = PowConfig.SUPPORTED_ISAACSIM_VERSIONS[0]
+
+    choices = []
+    for version in PowConfig.SUPPORTED_ISAACSIM_VERSIONS:
+        notes = []
+        if version == latest:
+            notes.append("latest")
+        if version in installed:
+            notes.append("installed")
+        choices.append((version, ", ".join(notes)))
+    return choices
+
+
+def _resolve_sim_version(flag_version: str | None, config_version: str | None) -> str:
+    """Decide which Isaac Sim version to install.
+
+    Precedence: ``--sim-version`` flag, then ``[sim] version`` from an existing
+    pow.toml the user chose to keep, then an interactive prompt.
+    """
+    if flag_version:
+        console.print(
+            f"   Using version from --sim-version: [bold green]{flag_version}[/bold green]"
+        )
+        return flag_version
+
+    if config_version:
+        if config_version not in PowConfig.SUPPORTED_ISAACSIM_VERSIONS:
+            raise click.ClickException(
+                f"Unsupported Isaac Sim version '{config_version}' in pow.toml. "
+                f"Supported versions: {', '.join(PowConfig.SUPPORTED_ISAACSIM_VERSIONS)}."
+            )
+        console.print(
+            f"   Using version from pow.toml: [bold green]{config_version}[/bold green]"
+        )
+        return config_version
+
+    return ask_choice(
+        "Select Isaac Sim version",
+        _version_choices(),
+        default=PowConfig.ISAACSIM_VERSION,
+    )
+
+
+def _step4_download_isaacsim(
+    initializer: Initializer,
+    flag_version: str | None = None,
+    config_version: str | None = None,
+) -> dict | None:
     """Download Isaac Sim with a Rich progress bar. Returns result dict or None on error."""
-    console.print("[bold blue][4/10] 📦 Isaac Sim App:[/bold blue] Installing Isaac Sim 5.1.0...")
+    console.print("[bold blue][4/10] 📦 Isaac Sim App:[/bold blue] Select a version to install")
+    version = _resolve_sim_version(flag_version, config_version)
+    console.print(f"   Installing Isaac Sim [bold]{version}[/bold]...")
 
     result = None
     error = None
@@ -147,7 +204,7 @@ def _step4_download_isaacsim(initializer: Initializer) -> dict | None:
         refresh_per_second=10,
     ) as progress:
         download_task = progress.add_task(
-            "download", filename="isaac-sim-5.1.0.zip", total=None, speed="0 MB/s"
+            "download", filename=f"isaac-sim-{version}.zip", total=None, speed="0 MB/s"
         )
         extract_task = progress.add_task(
             "extract", filename="", total=None, speed=" ", visible=False
@@ -178,7 +235,7 @@ def _step4_download_isaacsim(initializer: Initializer) -> dict | None:
                 progress.update(download_task, visible=False)
                 progress.update(
                     extract_task,
-                    filename="isaac-sim-5.1.0 [yellow](Extracting...)[/yellow]",
+                    filename=f"isaac-sim-{version} [yellow](Extracting...)[/yellow]",
                     speed=" ",
                     completed=0,
                     total=None,
@@ -189,12 +246,13 @@ def _step4_download_isaacsim(initializer: Initializer) -> dict | None:
             elif status == "Extracted":
                 progress.update(
                     extract_task,
-                    filename="isaac-sim-5.1.0 [green](Extracted → 5.1.0)[/green]",
+                    filename=f"isaac-sim-{version} [green](Extracted → {version})[/green]",
                 )
                 time.sleep(1)
 
         try:
             result = initializer.download_isaacsim(
+                version=version,
                 progress_callback=progress_callback,
                 status_callback=status_callback,
             )
@@ -205,9 +263,10 @@ def _step4_download_isaacsim(initializer: Initializer) -> dict | None:
     if error:
         console.print(f"   [bold red]❌ Error:[/bold red] {error}")
         return None
+    result.setdefault("version", version)
     if result["status"] == "Already installed":
         console.print(
-            f"   [yellow]✔[/yellow] Isaac Sim 5.1.0 is already installed at [dim]{result['path']}[/dim]"
+            f"   [yellow]✔[/yellow] Isaac Sim {version} is already installed at [dim]{result['path']}[/dim]"
         )
     else:
         console.print(
@@ -232,6 +291,7 @@ def _step6_ros_integration(
     global_dir_name: str,
     forced_value: bool | None = None,
     forced_ws: str | None = None,
+    sim_version: str | None = None,
 ) -> tuple[bool, str]:
     """Prompt for ROS integration and set it up.
 
@@ -295,6 +355,7 @@ def _step6_ros_integration(
             ros_res = ros_mgr.setup_ros_workspace(
                 status_callback=ros_status_callback,
                 ws_path=resolved_ws,
+                sim_version=sim_version,
             )
         except Exception as e:
             ros_setup_failed = True
@@ -305,7 +366,10 @@ def _step6_ros_integration(
         raise SystemExit(1)
 
     if ros_cloned:
-        console.print(f"   [green]✔[/green] Cloned IsaacSim-ros_workspaces to [dim]{display_path}[/dim]")
+        console.print(
+            f"   [green]✔[/green] Cloned IsaacSim-ros_workspaces "
+            f"([bold]{ros_res['ws_ref']}[/bold]) to [dim]{display_path}[/dim]"
+        )
     else:
         console.print(f"   [yellow]✔[/yellow] IsaacSim-ros_workspaces already available in [dim]{display_path}[/dim]")
 
@@ -404,28 +468,95 @@ def _step7_project_structure(initializer: Initializer):
         console.print("   [yellow]✔[/yellow] .gitignore already exists. [dim]Kept existing.[/dim]")
 
 
-def _step8_project_link(initializer: Initializer):
-    """Symlink managed Isaac Sim to local project."""
+def _step8_project_link(initializer: Initializer, sim_version: str | None = None) -> dict | None:
+    """Symlink managed Isaac Sim to local project.
+
+    Returns the link result, or None when it could not be linked - everything
+    after this step describes the linked install, so the caller must stop.
+    """
     console.print("[bold blue][8/10] 🔗 Project Link:[/bold blue] Linking Isaac Sim to project...")
-    result = initializer.link_managed_isaacsim()
+    result = initializer.link_managed_isaacsim(version=sim_version)
     if result["status"] == "Created":
         console.print(f"   [green]✔[/green] Created symlink: [dim]{result['path']}[/dim]")
+    elif result["status"] == "Repointed":
+        console.print(
+            f"   [green]✔[/green] Re-pointed symlink [dim]{result['path']}[/dim] "
+            f"to Isaac Sim {sim_version} [dim](was {result['previous']})[/dim]"
+        )
     elif result["status"] == "Existed":
         console.print(f"   [yellow]✔[/yellow] Symlink already exists: [dim]{result['path']}[/dim]")
     elif result["status"] == "Error":
         console.print(f"   [bold red]❌ Error:[/bold red] {result['message']}")
+        return None
+    return result
 
 
-def _step9_vscode_setup(initializer: Initializer):
-    """Setup VSCode configuration for the project."""
+#: VSCode config outcomes that are not a problem, mapped to how they are marked.
+_VSCODE_OK_STATUSES = {
+    "Copied": "green",
+    "Copied and patched": "green",
+    "Created": "green",
+    "Updated": "green",
+    "Already up to date": "yellow",
+}
+
+
+def _step9_vscode_setup(
+    initializer: Initializer,
+    version: str | None = None,
+    version_changed: bool = True,
+):
+    """Setup VSCode configuration for the project.
+
+    *version_changed* comes from step 8: the Isaac Sim extension paths are
+    rewritten only when the project moved to a different version.
+    """
     console.print("[bold blue][9/10] 💻 VSCode Config:[/bold blue] Setting up VSCode configs...")
-    result = initializer.setup_vscode_configs()
-    if result["status"] == "Success":
-        for res in result["results"]:
-            status_symbol = "[green]✔[/green]" if "patched" in res["status"] or res["status"] == "Copied" else "[yellow]⚠[/yellow]"
-            console.print(f"   {status_symbol} {res['file']}: [dim]{res['status']}[/dim]")
-    else:
+    result = initializer.setup_vscode_configs(version=version, version_changed=version_changed)
+
+    if result["status"] != "Success":
         console.print(f"   [bold red]❌ Error:[/bold red] {result['message']}")
+        return
+
+    for res in result["results"]:
+        status = res["status"]
+        colour = _VSCODE_OK_STATUSES.get(status)
+        if status == "Error":
+            console.print(f"   [bold red]❌[/bold red] {res['file']}: [dim]{res.get('message', '')}[/dim]")
+            console.print("      Fix it, or delete it and re-run [bold]pow init[/bold].")
+            continue
+
+        symbol = f"[{colour}]✔[/{colour}]" if colour else "[yellow]⚠[/yellow]"
+        note = " [dim](kept your other settings)[/dim]" if status == "Updated" else ""
+        console.print(f"   {symbol} {res['file']}: [dim]{status}[/dim]{note}")
+
+        for key, (old, new) in (res.get("changed") or {}).items():
+            old_text = "[dim]unset[/dim]" if old is None else _json_value(old)
+            new_text = "[dim]removed[/dim]" if new is None else f"[bold]{_json_value(new)}[/bold]"
+            console.print(f"       [dim]{key}:[/dim] {old_text} → {new_text}", highlight=False)
+
+        if res["file"] == "settings.json" and not version_changed:
+            console.print(
+                f"       [dim]python.analysis.extraPaths: kept "
+                f"(Isaac Sim {result['version']} unchanged)[/dim]"
+            )
+
+        if res.get("warning"):
+            console.print(f"      [yellow]⚠[/yellow] [dim]{res['warning']}[/dim]")
+
+
+def _json_value(value) -> str:
+    """Render a settings value the way settings.json spells it, shortening containers."""
+    if isinstance(value, (list, dict)) and len(value) > 3:
+        return f"[dim]{len(value)} entries[/dim]"
+    return json.dumps(value)
+
+
+def _toml_value(value) -> str:
+    """Render a setting the way pow.toml spells it, so diffs read like the file."""
+    if isinstance(value, bool):
+        return "true" if value else "false"
+    return str(value)
 
 
 def _step10_finalize(
@@ -433,14 +564,25 @@ def _step10_finalize(
     override_pow_toml: bool,
     ros_enabled: bool,
     isaacsim_ros_ws: str = "~/IsaacSim-ros_workspaces",
-):
-    """Generate pow.toml configuration."""
-
-    
-    console.print("[bold blue][10/10] ✅ Finalizing:[/bold blue] Generating configuration...")
-    
-    # Ensure user-home alias in Omniverse config
+    sim_version: str | None = None,
+) -> bool:
+    """Generate pow.toml configuration. Returns False when it could not be written."""
+    # Both calls return their outcome instead of printing, so the step header can
+    # be rendered afterwards and carry the right icon.
     alias_result = initializer.setup_omniverse_user_home_alias()
+    result = initializer.create_pow_toml(
+        override=override_pow_toml,
+        enable_ros=ros_enabled,
+        isaacsim_ros_ws=isaacsim_ros_ws,
+        sim_version=sim_version,
+    )
+    failed = result["status"] == "Error"
+
+    icon = "❌" if failed else "✅"
+    console.print(
+        f"[bold blue][10/10] {icon} Finalizing:[/bold blue] Generating configuration..."
+    )
+
     if alias_result["status"] == "created":
         console.print(f"   [green]✔[/green] Added user-home alias in [dim]{alias_result['path']}[/dim]")
     elif alias_result["status"] == "updated":
@@ -448,25 +590,52 @@ def _step10_finalize(
     else:
         console.print(f"   [yellow]✔[/yellow] user-home alias already set in [dim]{alias_result['path']}[/dim]")
 
-    # Create pow.toml
-    result = initializer.create_pow_toml(
-        override=override_pow_toml,
-        enable_ros=ros_enabled,
-        isaacsim_ros_ws=isaacsim_ros_ws,
-    )
     if result["status"] == "Created":
         console.print("   [green]✔[/green] Created pow.toml (from template)")
+    elif result["status"] == "Updated":
+        changed = result.get("changed") or {}
+        if not changed:
+            console.print("   [yellow]✔[/yellow] pow.toml already up to date")
+        else:
+            console.print(
+                "   [green]✔[/green] Updated pow.toml "
+                "[dim](kept your other settings)[/dim]"
+            )
+            for key, (old, new) in changed.items():
+                old_text = "[dim]unset[/dim]" if old is None else _toml_value(old)
+                console.print(
+                    f"       [dim]{key}:[/dim] {old_text} → [bold]{_toml_value(new)}[/bold]",
+                    highlight=False,
+                )
     elif result["status"] == "Existed":
         console.print("   [yellow]✔[/yellow] Kept existing pow.toml")
+    elif failed:
+        console.print("   [bold red]❌ Error:[/bold red] pow.toml could not be parsed")
+        console.print(f"      [dim]{result['message']}[/dim]")
+        console.print("      Fix it, or delete it and re-run [bold]pow init[/bold].")
     else:
         console.print("   [yellow]⚠[/yellow] pow.toml template not found. [dim]Skipped.[/dim]")
 
+    return not failed
+
 
 # ── Command entry point ───────────────────────────────────────────────────────
 
 @click.command(name="init")
-def init_cmd():
-    """Initialize Isaac Sim project."""
+@click.option(
+    "--sim-version",
+    "sim_version",
+    type=click.Choice(PowConfig.SUPPORTED_ISAACSIM_VERSIONS),
+    default=None,
+    help="Isaac Sim version to install. Skips the interactive prompt.",
+)
+def init_cmd(sim_version: str | None):
+    """Initialize Isaac Sim project.
+
+    \b
+    The Isaac Sim version comes from --sim-version, then from `[sim] version`
+    in an existing pow.toml you chose to keep, then from an interactive prompt.
+    """
     initializer = Initializer()
     config = initializer.get_config_path()
     global_dir_name = config["global_dir_name"]
@@ -485,30 +654,67 @@ def init_cmd():
     override_pow_toml = _step2_check_existing_config(initializer)
     _step3_global_folder(initializer, global_path)
 
-    download_result = _step4_download_isaacsim(initializer)
-    if download_result is None:
-        return
-
-    _step5_optimization(initializer, download_result["path"])
-    
-    # Use existing ROS setting if not overriding pow.toml
+    # Reuse settings from an existing pow.toml the user chose to keep.
     ros_forced = None
     ros_ws_forced = None
+    version_forced = None
     if not override_pow_toml:
         try:
             ros_forced = initializer.config.get("enable_ros", False)
             ros_ws_forced = initializer.config.get("isaacsim_ros_ws", None)
+            version_forced = initializer.config.get("version", None)
         except Exception:
             pass
 
+    download_result = _step4_download_isaacsim(
+        initializer, flag_version=sim_version, config_version=version_forced,
+    )
+    if download_result is None:
+        return
+
+    resolved_version = download_result["version"]
+
+    _step5_optimization(initializer, download_result["path"])
+
     ros_enabled, isaacsim_ros_ws = _step6_ros_integration(
-        initializer, global_dir_name, forced_value=ros_forced, forced_ws=ros_ws_forced,
+        initializer, global_dir_name,
+        forced_value=ros_forced, forced_ws=ros_ws_forced,
+        sim_version=resolved_version,
     )
     _step7_project_structure(initializer)
-    _step8_project_link(initializer)
-    _step9_vscode_setup(initializer)
+    linked = _step8_project_link(initializer, sim_version=resolved_version)
+    if linked is None:
+        # Everything below describes the linked install: the .vscode configs are
+        # read from it and pow.toml records its version.  Writing either against
+        # a link that is not there would leave the project inconsistent.
+        console.print(
+            Panel(
+                "[bold red]✘ Initialization incomplete: Isaac Sim could not be linked."
+                "[/bold red]",
+                border_style="red",
+            )
+        )
+        raise SystemExit(1)
 
-    _step10_finalize(initializer, override_pow_toml, ros_enabled, isaacsim_ros_ws)
+    _step9_vscode_setup(
+        initializer,
+        version=resolved_version,
+        version_changed=linked["status"] in ("Created", "Repointed"),
+    )
+
+    finalized = _step10_finalize(
+        initializer, override_pow_toml, ros_enabled, isaacsim_ros_ws,
+        sim_version=resolved_version,
+    )
+
+    if not finalized:
+        console.print(
+            Panel(
+                "[bold red]✘ Initialization incomplete: pow.toml was not updated.[/bold red]",
+                border_style="red",
+            )
+        )
+        raise SystemExit(1)
 
     console.print(
         Panel(

{pow_cli-0.2.0rc2 → pow_cli-0.3.0}/pow_cli/cli/lint.py

@@ -144,7 +144,7 @@ def fix_cmd(path, short):
         if not issues:
             continue
 
-        fix_file(usda_file, issues)
+        fix_file(usda_file, issues, alias_config)
         files_fixed += 1
         total_fixed += len(issues)
 
@@ -190,15 +190,9 @@ def _print_issue(issue, *, short: bool = False) -> None:
     """Print a single lint issue."""
     rel_path = _short_path(issue.file)
     if short:
-        if "simready_content" in issue.original:
-            problem = "relative path → use sim-ready staging S3 URL"
-        elif "Pow" in issue.original:
-            problem = "relative path → use pow-assets alias"
-        else:
-            problem = "relative path → use NVIDIA production S3 URL"
         console.print(
             f"  [dim]{rel_path}[/dim]:[green]{issue.line}[/green]"
-            f"  [red]●[/red] {problem}",
+            f"  [red]●[/red] {escape(issue.label)}",
             soft_wrap=True,
         )
     else:
@@ -223,7 +217,7 @@ def _print_fix(issue, *, short: bool = False) -> None:
     if short:
         console.print(
             f"  [dim]{rel_path}[/dim]:[green]{issue.line}[/green]"
-            f"  [green]✔[/green] fixed relative path",
+            f"  [green]✔[/green] fixed: {escape(issue.label)}",
             soft_wrap=True,
         )
     else:

{pow_cli-0.2.0rc2 → pow_cli-0.3.0}/pow_cli/cli/main.py

@@ -4,10 +4,9 @@ import click
 
 from .init import init_cmd
 # from .add import add_group
-from .check import check_cmd
 from .lint import lint_group
 from .run import run_cmd
-from .sim import sim_cmd
+from .sim import sim_group
 from .ros import ros_group
 from .python import python_cmd
 from .asset import asset_group
@@ -30,10 +29,9 @@ def pow_group():
 
 # Register commands
 pow_group.add_command(init_cmd)
-pow_group.add_command(check_cmd)
 pow_group.add_command(lint_group)
 pow_group.add_command(run_cmd)
-pow_group.add_command(sim_cmd)
+pow_group.add_command(sim_group)
 pow_group.add_command(ros_group)
 pow_group.add_command(python_cmd)
 pow_group.add_command(asset_group)