pow-cli 0.2.0rc2__tar.gz → 0.4.0__tar.gz

pow_cli-0.4.0/CHANGELOG.md

@@ -0,0 +1,382 @@
+# Changelog
+
+All notable changes to the `pow-cli` package will be documented in this file.
+
+## [0.4.0] - 2026-09-14
+
+### Added
+
+- **Isaac Sim 6.1.0 support.** `pow init` now offers 6.1.0, downloads its standalone
+  archive and selects the matching ROS workspace tag. Asset references use
+  `Assets/Isaac/6.1`. Isaac Sim 5.1.0 remains supported.
+- **Linux aarch64 support.** `pow init` and `pow sim` download the
+  aarch64 build of 6.1.0 or 5.1.0 on ARM hosts such as DGX Spark, and the simulator launch and
+  compatibility-check commands accept that architecture. The bundled ROS Docker image remains
+  amd64-only: `pow init` skips its build on aarch64, and `pow ros` / `pow ros build`
+  report that limitation.
+- **`pow sim` / `pow sim check` install missing prerequisites.** Both commands
+  now create missing global folders and `system.toml`, install the selected
+  supported release when absent, and prepare the asset-browser cache before
+  launching. No project or confirmation prompt is required. Incomplete installs
+  are backed up before repair; a failed repair restores the original contents.
+- **ROS image rebuild prompt in `pow init`.** An existing `pow_simros_jazzy`
+  image without a matching simulator-version label used to stop initialization
+  with no rebuild option. Init now asks whether to rebuild it (default: No).
+  Accepting updates the existing tag using Docker's cache and preserves existing
+  containers and workspace files. Recreate containers explicitly to use the new image.
+
+### Changed
+
+- `pow init` defaults new projects to `6.1.0` unless a global preference is set.
+  Explicit version selection takes precedence; keeping an existing project
+  configuration preserves its selected version.
+- A missing version pinned in global `system.toml` is now installed by `pow sim`
+  and `pow sim check`, rather than falling back to another installed version.
+- **ROS workspace and container compatibility checks.** Setup and launching now
+  check the selected 6.1.0 workspace, image label and running-container mount.
+  Unknown or incompatible state is reported with recovery guidance. Stale
+  container-mounted build directories are no longer deleted automatically.
+- `pow lint` asset-version fixes use verified release mappings. Unknown versions are
+  not rewritten; changes to scenes still require `pow lint fix` and do not migrate
+  renamed assets or application APIs.
+- The optional simulator lookup reads matching distribution metadata without
+  importing `isaacsim`, avoiding simulator startup during path discovery.
+- Python 3.10 installs `tomli` for the existing `tomllib` fallback.
+
+### Fixed
+
+- **`pow init` could not upgrade an existing project's simulator version.**
+  Choosing to update the project now opens the version picker instead of keeping
+  the old version. Explicit `--sim-version` changes are saved with the
+  corresponding simulator link and editor paths while preserving unrelated TOML
+  settings, profiles, and comments.
+- **`pow sim check` accepted unsuccessful verdicts.** A `System checking result:`
+  line now succeeds only when its verdict is `PASSED`; failed or unrecognized
+  verdicts are errors, alongside missing results and nonzero process exits.
+- **Docker inspection errors were treated as missing or incompatible images.**
+  Daemon and permission failures now report the underlying error without offering
+  a rebuild. Failed ROS builds stop initialization before custom-image building
+  and finalization.
+- **`setup.py install is deprecated` warnings during colcon builds** — suppressed
+  in both automatic and manual builds inside the bundled ROS container
+  (requires rebuilding the image).
+- `pow asset set` now suggests `pow asset unset` when the assets symlink already
+  exists, instead of telling the user to remove it manually.
+
+### Removed
+
+- **Isaac Sim 6.0.1 installation support.** Projects pinned to it must select
+  6.1.0 or 5.1.0 for initialization; an existing complete 6.0.1 installation can
+  still launch through `pow sim -v 6.0.1`.
+- The mandatory `isaacsim` runtime dependency — installing and starting pow-cli
+  no longer requires a simulator package.
+
+Automated coverage uses mocked simulator, GPU, network, and Docker operations.
+Actual 6.1.0 checker output, GUI/headless launches, standalone Python, ROS topic
+delivery, and DGX Spark workflows still require hardware validation.
+
+---
+
+## [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 sim`** — run Isaac Sim from any directory, with no project required: no `pyproject.toml` check and `pow.toml` is never read. Launches the default version (`5.1.0`, override with `-v/--version`) and forwards raw arguments straight to `isaac-sim.sh` (`pow sim -- --no-window`). The ROS 2 bridge environment is loaded by default (`--ros jazzy`); pass `--no-ros` to launch with the inherited environment instead
+- **`pow ros build`** — build the custom image from `ros_dockerfile` without re-running `pow init`; builds the `pow_simros_jazzy` base image first if it is missing, and supports `--no-cache`. `pow ros` is now a command group (bare `pow ros [args...]` usage is unchanged; `pow ros launch` is the explicit form)
+- **`ros_bridge` config in `pow.toml`** — choose which Isaac Sim internal ROS 2 bridge libs to load (`jazzy` or `humble`, default `jazzy`), i.e. which `exts/isaacsim.ros2.bridge/<distro>/lib` is added to `LD_LIBRARY_PATH` when `enable_ros = true`. Overridable per profile. Previously the bridge was inferred from the host Ubuntu version with no way to override it; an unsupported value is now rejected with a clear error
+- **Tab completion for the `pow init` ROS workspace path** — step 6's "Path to clone IsaacSim-ros_workspaces" prompt now completes filesystem paths on <kbd>Tab</kbd> like a shell: unique directories complete inline (no stray trailing space, so the next segment can be typed straight away), ambiguous prefixes list candidates, and `~` is kept in the stored path. Trailing separators and whitespace are trimmed before the value is written to `pow.toml`
+
+### Changed
+
+- **Breaking (vs 0.2.0-rc.1):** the `ros_container_name` config key was renamed to `ros_docker_image`. The container name is no longer configured directly — it is derived from the image name (`/` and `:` replaced with `_`), so default setups now get a container named `pow_simros_jazzy` instead of `pow_simros`
+- **Breaking (vs 0.2.0-rc.1):** ROS 2 Humble support was removed — the ROS workspace and docker integration now support Jazzy only (`Dockerfile.simros_humble` deleted). Isaac Sim itself still runs on Ubuntu 22.04 and 24.04; Jazzy workspaces build on both
+- **`pow init` no longer builds the Isaac Sim ROS workspace.** Step 6 only clones `IsaacSim-ros_workspaces`; the ROS 2 bridge comes from Isaac Sim's own prebuilt libs (selected by `ros_bridge`), so init is much faster and no longer runs a Docker build for the workspace. It reports the bridge distro in use instead of a build result
+- `pow init` no longer creates the `scripts/`, `.assets/`, and `standalone/` project folders (only `exts/`, `.modules/`, `usda/`). A manually created `scripts/` folder is still mounted into the ROS container when present
+- The `pow_simros_jazzy` image now resolves workspace dependencies with `rosdep install` at build time instead of building the workspace, and source-only packages (`topic_based_ros2_control`) are staged in `/opt/pow/extra_src` and copied into `/jazzy_ws/src` at container start, so the runtime volume mount no longer shadows them
+
+### Fixed
+
+- **`rosdep install` failed inside the Jazzy container** — three causes, all fixed (requires rebuilding the image): the Ubuntu 24.04 base image's stock `ubuntu` user took UID 1000 and collided with the mapped host user, so `HOME` pointed at `/home/ubuntu` while the host `~/.ros` was mounted at `/home/hostuser/.ros`; the per-user rosdep cache was empty because `rosdep update` had run as root at build time, giving "your rosdep installation has not been initialized"; and `ros-jazzy-ros-testing` was missing from the image
+- **`cpu_performance_mode` asked for the sudo password on every launch** — `pow run` / `pow python` now read the current CPU governor from `/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor` first and run no `sudo` at all when it is already `performance`, so the password is normally needed once instead of every launch. When sudo credentials are still cached the governor is set without the "requires sudo" notice, and hosts without `cpupower` or without cpufreq support now report and skip rather than prompting for a password to no purpose. The interactive prompt itself is unchanged when the governor really has to be switched
+- **`ros2` tab completion inside the `pow_simros` container** — the entrypoint sourced ROS before exec'ing bash, which carried environment variables but not bash completion functions. Interactive shells now re-source `/opt/ros/jazzy/setup.bash` and the workspace overlay via `/etc/bash.bashrc`, so `ros2` / `colcon` autocomplete works without manually sourcing `setup.bash` (requires rebuilding the image)
+
+---
+
+## [0.2.0-rc.1] - 2026-06-14
+
+### Added
+
+- **Custom ROS Dockerfile (`pow init`)**
+  - New `ros_dockerfile` config in `pow.toml` — point to a project-local Dockerfile that layers on top of the bundled `pow_simros_<distro>` base image
+  - New `ros_container_name` config in `pow.toml` — set a custom container/image name (defaults to `pow_simros`)
+  - `pow init` now builds the custom image automatically after the base image when `ros_dockerfile` is set
+  - `pow ros` launches the custom image when configured, otherwise falls back to the base image
+- **Version flag (`pow --version` / `pow -v`)** — quickly check the installed `pow-cli` version from the command line
+
+### Changed
+
+- Updated CLI description to *"Manage Isaac Sim projects and simplify the development workflow"*
+- Renamed status messages from *"Isaac ROS workspace"* to *"Isaac Sim ROS workspace"* for clarity
+- Container name is now read from `ros_container_name` config instead of being hard-coded
+
+---
+
+## [0.1.1] - 2026-06-14
+
+### Fixed
+
+- **ROS Docker container: `colcon build` fails for new packages** — The container
+  entrypoint now detects stale build artifacts (left from a host-path build) and
+  cleans `build/`, `install/`, and `log/` automatically before rebuilding.
+
+---
+
+## [0.1.0] - 2026-06-05
+
+First stable release of `pow-cli`, promoted from `0.1.0-rc.1` with documentation improvements.
+
+
+### Fixed
+
+- Installation guide referenced incorrect `pow-cli` version
+
+### Changed
+
+- Improved README wording, tagline, and Profiles section
+
+---
+
+## [0.1.0-rc.1] - 2026-05-11
+
+### Added
+
+- **Asset Management (`pow asset`)**
+  - `pow asset list` — list available Isaac Sim & Omniverse assets
+  - `pow asset add` — download and register assets into the local asset folder (only support `isaacsim_5_1_0` for now)
+  - `pow asset set / unset` — set/unset target local asset folder
+  - `pow asset info` — display current local asset folder information
+- **Linter (`pow lint`)**
+  - New `pow lint` and `pow lint --fix` commands for `.usda` files
+  - Detects absolute/relative local asset paths and rewrites them with correct aliases or asset urls (`user-home`, `pow-assets`)
+  - Rule for validating `simros_ws` relative paths
+- **ROS Integration (`pow ros`)**
+  - `pow ros` command to build, launch, and attach to ROS 2 Docker containers
+  - Verbose mode (`--verbose`) for runtime diagnostics
+  - Separate Dockerfiles for ROS Humble and Jazzy distributions
+  - Project `scripts/` directory mounted into the container
+  - PyTorch with CUDA support available inside the container
+  - `isaacsim_ros_ws` working directory configurable in `pow.toml`
+- **Runner Improvements**
+  - (experimental) `pow run --open <file>` option to open a USD stage on launch 
+  - Non-existent `ext_folders` entries are now silently skipped instead of auto-created
+- **Other**
+  - `pow python` command with `--profile` flag for running standalone app under specified version of Isaac Sim's Python
+  - `user-home` aliases automatically configured during `pow init`
+  - `usda/` folder added to default project structure
+  - `extends` support in `pow.toml` for profile-based configuration
+
+### Fixed
+
+- ROS Jazzy container build failure on Ubuntu 24.04
+- CUDA version pinned to 12.1 for deterministic ROS builds
+- `.ros` / `.ros2` mount and permission issues in the SimROS container
+- SimROS entrypoint no longer warns when host-user directory already exists
+- `pow run` no longer calls `open_stage` when no path is provided
+- `pow asset unset` no longer accidentally removes `user-home` alias
+- Duplicate and deprecated keys in generated `.vscode/settings.json`
+- `pow init` now respects existing `isaacsim_ros_ws` value in existing `pow.toml`
+- `pow ros` correctly attaches to an already-running container
+
+### Changed
+
+- Rewrite and refactor all core functionality of pow-cli
+- Move commands under group `pow sim` to root `pow` command instead
+- Remove pow-foxglove from repository 
+- ROS-related logic extracted into dedicated `ros_manager.py` module
+- CLI and core layers refactored for clearer separation of concerns
+
+## [0.1.0a3] - 2026-01-27
+
+### Fixed
+
+- Fixed incorrect Ubuntu base Docker image version in `pow sim init` ROS workspace setup. Now correctly uses Ubuntu 22.04 for ROS Humble and Ubuntu 24.04 for ROS Jazzy (previously hardcoded to 22.04 for both).
+
+## [0.1.0a2] - 2025-12-25
+
+### Fixed
+
+- `pow sim init` now allows overwriting existing VS Code settings to resolve Pylance `reportMissingImports` errors for Isaac Sim packages.
+- Fixed an issue where the `ros_enable` flag did not correctly disable ROS workspace sourcing when set to `false` in an existing `pow.toml`.
+
+## [0.1.0a1] - 2025-12-23
+
+### Added
+
+- Initial alpha release of Isaac Powerpack CLI (`pow`)
+- **Core CLI Structure**
+  - Main entry point with Click-based command group architecture
+  - Hierarchical command organization under `pow sim` namespace
+
+- **Simulation Commands (`pow sim`)**
+  - `pow sim run` - Run Isaac Sim applications with automatic environment setup
+    - Auto-discovery of project root via `pow.toml` configuration
+    - ROS 2 workspace sourcing support
+    - Isaac Sim setup file sourcing
+    - Configurable app path and extension loading
+  - `pow sim init` - Initialize Isaac Sim development environment
+    - VS Code settings generation for Isaac Sim development
+    - Asset browser cache fix utility
+    - Project configuration scaffolding
+  - `pow sim check` - Run Isaac Sim compatibility checker
+    - Validates system compatibility with Isaac Sim requirements
+  - `pow sim info` - Display Isaac Sim configuration information
+    - Show local assets path configuration (`-l, --local-assets` flag)
+
+- **Resource Management (`pow sim add`)**
+  - `pow sim add local-assets` - Configure local Isaac Sim assets
+    - Updates `isaacsim.exp.base.kit` with local asset paths
+    - Configures asset browser and content browser folders
+    - Supports versioned asset directories
+
+### Dependencies
+
+- `click>=8.1.7` - Command line interface framework
+- `toml>=0.10.2` - TOML configuration file parsing
+- Python 3.10+ required

{pow_cli-0.2.0rc2 → pow_cli-0.4.0}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.4
+Metadata-Version: 2.5
 Name: pow-cli
-Version: 0.2.0rc2
+Version: 0.4.0
 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: rich
-Requires-Dist: setuptools>=82.0.1
+Requires-Dist: tomli>=2; python_version < '3.11'
 Requires-Dist: tomlkit>=0.14.0
 Description-Content-Type: text/markdown