pow-cli 0.3.0__tar.gz → 0.4.0__tar.gz

{pow_cli-0.3.0 → pow_cli-0.4.0}/CHANGELOG.md

@@ -2,7 +2,78 @@
 
 All notable changes to the `pow-cli` package will be documented in this file.
 
-## [Unreleased]
+## [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.
 
 ---
 

{pow_cli-0.3.0 → pow_cli-0.4.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: pow-cli
-Version: 0.3.0
+Version: 0.4.0
 Summary: Command line interface for Isaac Powerpack
 Author: Titiwat Munintravong, Isaac Powerpack Contributors
 License-Expression: Apache-2.0
@@ -10,8 +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>=5.1.0.0
 Requires-Dist: rich
+Requires-Dist: tomli>=2; python_version < '3.11'
 Requires-Dist: tomlkit>=0.14.0
 Description-Content-Type: text/markdown
 

{pow_cli-0.3.0 → pow_cli-0.4.0}/pow_cli/cli/init.py

@@ -6,9 +6,10 @@ from pathlib import Path
 
 import click
 from rich.panel import Panel
-from rich.progress import BarColumn, Progress, SpinnerColumn, TextColumn
+from rich.progress import Progress, SpinnerColumn, TextColumn
 from rich.prompt import Confirm
 
+from ..common.installation import download_with_progress
 from ..common.prompt import ask_choice, ask_path
 from ..common.utils import console
 from ..core.initializer import Initializer
@@ -132,12 +133,13 @@ def _step3_global_folder(initializer: Initializer, global_path):
 
 
 def _version_choices() -> list[tuple[str, str]]:
-    """Installable versions, latest first, annotated for the picker."""
+    """Versions installable on this host's architecture, latest first, annotated for the picker."""
     installed = set(PowConfig.installed_versions())
-    latest = PowConfig.SUPPORTED_ISAACSIM_VERSIONS[0]
+    versions = PowConfig.versions_for_arch()
+    latest = versions[0] if versions else None
 
     choices = []
-    for version in PowConfig.SUPPORTED_ISAACSIM_VERSIONS:
+    for version in versions:
         notes = []
         if version == latest:
             notes.append("latest")
@@ -170,10 +172,15 @@ def _resolve_sim_version(flag_version: str | None, config_version: str | None) -
         )
         return config_version
 
+    available = PowConfig.versions_for_arch()
+    default = PowConfig.configured_default_version() or (
+        available[0] if available else PowConfig.ISAACSIM_VERSION
+    )
+    PowConfig.release(default)
     return ask_choice(
         "Select Isaac Sim version",
         _version_choices(),
-        default=PowConfig.ISAACSIM_VERSION,
+        default=default,
     )
 
 
@@ -182,97 +189,14 @@ def _step4_download_isaacsim(
     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."""
+    """Select and install Isaac Sim. Return None on installation failure."""
     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
-
-    last_completed = 0
-    last_time = time.time()
-    current_phase = "download"
-
-    with Progress(
-        TextColumn("[bold blue]{task.fields[filename]}", justify="right"),
-        BarColumn(bar_width=40),
-        "[progress.percentage]{task.percentage:>3.1f}%",
-        "•",
-        TextColumn("[bold cyan]{task.fields[speed]}"),
-        console=console,
-        refresh_per_second=10,
-    ) as progress:
-        download_task = progress.add_task(
-            "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
-        )
-
-        def progress_callback(completed, total):
-            nonlocal last_completed, last_time, current_phase
-            if not total:
-                return
-            now = time.time()
-            if current_phase == "download":
-                progress.update(download_task, total=total, completed=completed)
-                elapsed = now - last_time
-                if elapsed >= 0.5:
-                    speed_mb = ((completed - last_completed) / (1024 * 1024)) / elapsed
-                    progress.update(download_task, speed=f"{speed_mb:.1f} MB/s")
-                    last_completed = completed
-                    last_time = now
-            elif current_phase == "extract":
-                progress.update(extract_task, total=total, completed=completed)
-
-        def status_callback(status):
-            nonlocal current_phase, last_completed, last_time
-            if status == "Downloading":
-                current_phase = "download"
-            elif status == "Extracting":
-                current_phase = "extract"
-                progress.update(download_task, visible=False)
-                progress.update(
-                    extract_task,
-                    filename=f"isaac-sim-{version} [yellow](Extracting...)[/yellow]",
-                    speed=" ",
-                    completed=0,
-                    total=None,
-                    visible=True,
-                )
-                last_completed = 0
-                last_time = time.time()
-            elif status == "Extracted":
-                progress.update(
-                    extract_task,
-                    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,
-            )
-        except Exception as e:
-            error = e
-
-    # Print outside the progress context so lines don't get consumed
-    if error:
+    try:
+        return download_with_progress(initializer, version)
+    except Exception as 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 {version} is already installed at [dim]{result['path']}[/dim]"
-        )
-    else:
-        console.print(
-            f"   [green]✔[/green] Downloaded and extracted to [dim]{result['path']}[/dim]"
-        )
-    return result
 
 
 def _step5_optimization(initializer: Initializer, isaacsim_path: str):
@@ -380,6 +304,13 @@ def _step6_ros_integration(
         f"via Isaac Sim internal libs."
     )
 
+    if not RosManager.docker_image_supported():
+        console.print(
+            f"   [yellow]⊖[/yellow] Skipping ROS Docker image build: "
+            f"{RosManager.docker_image_unsupported_message()}"
+        )
+        return True, display_path
+
     # Build pow_simros Docker image
     simros_already_built = False
 
@@ -394,11 +325,26 @@ def _step6_ros_integration(
             line = state[len("simros_building:"):]
             simros_status.update(f"[bold green]pow_simros build:[/bold green] [dim]{line[:80]}[/dim]")
 
+    def confirm_simros_rebuild(image, version):
+        simros_status.stop()
+        try:
+            console.print(
+                f"   ROS image '{image}' is unlabelled or targets another simulator. "
+                "Rebuilding updates its tag using Docker's cache. Existing containers "
+                "and workspace files are preserved; recreate containers explicitly "
+                "to use the rebuilt image."
+            )
+            return Confirm.ask(f"   Rebuild '{image}' for Isaac Sim {version}?", default=False)
+        finally:
+            simros_status.start()
+
     with console.status("Building pow_simros image...") as simros_status:
         try:
             ros_mgr.build_simros_image(
                 status_callback=simros_status_callback,
                 ws_path=resolved_ws,
+                sim_version=sim_version,
+                confirm_rebuild=confirm_simros_rebuild,
             )
         except Exception as e:
             console.print(f"   [bold red]❌ pow_simros Build Error:[/bold red] {e}")
@@ -425,7 +371,10 @@ def _step6_ros_integration(
 
         with console.status(f"Building custom image '{custom_image}'...") as custom_status:
             try:
-                ros_mgr.build_custom_ros_image(status_callback=custom_status_callback)
+                ros_mgr.build_custom_ros_image(
+                    status_callback=custom_status_callback,
+                    sim_version=sim_version, ws_path=resolved_ws,
+                )
             except Exception as e:
                 console.print(f"   [bold red]❌ Custom ROS Build Error:[/bold red] {e}")
                 console.print("   [yellow]⊖[/yellow] Skipping remaining steps due to build error.")
@@ -634,7 +583,8 @@ def init_cmd(sim_version: str | None):
 
     \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.
+    in an existing pow.toml you choose to keep, then from an interactive prompt
+    (global default or latest).
     """
     initializer = Initializer()
     config = initializer.get_config_path()
@@ -658,11 +608,13 @@ def init_cmd(sim_version: str | None):
     ros_forced = None
     ros_ws_forced = None
     version_forced = None
-    if not override_pow_toml:
+    if Path("pow.toml").exists():
         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)
+            if not override_pow_toml or sim_version is not None:
+                ros_forced = initializer.config.get("enable_ros", False)
+                ros_ws_forced = initializer.config.get("isaacsim_ros_ws", None)
+            if not override_pow_toml:
+                version_forced = initializer.config.get("version", None)
         except Exception:
             pass
 
@@ -703,7 +655,7 @@ def init_cmd(sim_version: str | None):
     )
 
     finalized = _step10_finalize(
-        initializer, override_pow_toml, ros_enabled, isaacsim_ros_ws,
+        initializer, override_pow_toml or sim_version is not None, ros_enabled, isaacsim_ros_ws,
         sim_version=resolved_version,
     )
 

{pow_cli-0.3.0 → pow_cli-0.4.0}/pow_cli/cli/ros.py

@@ -83,6 +83,9 @@ def build_cmd(no_cache: bool):
     if config.project_root is None:
         raise click.ClickException("Not initialized. Run `pow init` first.")
 
+    if not RosManager.docker_image_supported():
+        raise click.ClickException(RosManager.docker_image_unsupported_message())
+
     if not config.ros_dockerfile:
         console.print(
             "[yellow]No `ros_dockerfile` set in pow.toml; nothing to build.[/yellow]\n"

{pow_cli-0.3.0 → pow_cli-0.4.0}/pow_cli/cli/sim.py

@@ -2,7 +2,9 @@
 
 import click
 from rich.panel import Panel
+from ..common.installation import download_with_progress
 from ..common.utils import console
+from ..core.initializer import Initializer
 from ..core.models.pow_config import PowConfig
 from ..core.runner import Runner
 
@@ -15,26 +17,49 @@ def _default_sim_version() -> str:
     evaluates a callable default at parse time, so both the file read and the
     scan of ``<global>/isaacsim`` happen per invocation rather than at import.
     """
-    pinned = PowConfig.configured_default_version()
-    if not pinned:
-        return PowConfig.resolve_installed_version()
-
-    installed = PowConfig.installed_versions()
-    # With nothing installed at all, honour the pin so the Runner's own
-    # "not found" error names the version the user asked for.
-    if installed and pinned not in installed:
-        fallback = PowConfig.resolve_installed_version()
+    return PowConfig.configured_default_version() or PowConfig.resolve_installed_version()
+
+
+def _ensure_sim_ready(version: str, *, check: bool = False) -> None:
+    """Complete init's global setup steps without reading project settings."""
+    global_path = PowConfig.resolve_global_path()
+    isaacsim_path = PowConfig.version_dir(version, global_path)
+    initializer = Initializer(global_path=global_path)
+    installed = initializer.isaacsim_ready(isaacsim_path, check=check)
+    if not installed:
+        # Reject unavailable versions before making any setup changes. Existing
+        # manually installed versions need not be in the download allowlist.
+        PowConfig.release(version)
+
+    global_ready = all(
+        (global_path / sub).is_dir() for sub in Initializer.GLOBAL_SUBFOLDERS
+    ) and (global_path / "system.toml").is_file()
+    if not global_ready:
         console.print(
-            f"[yellow]⚠[/yellow]  system.toml pins Isaac Sim {pinned}, which is "
-            f"not installed; using {fallback}."
+            f"[blue]Preparing global configuration at [dim]{global_path}[/dim]...[/blue]"
         )
-        return fallback
-    return pinned
+        initializer.create_global_folder()
+        initializer.create_system_toml()
+
+    if not installed:
+        download_with_progress(initializer, version, check=check)
+    if not initializer.isaacsim_ready(isaacsim_path, check=check):
+        raise click.ClickException(
+            f"Isaac Sim installation at {isaacsim_path} is missing required scripts."
+        )
+
+    cache_path = initializer.asset_browser_cache_path(isaacsim_path)
+    if not cache_path.is_file():
+        console.print("[blue]Creating the missing Isaac Sim asset browser cache...[/blue]")
+        initializer.fix_asset_browser_cache(isaacsim_path)
+    if not cache_path.is_file():
+        raise click.ClickException(f"Isaac Sim asset browser cache is missing at {cache_path}.")
 
 
-def _guarded(action, **kwargs):
-    """Run a Runner action, rendering unexpected errors as a Sim Error panel."""
+def _guarded(action, *, check: bool = False, **kwargs):
+    """Ensure prerequisites, then run the action with consistent error output."""
     try:
+        _ensure_sim_ready(kwargs["version"], check=check)
         action(**kwargs)
     except click.ClickException:
         raise
@@ -102,6 +127,11 @@ def sim_group(ctx: click.Context):
       1. the -v/--version option
       2. [sim] default_version in .pow/system.toml
       3. the newest version installed under .pow/isaacsim/
+      4. the latest release supported by this pow CLI
+
+    Missing global folders, configuration, supported installations and the
+    asset browser cache are set up automatically before launch or check.
+    A missing pinned version is installed. Setup failures stop the command.
 
     \b
     Subcommands:
@@ -134,7 +164,7 @@ def sim_group(ctx: click.Context):
     "--version",
     "sim_version",
     default=_default_sim_version,
-    show_default="system.toml, else the installed version",
+    show_default="system.toml, else installed, else latest supported",
     help="Isaac Sim version to run.",
 )
 @click.option(
@@ -153,7 +183,7 @@ def sim_group(ctx: click.Context):
 )
 @click.pass_context
 def launch_cmd(ctx: click.Context, sim_version: str, ros_bridge: str, no_ros: bool):
-    """Launch Isaac Sim, forwarding extra args to isaac-sim.sh."""
+    """Set up missing prerequisites, then launch Isaac Sim with extra args."""
     _guarded(
         Runner.run_sim,
         version=sim_version,
@@ -171,12 +201,12 @@ def launch_cmd(ctx: click.Context, sim_version: str, ros_bridge: str, no_ros: bo
     "--version",
     "sim_version",
     default=_default_sim_version,
-    show_default="system.toml, else the installed version",
+    show_default="system.toml, else installed, else latest supported",
     help="Isaac Sim version to check.",
 )
 @click.pass_context
 def check_cmd(ctx: click.Context, sim_version: str):
-    """Run the Isaac Sim compatibility check.
+    """Set up missing prerequisites, then run the Isaac Sim compatibility check.
 
     \b
     Runs .pow/isaacsim/<version>/isaac-sim.compatibility_check.sh, which
@@ -184,4 +214,4 @@ def check_cmd(ctx: click.Context, sim_version: str):
     project, and the script builds its own ROS environment - forward
     `-- --no-ros-env` to skip that step.
     """
-    _guarded(Runner.run_sim_check, version=sim_version, extra_args=ctx.args)
+    _guarded(Runner.run_sim_check, check=True, version=sim_version, extra_args=ctx.args)

pow_cli-0.4.0/pow_cli/common/installation.py

@@ -0,0 +1,97 @@
+"""Shared Isaac Sim installation progress for init and sim commands."""
+
+import time
+
+from rich.progress import BarColumn, Progress, TextColumn
+
+from .utils import console
+from ..core.initializer import Initializer
+
+
+def download_with_progress(
+    initializer: Initializer, version: str, *, check: bool = False
+) -> dict:
+    """Install an already-selected version, propagating setup failures."""
+    console.print(f"   Installing Isaac Sim [bold]{version}[/bold]...")
+
+    last_completed = 0
+    last_time = time.time()
+    current_phase = "download"
+
+    with Progress(
+        TextColumn("[bold blue]{task.fields[filename]}", justify="right"),
+        BarColumn(bar_width=40),
+        "[progress.percentage]{task.percentage:>3.1f}%",
+        "•",
+        TextColumn("[bold cyan]{task.fields[speed]}"),
+        console=console,
+        refresh_per_second=10,
+    ) as progress:
+        download_task = progress.add_task(
+            "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
+        )
+
+        def progress_callback(completed, total):
+            nonlocal last_completed, last_time, current_phase
+            if not total:
+                return
+            now = time.time()
+            if current_phase == "download":
+                progress.update(download_task, total=total, completed=completed)
+                elapsed = now - last_time
+                if elapsed >= 0.5:
+                    speed_mb = ((completed - last_completed) / (1024 * 1024)) / elapsed
+                    progress.update(download_task, speed=f"{speed_mb:.1f} MB/s")
+                    last_completed = completed
+                    last_time = now
+            elif current_phase == "extract":
+                progress.update(extract_task, total=total, completed=completed)
+
+        def status_callback(status):
+            nonlocal current_phase, last_completed, last_time
+            if status == "Downloading":
+                current_phase = "download"
+            elif status == "Extracting":
+                current_phase = "extract"
+                progress.update(download_task, visible=False)
+                progress.update(
+                    extract_task,
+                    filename=f"isaac-sim-{version} [yellow](Extracting...)[/yellow]",
+                    speed=" ",
+                    completed=0,
+                    total=None,
+                    visible=True,
+                )
+                last_completed = 0
+                last_time = time.time()
+            elif status == "Extracted":
+                progress.update(
+                    extract_task,
+                    filename=f"isaac-sim-{version} [green](Extracted → {version})[/green]",
+                )
+                time.sleep(1)
+
+        result = initializer.download_isaacsim(
+            version=version,
+            progress_callback=progress_callback,
+            status_callback=status_callback,
+            check=check,
+        )
+
+    # Print outside the progress context so lines don't get consumed.
+    result.setdefault("version", version)
+    if result["status"] == "Already installed":
+        console.print(
+            f"   [yellow]✔[/yellow] Isaac Sim {version} is already installed at [dim]{result['path']}[/dim]"
+        )
+    else:
+        console.print(
+            f"   [green]✔[/green] Downloaded and extracted to [dim]{result['path']}[/dim]"
+        )
+    if result.get("backup"):
+        console.print(f"   Previous installation preserved at [dim]{result['backup']}[/dim]")
+    return result
+

{pow_cli-0.3.0 → pow_cli-0.4.0}/pow_cli/core/asset_manager.py

@@ -537,7 +537,8 @@ class AssetManager:
         if assets_symlink.is_symlink():
             raise AssetError(
                 f"'{assets_symlink}' is already a symlink.\n"
-                "Remove it manually before running this command."
+                "Run 'pow asset unset' to remove the current asset configuration "
+                "before running this command again."
             )
 
     @staticmethod