NVIDIA IsaacSim pypi/ros configuration

pixi.toml

[workspace]
name = "jazzy_ws"
channels = ["https://prefix.dev/robostack-jazzy", "https://prefix.dev/conda-forge"]
platforms = ["linux-64", "win-64"]

[dependencies]
# Base ROS dependencies
ros-jazzy-ros-base = ">=0.11.0,<0.12"
pkg-config = ">=0.29.2,<0.30"
compilers = ">=1.11.0,<2"
make = ">=4.4.1,<5"
ninja = ">=1.13.2,<2"
ros-jazzy-ros2cli = ">=0.32.8,<0.33"

# Build tools
colcon-common-extensions = ">=0.3.0,<0.4"
cmake = ">=4.3.2,<5"

# Workspace dependencies (common across platforms)
pytest = ">=9.0.3,<10"
ros-jazzy-ackermann-msgs = ">=2.0.2,<3"
ros-jazzy-ament-cmake = ">=2.5.5,<3"
ros-jazzy-ament-flake8 = ">=0.17.4,<0.18"
ros-jazzy-ament-lint-auto = ">=0.17.4,<0.18"
ros-jazzy-ament-lint-common = ">=0.17.4,<0.18"
ros-jazzy-ament-pep257 = ">=0.17.4,<0.18"
ros-jazzy-angles = ">=1.16.1,<2"
ros-jazzy-builtin-interfaces = ">=2.0.3,<3"
ros-jazzy-clearpath-common = "*"
ros-jazzy-controller-manager = ">=4.43.0,<5"
ros-jazzy-geometry-msgs = ">=5.3.6,<6"
ros-jazzy-hardware-interface = ">=4.43.0,<5"
ros-jazzy-joint-state-broadcaster = ">=4.37.0,<5"
ros-jazzy-joint-state-publisher = ">=2.4.1,<3"
ros-jazzy-joint-state-publisher-gui = ">=2.4.1,<3"
ros-jazzy-joint-trajectory-controller = ">=4.37.0,<5"
ros-jazzy-launch = ">=3.4.10,<4"
ros-jazzy-launch-ros = ">=0.26.11,<0.27"
ros-jazzy-launch-testing = ">=3.4.10,<4"
ros-jazzy-moveit = ">=2.12.4,<3"
ros-jazzy-moveit-simple-controller-manager = ">=2.12.4,<3"
ros-jazzy-nav2-amcl = ">=1.3.11,<2"
ros-jazzy-nav2-behavior-tree = ">=1.3.11,<2"
ros-jazzy-nav2-behaviors = ">=1.3.11,<2"
ros-jazzy-nav2-bringup = ">=1.3.11,<2"
ros-jazzy-nav2-bt-navigator = ">=1.3.11,<2"
ros-jazzy-nav2-controller = ">=1.3.11,<2"
ros-jazzy-nav2-core = ">=1.3.11,<2"
ros-jazzy-nav2-costmap-2d = ">=1.3.11,<2"
ros-jazzy-nav2-dwb-controller = ">=1.3.11,<2"
ros-jazzy-nav2-lifecycle-manager = ">=1.3.11,<2"
ros-jazzy-nav2-map-server = ">=1.3.11,<2"
ros-jazzy-nav2-msgs = ">=1.3.11,<2"
ros-jazzy-nav2-navfn-planner = ">=1.3.11,<2"
ros-jazzy-nav2-planner = ">=1.3.11,<2"
ros-jazzy-nav2-rviz-plugins = ">=1.3.11,<2"
ros-jazzy-nav2-util = ">=1.3.11,<2"
ros-jazzy-nav2-voxel-grid = ">=1.3.11,<2"
ros-jazzy-nav2-waypoint-follower = ">=1.3.11,<2"
ros-jazzy-navigation2 = ">=1.3.11,<2"
ros-jazzy-picknik-ament-copyright = ">=0.0.2,<0.0.3"
ros-jazzy-pointcloud-to-laserscan = ">=2.0.2,<3"
ros-jazzy-rclcpp = ">=28.1.16,<29"
ros-jazzy-rclpy = ">=7.1.9,<8"
ros-jazzy-rmw-zenoh-cpp = "*"             # Zenoh RMW middleware
ros-jazzy-robot-state-publisher = ">=3.3.3,<4"
ros-jazzy-ros-testing = ">=0.6.0,<0.7"
ros-jazzy-ros2-control = ">=4.43.0,<5"
ros-jazzy-ros2-control-test-assets = ">=4.43.0,<5"
ros-jazzy-ros2-controllers = ">=4.37.0,<5"
ros-jazzy-rosidl-default-generators = ">=1.6.0,<2"
ros-jazzy-rosidl-default-runtime = ">=1.6.0,<2"
ros-jazzy-rqt-image-view = ">=1.3.0,<2"
ros-jazzy-rviz2 = ">=14.1.19,<15"
ros-jazzy-sensor-msgs = ">=5.3.6,<6"
ros-jazzy-sensor-msgs-py = ">=5.3.6,<6"
ros-jazzy-std-msgs = ">=5.3.6,<6"
ros-jazzy-teleop-twist-keyboard = "*"     # Keyboard teleop for /cmd_vel
ros-jazzy-visualization-msgs = ">=5.3.6,<6"
ros-jazzy-xacro = ">=2.1.1,<3"

# Python dependencies
# av = "*"                                   # PyAV for isaac_compressed_image_decoder
# filelock = "*"                             # required by controller_manager spawner
pytorch = ">=2.10.0,<3"

# On pypi tinyobjloader is only available in `0.1`.
tinyobjloader = "==2.0.0rc13"

# Needed as it uses the Sentinel
typing-extensions = ">4.10.0,<4.13"

[target.win.dependencies]
pywin32 = "==306"

[system-requirements]
libc = "2.35"
cuda = "12.9"

[pypi-options]
extra-index-urls = ["https://pypi.nvidia.com"]

# These are required to avoid the pypi solver to be confused about
# the already installed dependencies from the conda side.
[pypi-options.dependency-overrides]
opencv-python-headless = "*"
typing-extensions = "*"
numpy = "*"
cryptography = "*"
packaging = "*"
mujoco-usd-converter = "*"
psutil = "*"
jinja2 = "*"
coverage = "*"
pywin = "*"
# Pytorch related:
mpmath = "*"
fsspec = "*"
filelock = "*"

# Install isaacsim with Pixi/uv
[pypi-dependencies]
isaacsim = { version = "==6.0.0", extras = ["all", "extscache", "ros2"]}


[tasks]
# ROS
build = { cmd = "colcon build --merge-install --cmake-args -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY", description = "Build the ROS workspace" }
test = {cmd = "colcon test", description = "Run tests for the workspace"}
clean = {cmd = "rm -rf build install log", description = "Clean build artifacts (build, install, log directories)"}
zenoh = "ros2 run rmw_zenoh_cpp rmw_zenohd"

# Isaacsim
check = "isaacsim isaacsim.exp.compatibility_check"
sim = "isaacsim --/isaac/startup/ros_bridge_extension=isaacsim.ros2.bridge"
headless = "isaacsim isaacsim.exp.full.streaming --no-window --/isaac/startup/ros_bridge_extension=isaacsim.ros2.bridge"

# Scripts to source on environment activation, found after first colcon build.
[activation.env]
RMW_IMPLEMENTATION = "rmw_zenoh_cpp"
ROS_DOMAIN_ID="0"
ROS_DISTRO = "jazzy"

[target.unix.activation]
scripts = ["install/setup.bash"]

[target.win.activation]
scripts = ["install\\setup.bat"]