pixi.toml

[workspace]
authors = ["Erik Holum <erik.holum@nasa.gov>"]
channels = [
  "https://prefix.dev/conda-forge",
  "https://prefix.dev/robostack-jazzy",
]
name = "mujoco_ros2_control_ws"
platforms = ["linux-aarch64", "linux-64"]
version = "0.1.0"
preview = ["pixi-build"]

[activation.env]
CMAKE_INSTALL_MODE          = "SYMLINK"
COLCON_DEFAULT_OUTPUT_STYLE = "catkin_tools"
LIBRARY_PATH = "${CONDA_PREFIX}/lib:${LIBRARY_PATH}"
LD_LIBRARY_PATH = "${CONDA_PREFIX}/lib:${LD_LIBRARY_PATH}"
LDFLAGS = "-L${CONDA_PREFIX}/lib -Wl,-rpath,${CONDA_PREFIX}/lib -fuse-ld=mold"

[tasks]
# Setup tasks
setup-colcon = { cmd = """
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
colcon mixin update default
""" }

# Build tasks
build = "colcon build"
clean = "rm -rf build install log .pixi"
test = { cmd = "bash -c 'source install/setup.bash && colcon test'" }
test-result = { cmd = "bash -c 'source install/setup.bash && colcon test-result --verbose'" }

[dev]
# Path dependencies to local ROS packages
ros-jazzy-mujoco-ros2-control-msgs = { path = "./mujoco_ros2_control_msgs/package.xml" }
ros-jazzy-mujoco-ros2-control = { path = "./mujoco_ros2_control/package.xml" }
ros-jazzy-mujoco-ros2-control-demos = { path = "./mujoco_ros2_control_demos/package.xml" }
ros-jazzy-mujoco-ros2-control-tests = { path = "./mujoco_ros2_control_tests/package.xml" }
ros-jazzy-mujoco-ros2-control-plugins = { path = "./mujoco_ros2_control_plugins/package.xml" }
ros-jazzy-mujoco-3d-lidar = { path = "./mujoco_extensions/mujoco_3d_lidar/package.xml" }

[dependencies]
python = ">=3.11,<3.13"
pytest = ">=7,<8"
cmake = ">=4.1.2,<5"
ninja = ">=1.13.1,<2"
sccache = ">=0.11.0,<0.12"
mold = ">=2.40.2,<3"
colcon-common-extensions = ">=0.3.0,<0.4"
colcon-mixin = ">=0.2.3,<0.3"
libcap = ">=2.76,<3"
glfw = ">=3.4,<4"
pip = "*"
numpy = "*"
ros-jazzy-python-orocos-kdl-vendor = "*"
ros-jazzy-urdfdom-py = "*"

# Not necessary for building, but for tests/running in isolated environments
ros-jazzy-ros-base = "*"

[pypi-dependencies]
xacro = ">=2.1.1, <3"
obj2mjcf = ">=0.0.25"
trimesh = "*"
scipy = ">=1.17.0, <2"