Sentience-Robotics · charlesmadjeri · Sep 1, 2026 · Aug 31, 2026 · Aug 31, 2026
diff --git a/.github/workflows/install-and-launch.yml b/.github/workflows/install-and-launch.yml
@@ -1,6 +1,3 @@
-# Pixi + RoboStack workspace install (clone + colcon + yarn) and a headless launch
-# smoke test on Linux, macOS, and Windows GitHub-hosted runners.
-#
 # - DEV=false  -> install.sh uses url_https from config/repos.json.
 # - ./install.sh --skip-build clones sub-repos; colcon build runs via pixi run build.
 

diff --git a/README.md b/README.md
@@ -38,8 +38,26 @@ export PATH="$HOME/.pixi/bin:$PATH"            # if needed
 ./install.sh
 ```
 
+**NixOS:** enable [nix-ld](https://github.com/nix-community/nix-ld) so Pixi/RoboStack conda binaries can load the host dynamic linker (required before `./install.sh`):
+
+```nix
+programs.nix-ld.enable = true;
+```
+
+For Gazebo/RViz GL, also see the [NixOS notes](docs/developer_lucy_packages.md#platform-setup) in the developer guide.
+
 ### Windows
 
+Install [Pixi](https://pixi.prefix.dev/latest/installation/) **≥ 0.78** first, then close and reopen your terminal so `PATH` is updated.
+
+**PowerShell (recommended):**
+
+```powershell
+powershell -ExecutionPolicy Bypass -c "irm -useb https://pixi.sh/install.ps1 | iex"
+```
+
+Alternatives from the [Pixi installation guide](https://pixi.prefix.dev/latest/installation/): `winget install prefix-dev.pixi`, Scoop, or the MSI from GitHub Releases.
+
 **End users:** download **`Lucy-Setup.exe`** from [GitHub Releases](https://github.com/Sentience-Robotics/lucy_ws/releases). It installs Lucy, clones sub-repos, runs `pixi install`, and builds the workspace. See the [Windows README](windows/README.md).
 
 **Developers (from source):**
@@ -103,75 +121,9 @@ On Windows, the Control Center runs without tmux (one process tree). Gazebo, RVi
 
 ## Developer setup
 
-<<<<<<< HEAD
-### Managing tmux windows
-
-Tools (the console, CLI, viewers…) run in background windows, so a few `tmux` basics help you move between them:
-
-- **`Ctrl+B` then `W`** — menu of all running windows; arrow to one and press Enter to switch.
-- **`Ctrl+B` then `N`** — next window.
-- **`Ctrl+B` then `P`** — previous window.
-
-### Developer mode
-
-The manager includes a **Developer Mode** toggle. When ON:
-- repositories are pulled over SSH instead of HTTPS
-- Core & the control panel aren't launched automatically
-- the launch menu also shows **Headless mode** for Gazebo (no GUI / X11)
-
-This setting is stored in a `.env` file.
-
-## GUI: RViz and Gazebo
-
-RViz, Gazebo and rqt are native OpenGL apps. The container can show them two ways:
-
-- **Native X11** — Linux/amd64 hosts with a working GPU. Needs `xhost` on the host for display forwarding.
-- **VNC virtual desktop** — a self-contained desktop inside the container: `Xvfb` rendered by
-  Mesa `llvmpipe` (software OpenGL), a small window manager, and VNC + noVNC servers (see
-  [`docker/gui_desktop.sh`](docker/gui_desktop.sh)). It is the default on Apple Silicon (arm64),
-  where the container gets no native GL context, and can be enabled on any host on demand.
-
-### Choosing VNC vs native X11 (`LUCY_FORCE_VNC`)
-
-By default the mode is picked from your architecture. Set `LUCY_FORCE_VNC` in a root `.env`
-(or the environment) to override — e.g. an amd64 Linux box can opt into the VNC desktop:
-
-| `LUCY_FORCE_VNC` | Behaviour |
-| :-- | :-- |
-| unset *(default)* | Auto: VNC on arm64, native X11 on amd64 |
-| `1` / `yes` / `true` | Force the VNC desktop on any architecture (e.g. an amd64 host without working GLX) |
-| `0` / `no` / `false` | Force VNC off even on arm64 (fall back to native X11 / headless) |
-
-### Connecting to the VNC desktop
-
-Enable **noVNC** (browser) or the **VNC Server** (native clients) from the launcher, then open
-the address it shows. Defaults:
-
-| How | Address | Password |
-| :-- | :-- | :-- |
-| **Browser** (noVNC) | http://localhost:6080/vnc.html | (none) |
-| **RealVNC Viewer** etc. | `localhost:5901` | `lucy` |
-| macOS **Screen Sharing** | `open vnc://localhost:5901` | `lucy` |
-
-- The launcher prints the real URL/port for each viewer once it's running; if a default port is
-  already taken it automatically moves to the next free one.
-- RealVNC Viewer warns the connection is unencrypted — expected over localhost; click through it.
-- Override defaults with `LUCY_GUI_VNC_PORT` / `LUCY_GUI_NOVNC_PORT` (ports) and
-  `LUCY_GUI_VNC_PASSWORD` (max 8 chars) in a root `.env`.
-
-> **Software-rendered:** the VNC desktop has no GPU passthrough, so Gazebo runs but is CPU-slow.
-> For heavy simulation prefer a native-X11 Linux host, or run headless
-> (`./launch_lucy.sh --headless`) and visualize through the control panel.
-
-### macOS notes
-
-- On Apple Silicon, XQuartz can't give the container an OpenGL context, so the VNC desktop is
-  used by default — no setup required.
+For developer mode, Pixi component tasks (`pixi run core`, `sim-headless`, …), debug shell, SSH clones, local repo overrides, ports, and advanced launch options, see the **[developer guide](docs/developer_lucy_packages.md)**.
 
 ## More
 
 - [`docs/developer_lucy_packages.md`](docs/developer_lucy_packages.md) — developer guide: per-repo docs, all `install.sh` / `launch_lucy.sh` flags, dev mode, ports, environment overrides, packages overview.
 - [`docs/launcher_packages.md`](docs/launcher_packages.md) — launcher guide: how to add new packages to the launcher UI and understand the configuration fields.
-=======
-For developer mode, Pixi component tasks (`pixi run core`, `sim-headless`, …), debug shell, SSH clones, local repo overrides, ports, and advanced launch options, see the **[developer guide](docs/developer_lucy_packages.md)**.
->>>>>>> 41e84e8 (evol(windows,docs): update Windows support and documentation)
diff --git a/config/repos.json.local.example b/config/repos.json.local.example
@@ -0,0 +1,35 @@
+{
+  "repos": [
+    {
+      "name": "inmoov_urdf",
+      "branch": "cma/feat-pixi-gpu-support",
+      "url_https": "https://github.com/Sentience-Robotics/inmoov_urdf.git",
+      "url_ssh": "git@github.com:Sentience-Robotics/inmoov_urdf.git"
+    },
+    {
+      "name": "lucy_ros_packages",
+      "branch": "cma/fix-skip-backward-ros-on-macOS",
+      "url_https": "https://github.com/Sentience-Robotics/lucy_ros_packages.git",
+      "url_ssh": "git@github.com:Sentience-Robotics/lucy_ros_packages.git"
+    },
+    {
+      "name": "lucy_control_panel",
+      "branch": "cma/fix-commit-lock-file",
+      "url_https": "https://github.com/Sentience-Robotics/lucy_control_panel.git",
+      "url_ssh": "git@github.com:Sentience-Robotics/lucy_control_panel.git"
+    },
+    {
+      "name": "micro_ros_agent",
+      "branch": "jazzy",
+      "optional": true,
+      "url_https": "https://github.com/micro-ROS/micro-ROS-Agent.git",
+      "url_ssh": "git@github.com:micro-ROS/micro-ROS-Agent.git"
+    },
+    {
+      "name": "thais_urdf",
+      "branch": "dev",
+      "url_https": "https://github.com/Sentience-Robotics/thais_urdf.git",
+      "url_ssh": "git@github.com:Sentience-Robotics/thais_urdf.git"
+    }
+  ]
+}
diff --git a/docs/developer_lucy_packages.md b/docs/developer_lucy_packages.md
@@ -94,7 +94,7 @@ Pixi installs RoboStack Jazzy; `colcon build --symlink-install` builds `src/`; `
 | **inmoov_urdf** | URDF, Gazebo/RViz launches |
 | **lucy_ros_packages** | `lucy_bringup`, ros2_control, cameras |
 | **lucy_control_panel** | Web UI |
-| **micro_ros_agent**, **audio_common** | Optional (`optional: true` in repos.json) |
+| **micro_ros_agent** | Optional (`optional: true` in repos.json) |
 
 ## Launch
 

diff --git a/docs/pixi_release.md b/docs/pixi_release.md
@@ -7,7 +7,7 @@ This document outlines the **deferred** end-user release path. The PoC branch ke
 Full-stack artifact (not `lucy_bringup` alone):
 
 - All `lucy_ros_packages/*`, `inmoov_urdf`, optional `thais_urdf`
-- External clones built in CI (`micro_ros_agent`, `audio_common`)
+- External clones built in CI (`micro_ros_agent`)
 - Launcher assets + control panel packaging strategy
 - Release CI manifest with `preview = ["pixi-build"]` only in the release workflow
 
@@ -16,7 +16,7 @@ Full-stack artifact (not `lucy_bringup` alone):
 | Option | Best for |
 |--------|----------|
 | Private conda channel (prefix.dev) | Networked workstations |
-| Pixi Pack bundles | Jetson / air-gapped |
+| Pixi Pack bundles | Jetson |
 
 ## Suggested follow-up commits
 

diff --git a/docs/pixi_setup.md b/docs/pixi_setup.md
@@ -18,7 +18,7 @@ When adding or changing workspace packages:
 1. Read `package.xml` / `CMakeLists.txt` for new `depend` / `find_package` entries.
 2. Check whether RoboStack provides `ros-jazzy-<name>` on [prefix.dev/robostack-jazzy](https://prefix.dev/robostack-jazzy).
 3. If available, add to `pixi.toml` under `[feature.ros.dependencies]`.
-4. If not available (e.g. `micro_ros_agent`, `audio_common`), add a clone entry to `config/repos.json` (use `"optional": true` when the stack works without it).
+4. If not available (e.g. `micro_ros_agent`), add a clone entry to `config/repos.json` (use `"optional": true` when the stack works without it).
 5. Regenerate the lock and install:
 
 ```bash
@@ -29,15 +29,6 @@ pixi install          # updates pixi.lock for every platform in pixi.toml
 
 **Pixi ≥ 0.78** is recommended for multi-platform lock resolution (`curl -fsSL https://pixi.sh/install.sh | bash`).
 
-## RoboStack vs source clones
-
-| Approach | When to use |
-|----------|-------------|
-| **Pixi / RoboStack** | Standard ROS Jazzy packages (`ros-jazzy-desktop`, `ros-jazzy-ros-gz`, controllers, rosbridge, etc.) |
-| **Clone to `src/`** | Packages not on RoboStack, forks, or workspace-specific repos (`lucy_ros_packages`, `inmoov_urdf`) |
-| **Optional `src/` clones** | `micro_ros_agent`, `audio_common` — not on RoboStack; cloned by default for release/CI parity but **not required** for core bringup or the control panel. Entries carry `"optional": true` in `repos.json`; omit from `repos.json.local` if you do not need them |
-| **Local build** | RealSense — not in Pixi; run `./scripts/build_local_realsense.sh` **after** a normal `pixi run build` (or `LUCY_BUILD_REALSENSE=1 ./install.sh` at end of install) |
-
 ### Mutex pin
 
 `ros2-distro-mutex = "0.15.*"` in `pixi.toml` keeps all RoboStack packages on the same rebuild cycle ([RoboStack #125](https://github.com/RoboStack/ros-jazzy/issues/125)).

diff --git a/tests/test_repos_config.py b/tests/test_repos_config.py
@@ -150,4 +150,3 @@ def test_optional_flag_preserved_in_json():
     data = json.loads(cfg.read_text())
     optional = [r["name"] for r in data["repos"] if r.get("optional")]
     assert "micro_ros_agent" in optional
-    assert "audio_common" in optional