nodes_shared_code

Shared infrastructure libraries for PeppyOS sim node variants. Each library in this repo is an independent package pulled as a git dependency by nodes that require it.

PeppyOS nodes live in separate repositories under the nodes hub. Shared code that is needed across multiple independent node repos cannot be a path dependency inside one node's repo — it needs a central place. This repo is that central place.

Sim-only. Real node variants talk directly to hardware via peppygen and do not depend on these libraries.

Libraries

Library	Language	Purpose
sim_bridge_core	Rust	peppylib ↔ peppygen translation layer for Isaac Sim and MuJoCo sim bridge nodes
sim_ext_core	Python	Plugin lifecycle, peppylib transport, config loading, and sensor bridge plugins for Isaac Sim and MuJoCo extensions

Quick dependency setup

Rust (Cargo.toml):

[dependencies]
sim_bridge_core = { git = "https://github.com/Peppy-bot/nodes_shared_code", package = "sim_bridge_core" }

Python (pyproject.toml):

[project]
dependencies = ["sim_ext_core"]

[tool.uv.sources]
sim_ext_core = { git = "https://github.com/Peppy-bot/nodes_shared_code", subdirectory = "sim_ext_core" }

See each library's README for full API reference and configuration.