Use pixi in devcontainer

Author: jslee02

.devcontainer/Dockerfile

@@ -1,51 +1,23 @@
 FROM ubuntu:questing
 
 ARG DEBIAN_FRONTEND=noninteractive
+ARG PIXI_VERSION=0.59.0
 
 SHELL ["/bin/bash", "-c"]
 
-# Build tools
+# Base utilities; pixi manages the toolchain and dependencies (see docs/onboarding/building.md)
 RUN apt-get update -qq && apt-get install -y --no-install-recommends \
-    build-essential \
-    clang \
-    clang-format-14 \
-    cmake \
+    ca-certificates \
     curl \
-    doxygen \
     git \
-    lcov \
-    lsb-release \
-    ninja-build \
-    pkg-config \
-    software-properties-common \
-    valgrind
+    tini && \
+    rm -rf /var/lib/apt/lists/*
 
-# DART required dependencies
-RUN apt-get update -qq && apt-get install -y --no-install-recommends \
-    libassimp-dev \
-    libeigen3-dev \
-    libfcl-dev \
-    libfmt-dev
+# Install pixi globally so the devcontainer uses the managed workflow
+ENV PIXI_HOME="/opt/pixi" PATH="/opt/pixi/bin:${PATH}"
+RUN curl -fsSL https://pixi.sh/install.sh | PIXI_VERSION=${PIXI_VERSION} PIXI_HOME=${PIXI_HOME} bash
 
-# DART optional dependencies
-RUN apt-get update -qq && apt-get install -y --no-install-recommends \
-    libtinyxml2-dev \
-    liburdfdom-dev \
-    liburdfdom-headers-dev \
-    libopenscenegraph-dev \
-    liboctomap-dev \
-    libode-dev \
-    libimgui-dev \
-    libspdlog-dev
+WORKDIR /workspaces/dart
 
-# Python binding dependencies
-RUN apt-get update -qq && apt-get install -y --no-install-recommends \
-    libpython3-dev \
-    python3 \
-    python3-dev \
-    python3-numpy \
-    python3-pip \
-    python3-pytest \
-    python3-setuptools && \
-    PIP_BREAK_SYSTEM_PACKAGES=1 pip3 install --no-cache-dir --ignore-installed nanobind pytest -U && \
-    rm -rf /var/lib/apt/lists/*
+ENTRYPOINT ["/usr/bin/tini", "--"]
+CMD ["bash", "-lc", "pixi shell || exec bash"]