Drop uv wheel installation from docs (#1159)

## Summary
Drop uv wheel installation from docs, see decision
[here](https://nvidia.slack.com/archives/C0BR78Z3KAR/p1787912847523739?thread_ts=1787911799.861249&cid=C0BR78Z3KAR)

---------

Signed-off-by: Xinjie Yao <xyao@nvidia.com>

Author: xyao-nv

docs/_ext/isaaclab_arena_doc_tools.py

@@ -71,15 +71,7 @@ def uv_source_replacer(_: Any) -> str:
            source .venv/bin/activate
            export OMNI_KIT_ACCEPT_EULA=YES ACCEPT_EULA=Y"""
 
-    def uv_wheel_replacer(_: Any) -> str:
-        return """.. code-block:: bash
-
-           uv sync --no-default-groups --group isaaclab-from-wheel --extra dev
-           source .venv/bin/activate
-           export OMNI_KIT_ACCEPT_EULA=YES ACCEPT_EULA=Y"""
-
     source[0] = re.sub(r":uv_run_source:", uv_source_replacer, source[0])
-    source[0] = re.sub(r":uv_run_wheel:", uv_wheel_replacer, source[0])
 
 
 def docker_run_command_replacer(app: Sphinx, _: Any, source: list[str]) -> None:

docs/pages/example_workflows/agentic_env_gen/index.rst

@@ -111,21 +111,17 @@ Use either a native ``uv`` environment or the base Docker container (see
 
 .. tab-set::
 
-   .. tab-item:: Native uv source
+   .. tab-item:: Native uv
       :selected:
 
       :uv_run_source:
 
-   .. tab-item:: Native uv wheel
-
-      :uv_run_wheel:
-
    .. tab-item:: Docker Container
 
       :docker_run_default:
 
-For either native ``uv`` flavor, ``isaaclab_arena_curobo`` is not installed; use
-the Docker container with ``-c`` if you need
+For native ``uv``, ``isaaclab_arena_curobo`` is not installed; use the Docker
+container with ``-c`` if you need
 :doc:`cuRobo-based reachability validation </pages/concepts/object_placement/validation>`.
 
 Available Generated Environments

docs/pages/quickstart/installation.rst

@@ -17,16 +17,11 @@ or from source inside a Docker container.
      - ✓
      - ✓
      - ✓
-   * - uv (Isaac Lab from source)
+   * - uv
      - ✓
      - ✓
      - ✓
      - ✓
-   * - uv (Isaac Lab from wheel)
-     - ✓
-     - ✗
-     - ✗
-     - ✓
 
 Supported Systems
 -----------------
@@ -41,64 +36,28 @@ Native uv developer setup
 -------------------------
 
 Isaac Lab Arena can be installed natively with `uv <https://docs.astral.sh/uv/>`_;
-the committed lockfile pins the complete environment. Two flavors are
-available, differing only in where Isaac Lab comes from:
-
-- **Source flavor (recommended):** Isaac Lab is installed editable from the
-  ``submodules/IsaacLab`` checkout.
-- **Wheel flavor:** Isaac Lab is installed from the published wheel, which
-  does not include Isaac Lab's RL/IL scripts.
-
-Both flavors follow the same workflow — clone, sync, activate, run; only the
-``uv sync`` line differs.
+the committed lockfile pins the complete environment. Isaac Lab is installed
+editable from the ``submodules/IsaacLab`` checkout.
 
 Clone the repository:
 
 :isaaclab_arena_git_clone_code_block:
 
-Sync the environment and activate it, picking the flavor that matches your
-workflow:
-
-.. tab-set::
-
-   .. tab-item:: Source (recommended)
-      :selected:
-
-      .. code-block:: bash
+Sync the environment and activate it:
 
-          uv sync --extra dev
-          source .venv/bin/activate
-
-   .. tab-item:: Wheel
-
-      .. code-block:: bash
-
-          uv sync --no-default-groups --group isaaclab-from-wheel --extra dev
-          source .venv/bin/activate
+.. code-block:: bash
 
-      .. note::
-         The wheel flavor does not support the
-         :doc:`imitation learning </pages/example_workflows/imitation_learning/index>`
-         and
-         :doc:`reinforcement learning </pages/example_workflows/reinforcement_learning_workflows/index>`
-         workflows: the published Isaac Lab wheel does not include the scripts
-         they rely on. Use the source flavor for those workflows.
+    uv sync --extra dev
+    source .venv/bin/activate
 
 ``uv sync`` creates a Python virtual environment in ``.venv/`` (pinned by
-``.python-version``), installs Isaac Lab Arena and Isaac Lab (editable from
-``submodules/IsaacLab`` in the source flavor, or from the published wheel),
-and pulls the matching Isaac Sim, PyTorch, and Newton wheels at the versions
-pinned by the committed lockfile. The ``dev`` extra installs the Streamlit and
-SimReady search dependencies used by the
+``.python-version``), installs Isaac Lab Arena and Isaac Lab editable from
+``submodules/IsaacLab``, and pulls the matching Isaac Sim, PyTorch, and Newton
+wheels at the versions pinned by the committed lockfile. The ``dev`` extra
+installs the Streamlit and SimReady search dependencies used by the
 :doc:`agentic environment generation workflow
 </pages/concepts/agentic_environment_generation/index>`.
 
-.. note::
-   The two flavors are mutually exclusive within the single ``.venv``: syncing
-   one replaces the other. In the wheel flavor, run ``python``/``pytest`` in
-   the activated environment rather than through ``uv run`` — a bare
-   ``uv run`` re-syncs the environment back to the source flavor.
-
 .. note::
    Native ``uv`` installs do not include the optional ``isaaclab_arena_curobo``
    package, so :doc:`cuRobo-based reachability validation
@@ -128,20 +87,14 @@ a few more steps so there is time to see it):
     python isaaclab_arena/evaluation/policy_runner.py \
       --viz kit --policy_type zero_action --num_steps 200 cube_goal_pose
 
-With the **source installation**, optionally verify the installation by running the test
-phases:
+Optionally verify the installation by running the test phases:
 
 .. code-block:: bash
 
     pytest -sv -m "not with_cameras and not with_subprocess" isaaclab_arena/tests/
     pytest -sv -m "with_cameras and not with_subprocess" isaaclab_arena/tests/
     pytest -sv -m with_subprocess isaaclab_arena/tests/
 
-The full test suite is not supported by the wheel flavor because it includes
-tests for Isaac Lab's imitation-learning and reinforcement-learning
-interoperability. Use the zero-action rollout above to verify a wheel-based
-installation.
-
 With ``isaaclab_arena`` installed you're ready to build your first environment;
 see :doc:`arena_env`.
 

docs/pages/quickstart/running_a_real_policy/gr00t.rst

@@ -46,20 +46,9 @@ Run GR00T with the Experiment Runner
 If you run Arena from its native ``uv`` environment, install the GR00T client
 package:
 
-.. tab-set::
-
-   .. tab-item:: Source
-      :selected:
-
-      .. code-block:: bash
-
-         uv sync --group gr00t-client
-
-   .. tab-item:: Wheel
-
-      .. code-block:: bash
+.. code-block:: bash
 
-         uv sync --no-default-groups --group isaaclab-from-wheel --group gr00t-client
+   uv sync --group gr00t-client
 
 Arena includes a one-Run YAML configuration for the first rollout. It selects the
 DROID environment, connects the GR00T policy to the server, and stops after three episodes.

skills/user/setup-arena/SKILL.md

@@ -1,6 +1,6 @@
 ---
 name: setup-arena
-description: Sets up and verifies a runnable Isaac Lab-Arena checkout using the supported native uv source, native uv wheel, or Docker route. Use when installing Arena, preparing a fresh checkout to run examples or evaluations, choosing between uv and Docker, starting or attaching to the Arena container, mounting datasets/models/evaluation outputs, enabling cuRobo, or checking whether an installation is ready. Do not use for contributor hooks, forced image rebuilds, pytest regression testing, or experiment configuration.
+description: Sets up and verifies a runnable Isaac Lab-Arena checkout using the supported native uv or Docker route. Use when installing Arena, preparing a fresh checkout to run examples or evaluations, choosing between uv and Docker, starting or attaching to the Arena container, mounting datasets/models/evaluation outputs, enabling cuRobo, or checking whether an installation is ready. Do not use for contributor hooks, forced image rebuilds, pytest regression testing, or experiment configuration.
 allowed-tools: Read Grep Glob Skill Bash(git rev-parse *) Bash(git submodule *) Bash(head *) Bash(id -un) Bash(test -d *) Bash(test -x *) Bash(uv --version) Bash(uv sync *) Bash(nvidia-smi *) Bash(.venv/bin/python *) Bash(./docker/run_docker.sh *) Bash(docker exec *) Bash(docker images *) Bash(docker inspect *) Bash(docker ps *) Bash(docker stop isaaclab_arena-*)
 ---
 
@@ -21,12 +21,11 @@ supported route:
 
 | Route | Use it when |
 |---|---|
-| Native uv, Isaac Lab from source | Default when `uv` is available; supports evaluation, imitation learning, reinforcement learning, and agentic environment generation. |
-| Native uv, Isaac Lab wheel | Use only when the user prefers the wheel and needs evaluation or agentic environment generation; it does not support the Isaac Lab RL/IL scripts. |
+| Native uv | Default when `uv` is available; supports evaluation, imitation learning, reinforcement learning, and agentic environment generation. |
 | Docker | Use when requested, when the existing workflow is container-based, or when cuRobo reachability validation is required. |
 
-Do not silently switch routes. The two native flavors share `.venv` and replace one another. Native
-uv does not provide the optional cuRobo package; use Docker with `-c` for `ik_reachable` validation.
+Do not silently switch routes. Native uv does not provide the optional cuRobo package; use Docker
+with `-c` for `ik_reachable` validation.
 
 ## Preflight and confirmation
 
@@ -47,21 +46,14 @@ approval.
 
 ## Native uv route
 
-For the recommended source flavor:
+Initialize the source submodules and sync the environment:
 
 ```bash
 git submodule update --init --recursive
 uv sync --extra dev
 ```
 
-For the wheel flavor:
-
-```bash
-uv sync --no-default-groups --group isaaclab-from-wheel --extra dev
-```
-
-Use `.venv/bin/python` for non-interactive commands. In the wheel flavor, do not use a bare
-`uv run`; it resyncs the environment to the default source flavor.
+Use `.venv/bin/python` for non-interactive commands.
 
 Accept the Isaac Sim EULA for launch commands:
 

skills/user/setup-arena/evaluations.md

@@ -1,6 +1,6 @@
 # Setup Arena Evaluations
 
-## Scenario 1: Choose The Native Source Route
+## Scenario 1: Choose The Native Route
 
 Query: "I just cloned Arena and want to use it for imitation learning. Set up the recommended native
 runtime and stop when it is ready."
@@ -9,7 +9,7 @@ Expected behavior:
 
 - Reads `docs/pages/quickstart/installation.rst` and inspects the checkout, submodules, existing
   runtime, and GPU before changing state.
-- Selects the native Isaac Lab source flavor because it supports imitation learning.
+- Selects native uv because it supports imitation learning.
 - Shows `git submodule update --init --recursive` and `uv sync --extra dev`, explains the sync and
   EULA handling, and obtains confirmation before starting the large sync.
 - Uses `.venv/bin/python`, verifies that `isaaclab_arena` imports from this checkout, runs the
@@ -18,31 +18,10 @@ Expected behavior:
 
 Known failure modes:
 
-- Selects the wheel flavor even though it does not include Isaac Lab's imitation-learning scripts.
 - Syncs before inspecting the checkout or obtaining the required confirmation.
 - Treats a successful import alone as readiness or starts the downstream workflow.
 
-## Scenario 2: Honor The Wheel Flavor
-
-Query: "Switch this checkout from its source-flavor `.venv` to the published Isaac Lab wheel for
-local policy evaluation. I do not need reinforcement or imitation learning."
-
-Expected behavior:
-
-- Honors the requested wheel route and explains that it replaces the source flavor in the shared
-  `.venv`.
-- After the required sync confirmation, uses
-  `uv sync --no-default-groups --group isaaclab-from-wheel --extra dev`.
-- Uses `.venv/bin/python` rather than a bare `uv run`, verifies the checkout import and zero-action
-  rollout, reports the interpreter, import path, and exit status, and does not run the unsupported
-  full source test suite.
-
-Known failure modes:
-
-- Uses `uv sync --extra dev`, a bare `uv run`, or claims both native flavors coexist.
-- Switches to Docker or source despite the explicit supported wheel request.
-
-## Scenario 3: Set Up cuRobo
+## Scenario 2: Set Up cuRobo
 
 Query: "I've cloned Arena and need the `ik_reachable` validation check. Set up the supported runtime
 and stop when it is ready."
@@ -62,7 +41,7 @@ Known failure modes:
 - Rebuilds unnecessarily, starts a large build without confirmation, or continues into validation
   configuration.
 
-## Scenario 4: Change A Docker Mount Safely
+## Scenario 3: Change A Docker Mount Safely
 
 Query: "My Arena Docker container is already running, but I need it to use a different datasets
 directory. Help me change the mount."