Allow Isaac Sim 6.1 bundled dependencies

Author: kellyguo11

source/isaaclab/test/cli/test_wheel_builder_metadata.py

@@ -11,6 +11,8 @@
 from pathlib import Path
 
 import tomllib
+from packaging.requirements import Requirement
+from packaging.version import Version
 
 
 def _repo_root() -> Path:
@@ -39,6 +41,26 @@ def _rsl_rl_pin_from_setup() -> str:
     raise AssertionError("Could not find rsl-rl-lib pin in source/isaaclab_rl/setup.py")
 
 
+def _requirements_from_setup(package_name: str, extra_name: str, dependency_name: str) -> list[Requirement]:
+    """Return matching requirements from a source package extra."""
+    setup_path = _repo_root() / f"source/{package_name}/setup.py"
+    module = ast.parse(setup_path.read_text(encoding="utf-8"))
+
+    for node in module.body:
+        if not isinstance(node, ast.Assign):
+            continue
+        if not any(isinstance(target, ast.Name) and target.id == "EXTRAS_REQUIRE" for target in node.targets):
+            continue
+        extras_require = ast.literal_eval(node.value)
+        return [
+            requirement
+            for dependency in extras_require[extra_name]
+            if (requirement := Requirement(dependency)).name == dependency_name
+        ]
+
+    raise AssertionError(f"Could not find EXTRAS_REQUIRE in {setup_path}")
+
+
 def test_wheel_builder_rsl_rl_pin_matches_source_package():
     """The bundled wheel metadata must install the RSL-RL version required by training scripts."""
     expected_pin = _rsl_rl_pin_from_setup()
@@ -52,3 +74,40 @@ def test_wheel_builder_rsl_rl_pin_matches_source_package():
     for extra_name in ("rsl-rl", "rsl_rl", "all"):
         rsl_rl_pins = [dep for dep in dependencies_by_extra[extra_name] if dep.startswith("rsl-rl-lib==")]
         assert rsl_rl_pins == [expected_pin]
+
+
+def test_newton_requirements_support_isaac_sim_6_0_and_6_1():
+    """Newton extras must accept the releases bundled by Isaac Sim 6.0 and 6.1."""
+    requirements = []
+    for package_name, extra_names in {
+        "isaaclab_newton": ("all",),
+        "isaaclab_physx": ("newton",),
+        "isaaclab_visualizers": ("newton", "rerun", "viser"),
+    }.items():
+        for extra_name in extra_names:
+            requirements.extend(_requirements_from_setup(package_name, extra_name, "newton"))
+
+    packages_path = _repo_root() / "tools/wheel_builder/res/python_packages.toml"
+    with packages_path.open("rb") as f:
+        packages = tomllib.load(f)
+    optional_dependencies = packages["isaaclab"]["pyproject"]["optional-dependencies"]["all"]
+    dependencies_by_extra = {name: deps for entry in optional_dependencies for name, deps in entry.items()}
+    requirements.extend(
+        Requirement(dependency) for dependency in dependencies_by_extra["newton"] if dependency.startswith("newton[")
+    )
+
+    assert len(requirements) == 6
+    for requirement in requirements:
+        assert Version("1.2.1") in requirement.specifier
+        assert Version("1.5.0") in requirement.specifier
+        assert Version("2.0.0") not in requirement.specifier
+
+
+def test_rl_games_aiohttp_requirement_supports_isaac_sim_6_0_and_6_1():
+    """RL-Games must not downgrade the aiohttp release bundled by Isaac Sim 6.1."""
+    requirements = _requirements_from_setup("isaaclab_rl", "rl-games", "aiohttp")
+
+    assert len(requirements) == 1
+    assert Version("3.13.3") in requirements[0].specifier
+    assert Version("3.14.1") in requirements[0].specifier
+    assert Version("4.0.0") not in requirements[0].specifier

source/isaaclab_newton/changelog.d/beta2-isaacsim61-dependency-ranges.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Allowed the Newton release bundled with Isaac Sim 6.1 to satisfy the optional dependency.

source/isaaclab_newton/setup.py

@@ -40,7 +40,7 @@ def run(self):
         "prettytable==3.3.0",
         "PyOpenGL-accelerate==3.1.10",
         "pyglet>=2.1.6,<3",
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
     ],
 }
 

source/isaaclab_physx/changelog.d/beta2-isaacsim61-dependency-ranges.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Allowed the Newton release bundled with Isaac Sim 6.1 to satisfy the optional dependency.

source/isaaclab_physx/setup.py

@@ -20,7 +20,7 @@
 
 EXTRAS_REQUIRE = {
     "newton": [
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
     ],
 }
 

source/isaaclab_rl/changelog.d/beta2-isaacsim61-dependency-ranges.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Allowed the aiohttp release bundled with Isaac Sim 6.1 to satisfy the RL-Games dependency.

source/isaaclab_rl/setup.py

@@ -48,7 +48,7 @@
     "sb3": ["stable-baselines3>=2.6", "tqdm", "rich"],  # tqdm/rich for progress bar
     "skrl": ["skrl>=2.1.0"],
     "rl-games": [
-        "aiohttp==3.13.3",
+        "aiohttp>=3.13.3,<4",
         "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
         "gym",
         "standard-distutils",

source/isaaclab_visualizers/changelog.d/beta2-isaacsim61-dependency-ranges.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Allowed the Newton release bundled with Isaac Sim 6.1 to satisfy the visualizer dependencies.

source/isaaclab_visualizers/setup.py

@@ -18,26 +18,26 @@
 # `newton @ git+...` while another declares `newton[sim] @ git+...`, the first
 # resolution wins and silently drops the `[sim]` extra. That breaks `isaaclab_newton`
 # at import time because `mujoco` / `mujoco-warp` go missing. So even the rerun/viser
-# extras — which don't use the MuJoCo solver directly — must pin `newton[sim]` to
-# stay consistent with `isaaclab_newton`.
+# extras — which don't use the MuJoCo solver directly — must use the same
+# `newton[sim]` range to stay consistent with `isaaclab_newton`.
 EXTRAS_REQUIRE = {
     "kit": [],
     "newton": [
         "warp-lang",
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
         "PyOpenGL-accelerate",
         "pyglet>=2.1.6,<3",
         "imgui-bundle>=1.92.601",
         "typing-extensions==4.12.2",
         "pydantic>=2.7,<2.12",
     ],
     "rerun": [
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
         "rerun-sdk>=0.29.0",
         "pyarrow==23.0.1",
     ],
     "viser": [
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
         "viser>=1.0.16",
     ],
 }

tools/wheel_builder/res/python_packages.toml

@@ -95,7 +95,7 @@ pyproject.optional-dependencies.all = [
     # ================================================================================
     { "newton" = [
         "warp-lang==1.13.0",
-        "newton[sim]==1.2.1",
+        "newton[sim]>=1.2.1,<2",
         "PyOpenGL-accelerate==3.1.10"
     ] },
     # ================================================================================