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Take Isaac Sim out of the teleop extra and split test from dev
Review feedback: extras are a user-facing surface, so the images should use the ones that already exist rather than adding container-shaped ones. Both extras this PR introduced are gone. `teleop` now carries only the teleop stack. Environments that already provide Kit -- the container images -- no longer install a second, version-mismatched Isaac Sim beside the one they ship, and `teleop-no-isaacsim` is unnecessary. Agreed with the teleop owner: installs that need the wheel use `--extra teleop,isaacsim`, and the docs now say so wherever XR teleop appears. `test` is the test suite alone and `dev` adds the documentation toolchain, so the images can install `test` without shipping Sphinx and its GPL-3.0-or-later `docutils`, which `Docker Dependency Licenses Check` rejects. That removes the need for `test-runtime`. Docs builds and the license scan move to `dev`. Two tests encoded the old contract and now assert the new one: `teleop` excludes Isaac Sim, and the wheel is pinned only by the `isaacsim` extra.
1 parent 0421f0b commit 355e1f9

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‎.github/workflows/docs.yaml‎

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- name: Install docs dependencies
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run: |
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bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv sync --extra test
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bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv sync --extra dev
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echo "$PWD/.venv/bin" >> "$GITHUB_PATH"
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- name: Build current version docs
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- name: Install docs dependencies
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run: |
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bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv sync --extra test
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bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv sync --extra dev
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echo "$PWD/.venv/bin" >> "$GITHUB_PATH"
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- name: Generate multi-version docs

‎.github/workflows/license-check.yaml‎

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ISAACSIM_ACCEPT_EULA: YES
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run: |
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bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" \
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uv sync --extra all --extra isaacsim --extra test --extra rlinf --extra mimic
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uv sync --extra all --extra isaacsim --extra dev --extra rlinf --extra mimic
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# ``[tool.uv.pip] prerelease = "allow"`` lets unpinned tools float onto
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# prereleases. pip-licenses 6.0.0a1 reports an empty License where 5.x reports
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# ``UNKNOWN``, which license-exceptions.json keys on, and joins multi-license

‎docker/Dockerfile.base‎

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# The image's package set. Kit ships in the base image, so the teleop stack comes without the
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# ``isaacsim`` wheel; ``teleop`` itself is left exactly as tuned.
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ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop-no-isaacsim --extra test-runtime"
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ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop --extra test"
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RUN --mount=type=cache,target=/root/.cache/uv \

‎docker/Dockerfile.curobo‎

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# The image's package set. Kit ships in the base image, so the teleop stack comes without the
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# ``isaacsim`` wheel; ``teleop`` itself is left exactly as tuned.
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ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop-no-isaacsim --extra test-runtime"
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ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop --extra test"
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# Workspace manifests only: ``uv sync --no-install-workspace`` needs every member's
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# pyproject.toml to build an installation plan, but not their sources. Resolving the

‎docker/Dockerfile.kitless‎

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# ``--inexact`` keeps the seeded pip, which is not a lock entry.
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uv venv --seed "${VIRTUAL_ENV}" \
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&& uv sync --frozen --inexact --extra all --extra importers --extra test-runtime \
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&& uv sync --frozen --inexact --extra all --extra importers --extra test \
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# Sources only: the workspace install below needs these, and nothing else in the repo. A docs
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uv sync --frozen --inexact --extra all --extra importers --extra test-runtime \
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uv sync --frozen --inexact --extra all --extra importers --extra test \
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&& chmod -R a+rwX "${VIRTUAL_ENV}/lib" "${VIRTUAL_ENV}/bin" \
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&& python -c "import importlib.metadata as m; \
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names = {d.metadata['Name'].lower() for d in m.distributions()}; \

‎docs/README.md‎

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‎docs/source/features/isaac_teleop.rst‎

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‎docs/source/how-to/cloudxr_teleoperation.rst‎

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‎docs/source/overview/imitation-learning/humanoids_imitation.rst‎

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‎docs/source/overview/imitation-learning/skillgen.rst‎

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