Preserve bundled Newton during installation

Author: kellyguo11

source/isaaclab/changelog.d/beta2-isaacsim61-newton-resolution.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Preserved Isaac Sim's compatible bundled Newton distribution during installation and allowed the required Warp 1.x release.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -755,6 +755,34 @@ def _discover_prebundle_dirs() -> set[Path]:
     return prebundle_dirs
 
 
+def _filter_pip_prebundle_pythonpath(pythonpath: str) -> tuple[str, int]:
+    """Hide prebundles from pip while preserving bundled Newton metadata.
+
+    Newton is an Isaac Sim runtime component whose version differs between Sim
+    releases. Keeping its wheel root visible lets pip satisfy Isaac Lab's
+    compatible version range with the bundled distribution instead of
+    replacing it and damaging the shared prebundle symlink farm.
+
+    Args:
+        pythonpath: The original ``PYTHONPATH`` value.
+
+    Returns:
+        The filtered ``PYTHONPATH`` and number of removed entries.
+    """
+    paths = pythonpath.split(os.pathsep)
+    filtered_paths = []
+    for path in paths:
+        if not path:
+            continue
+        if "pip_prebundle" not in path:
+            filtered_paths.append(path)
+            continue
+        if any(dist_info.is_dir() for dist_info in Path(path).glob("newton-[0-9]*.dist-info")):
+            filtered_paths.append(path)
+
+    return os.pathsep.join(filtered_paths), len(paths) - len(filtered_paths)
+
+
 def _find_dangling_prebundle_symlinks() -> set[Path]:
     """Find symlinks under Isaac Sim prebundles whose targets do not resolve.
 
@@ -1027,21 +1055,16 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
         saved_ld_preload = os.environ.pop("LD_PRELOAD")
 
     # Temporarily filter Isaac Sim pre-bundled package paths from PYTHONPATH during all pip operations.
-    # This prevents pip from scanning and managing packages in Isaac Sim's pip_prebundle directories,
-    # which can cause those packages to be deleted or modified. This is especially important
-    # in conda environments where Isaac Sim setup scripts add these paths to PYTHONPATH.
+    # Keep the bundled Newton wheel root visible so a compatible version is treated as installed rather
+    # than replaced. Other prebundles remain hidden to prevent pip from deleting or modifying them.
     saved_pythonpath = None
     filtered_pythonpath = None
     if "PYTHONPATH" in os.environ:
         saved_pythonpath = os.environ["PYTHONPATH"]
-        # Filter out any paths containing pip_prebundle (pre-bundled packages that pip shouldn't manage)
-        paths = saved_pythonpath.split(os.pathsep)
-        filtered_paths = [p for p in paths if p and "pip_prebundle" not in p]
+        filtered_pythonpath, filtered_count = _filter_pip_prebundle_pythonpath(saved_pythonpath)
 
-        if len(filtered_paths) != len(paths):
-            filtered_pythonpath = os.pathsep.join(filtered_paths)
+        if filtered_count:
             os.environ["PYTHONPATH"] = filtered_pythonpath
-            filtered_count = len(paths) - len(filtered_paths)
             print_info(
                 f"Temporarily filtering {filtered_count} Isaac Sim pre-bundled package path(s) from PYTHONPATH "
                 "during pip operations to prevent interference with pre-bundled packages."

source/isaaclab/setup.py

@@ -33,7 +33,7 @@
     # image processing
     "transformers==4.57.6",
     "einops",  # needed for transformers, doesn't always auto-install
-    "warp-lang==1.13.0",
+    "warp-lang>=1.13.0,<2",
     "matplotlib>=3.10.3",  # minimum version for Python 3.12 support
     # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
     # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).

source/isaaclab/test/cli/test_install_commands.py

@@ -22,6 +22,7 @@
 from isaaclab.cli.commands.install import (
     _PREBUNDLE_REPOINT_PACKAGES,
     _ensure_cuda_torch,
+    _filter_pip_prebundle_pythonpath,
     _maybe_uninstall_prebundled_torch,
     _repoint_prebundle_packages,
     _torch_first_on_sys_path_is_prebundle,
@@ -70,6 +71,27 @@ def _make_site_packages(
     return site_pkgs
 
 
+# ---------------------------------------------------------------------------
+# pip prebundle filtering
+# ---------------------------------------------------------------------------
+
+
+def test_prebundle_filter_preserves_newton_distribution_metadata(tmp_path):
+    """Bundled Newton remains visible while unrelated prebundles are hidden from pip."""
+    other_prebundle = tmp_path / "other.ext" / "pip_prebundle"
+    other_prebundle.mkdir(parents=True)
+    newton_prebundle = tmp_path / "isaacsim.pip.newton" / "pip_prebundle" / "newton-wheel"
+    (newton_prebundle / "newton-1.5.0.dist-info").mkdir(parents=True)
+    site_packages = tmp_path / "kit" / "site-packages"
+    site_packages.mkdir(parents=True)
+    pythonpath = os.pathsep.join((str(other_prebundle), str(newton_prebundle), str(site_packages)))
+
+    filtered, removed_count = _filter_pip_prebundle_pythonpath(pythonpath)
+
+    assert filtered.split(os.pathsep) == [str(newton_prebundle), str(site_packages)]
+    assert removed_count == 1
+
+
 # ---------------------------------------------------------------------------
 # _arm_cmake_policy_compatibility
 # ---------------------------------------------------------------------------

source/isaaclab/test/cli/test_wheel_builder_metadata.py

@@ -61,6 +61,26 @@ def _requirements_from_setup(package_name: str, extra_name: str, dependency_name
     raise AssertionError(f"Could not find EXTRAS_REQUIRE in {setup_path}")
 
 
+def _install_requirements_from_setup(package_name: str, dependency_name: str) -> list[Requirement]:
+    """Return matching install requirements from a source package."""
+    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 == "INSTALL_REQUIRES" for target in node.targets):
+            continue
+        install_requires = ast.literal_eval(node.value)
+        return [
+            requirement
+            for dependency in install_requires
+            if (requirement := Requirement(dependency)).name == dependency_name
+        ]
+
+    raise AssertionError(f"Could not find INSTALL_REQUIRES 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()
@@ -103,6 +123,31 @@ def test_newton_requirements_support_isaac_sim_6_0_and_6_1():
         assert Version("2.0.0") not in requirement.specifier
 
 
+def test_warp_requirements_support_newton_bundled_by_isaac_sim_6_0_and_6_1():
+    """Core Warp requirements must accept the releases needed by bundled Newton versions."""
+    requirements = _install_requirements_from_setup("isaaclab", "warp-lang")
+
+    packages_path = _repo_root() / "tools/wheel_builder/res/python_packages.toml"
+    with packages_path.open("rb") as f:
+        packages = tomllib.load(f)
+    requirements.extend(
+        Requirement(dependency)
+        for dependency in packages["isaaclab"]["pyproject"]["dependencies"]["all"]
+        if dependency.startswith("warp-lang")
+    )
+    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("warp-lang")
+    )
+
+    assert len(requirements) == 3
+    for requirement in requirements:
+        assert Version("1.13.0") in requirement.specifier
+        assert Version("1.17.0") 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")

tools/wheel_builder/res/python_packages.toml

@@ -22,7 +22,7 @@ pyproject.dependencies.all = [
     # image processing
     "transformers==4.57.6",
     "einops",  # needed for transformers, doesn't always auto-install
-    "warp-lang==1.13.0",
+    "warp-lang>=1.13.0,<2",
     "matplotlib>=3.10.3",
     # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
     # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
@@ -94,7 +94,7 @@ pyproject.optional-dependencies.all = [
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_newton/setup.py
     # ================================================================================
     { "newton" = [
-        "warp-lang==1.13.0",
+        "warp-lang>=1.13.0,<2",
         "newton[sim]>=1.2.1,<2",
         "PyOpenGL-accelerate==3.1.10"
     ] },