Repoint packages in expanded prebundles

Author: ooctipus

source/isaaclab/changelog.d/pr-7453-expanded-prebundles.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed Docker installs leaving dangling package links in expanded Isaac Sim prebundles.

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

@@ -1062,10 +1062,14 @@ def _repoint_prebundle_packages() -> None:
         print_debug("No pip_prebundle directories found under Isaac Sim.")
         return
 
+    # Extras are expanded as wheel trees nested below pip_prebundle.
+    package_roots = prebundle_dirs | {
+        path for prebundle_dir in prebundle_dirs for path in prebundle_dir.glob("*[[]*[]]/*") if path.is_dir()
+    }
     repointed = 0
-    for prebundle_dir in prebundle_dirs:
+    for package_root in package_roots:
         for pkg_name in _PREBUNDLE_REPOINT_PACKAGES:
-            prebundled = prebundle_dir / pkg_name
+            prebundled = package_root / pkg_name
             venv_pkg = site_packages / pkg_name
 
             if not venv_pkg.exists():
@@ -1118,9 +1122,9 @@ def _repoint_prebundle_packages() -> None:
     # env package into the prebundle, which is a real directory by design.
     if use_symlinks and (site_packages / "torch").exists():
         shadowing = [
-            prebundle_dir / "torch"
-            for prebundle_dir in prebundle_dirs
-            if (prebundle_dir / "torch").is_dir() and not (prebundle_dir / "torch").is_symlink()
+            package_root / "torch"
+            for package_root in package_roots
+            if (package_root / "torch").is_dir() and not (package_root / "torch").is_symlink()
         ]
         if shadowing:
             raise RuntimeError(

source/isaaclab/test/cli/test_install_commands.py

@@ -930,6 +930,25 @@ def test_repoints_across_multiple_prebundle_dirs(self, tmp_path):
         for pb in (pb1, pb2):
             assert (pb / "torch").is_symlink(), f"torch in {pb} should be repointed"
 
+    def test_repoints_package_inside_expanded_extra_bundle(self, tmp_path):
+        """Expanded extras bundles must not retain file links into a replaced package."""
+        isaacsim_path, prebundle = self._sim_with_prebundle(tmp_path / "sim", ["newton"])
+        shared_init = prebundle / "newton" / "legacy" / "__init__.py"
+        shared_init.parent.mkdir()
+        shared_init.write_text("")
+        bundled_newton = prebundle / "newton[sim]" / "newton-wheel" / "newton"
+        bundled_init = bundled_newton / "legacy" / "__init__.py"
+        bundled_init.parent.mkdir(parents=True)
+        bundled_init.symlink_to(shared_init)
+        site_pkgs = _make_site_packages(tmp_path / "env", ["newton"])
+
+        with self._patch(isaacsim_path, site_pkgs, str(tmp_path / "env" / "bin" / "python")):
+            _repoint_prebundle_packages()
+
+        assert (prebundle / "newton").resolve() == (site_pkgs / "newton").resolve()
+        assert bundled_newton.is_symlink()
+        assert bundled_newton.resolve() == (site_pkgs / "newton").resolve()
+
     # ---- Windows: copy instead of symlink -----------------------------------
 
     def test_copies_package_on_windows_instead_of_symlinking(self, tmp_path):