From 2122d05e9ca9c2e1a8fd34143a2bfe3370e15650 Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Tue, 28 Jul 2026 00:55:53 -0700 Subject: [PATCH 01/10] Add isaacsim source install pure uv --- .../include/src_clone_isaaclab.rst | 12 +- docs/source/setup/installation/index.rst | 219 +++++++++++++++++- .../setup/installation/source_details.inc | 102 -------- pyproject.toml | 3 +- skills/user/install-isaac-lab/SKILL.md | 1 - skills/user/install-isaac-lab/reference.md | 8 +- ...v-friendly-isaacsim-source-build.minor.rst | 7 + source/isaaclab/isaaclab/cli/__init__.py | 13 ++ source/isaaclab/isaaclab/cli/commands/misc.py | 77 ++++++ 9 files changed, 327 insertions(+), 115 deletions(-) delete mode 100644 docs/source/setup/installation/source_details.inc create mode 100644 source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst diff --git a/docs/source/setup/installation/include/src_clone_isaaclab.rst b/docs/source/setup/installation/include/src_clone_isaaclab.rst index ef8a0e6a25bb..d61d560e6334 100644 --- a/docs/source/setup/installation/include/src_clone_isaaclab.rst +++ b/docs/source/setup/installation/include/src_clone_isaaclab.rst @@ -24,7 +24,7 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu ./isaaclab.sh --help - usage: isaaclab.sh [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] + usage: isaaclab.sh [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] [--isaacsim_source PATH] Isaac Lab CLI @@ -55,6 +55,10 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu -c [CONDA], --conda [CONDA] Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'. -u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'. + --isaacsim_source PATH + Build Isaac Sim from the source checkout at PATH, package it as wheels, and link + them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'. + Skips the build when the checkout is already built. .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -63,7 +67,7 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu isaaclab.bat --help - usage: isaaclab.bat [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] + usage: isaaclab.bat [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]] [--isaacsim_source PATH] Isaac Lab CLI @@ -94,3 +98,7 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu -c [CONDA], --conda [CONDA] Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'. -u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'. + --isaacsim_source PATH + Build Isaac Sim from the source checkout at PATH, package it as wheels, and link + them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'. + Skips the build when the checkout is already built. diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index 13e87cf73691..2401541dade7 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -468,8 +468,44 @@ Clone Isaac Lab, create the ``_isaac_sim`` link, install, and verify: Build Isaac Sim from source --------------------------- -Build Isaac Sim only when you need to modify it or test a nightly revision. Building requires -Ubuntu 22.04 or newer on Linux. Clone and build: +Use this path only when you need to modify Isaac Sim itself or test a nightly revision. Every other +workflow is faster with the pre-built Isaac Sim used by :ref:`installation-method-uv`. + +Building requires Ubuntu 22.04 or newer on Linux. On Windows, `enable long path support +`__ +first, otherwise the build fails on path-length limits. Check your driver against the `Omniverse +technical requirements +`__. + +The workflow builds the simulator, packages it as Python wheels, and hands those wheels to ``uv``. +The instructions are adapted from the `Isaac Sim documentation +`__. + +.. rubric:: Automatic setup + +From an Isaac Lab checkout, one command runs the whole build-and-wire-up sequence: + +.. code-block:: bash + + git clone https://github.com/isaac-sim/IsaacSim.git + uv run isaaclab --isaacsim_source ./IsaacSim + +It builds Isaac Sim (skipped when the checkout is already built), packages the build as wheels, +links them into Isaac Lab as ``_isaac_sim_wheels``, and re-resolves Isaac Sim from those wheels. +When it finishes, run Isaac Lab against your build: + +.. code-block:: bash + + export UV_FIND_LINKS=_isaac_sim_wheels + uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ + --task Isaac-Cartpole-Direct presets=physx + +The four steps below are the same sequence performed by hand. Follow them when you want to run the +build outside the Isaac Lab checkout or need to debug a failing step. On Windows, creating +``_isaac_sim_wheels`` needs an elevated prompt; without one the command falls back to reporting the +absolute wheel path to use for ``UV_FIND_LINKS``. + +.. rubric:: Step 1 — Build Isaac Sim .. tab-set:: :sync-group: os @@ -482,9 +518,16 @@ Ubuntu 22.04 or newer on Linux. Clone and build: git clone https://github.com/isaac-sim/IsaacSim.git cd IsaacSim ./build.sh + # use linux-aarch64 instead of linux-x86_64 on aarch64 export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release" export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" + + Check that the build runs before continuing: + + .. code-block:: bash + ${ISAACSIM_PATH}/isaac-sim.sh + ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -496,16 +539,176 @@ Ubuntu 22.04 or newer on Linux. Clone and build: build.bat set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release" set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" + + Check that the build runs before continuing: + + .. code-block:: batch + %ISAACSIM_PATH%\isaac-sim.bat + %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py + +If the simulator crashes at this point, the problem is in the Isaac Sim build, not in Isaac Lab. +Consult the `Linux troubleshooting guide +`__ and the `Isaac Sim +forums `__ before continuing. + +.. rubric:: Step 2 — Package the build as Python wheels + +Isaac Lab consumes Isaac Sim as a Python package, so turn the build into wheels. Run this from the +``IsaacSim`` directory after every rebuild you want Isaac Lab to pick up: + +.. tab-set:: + :sync-group: os + + .. tab-item:: :icon:`fa-brands fa-linux` Linux + :sync: linux + + .. code-block:: bash + + ./repo.sh python_package --create + ./repo.sh comment_archive_deps + ./repo.sh python_package --wheel + + .. tab-item:: :icon:`fa-brands fa-windows` Windows + :sync: windows + + .. code-block:: batch + + .\repo.bat python_package --create + .\repo.bat comment_archive_deps + .\repo.bat python_package --wheel + +The wheels land in ``_build/packages/dist/``. + +.. rubric:: Step 3 — Clone Isaac Lab and point it at your wheels + +.. isaaclab-clone-commands:: + +Link the wheel directory into the Isaac Lab checkout as ``_isaac_sim_wheels``. The name is +git-ignored, and it gives ``uv`` a stable path that survives shell restarts: + +.. tab-set:: + :sync-group: os + + .. tab-item:: :icon:`fa-brands fa-linux` Linux + :sync: linux + + .. code-block:: bash + + cd IsaacLab + ln -s /IsaacSim/_build/packages/dist _isaac_sim_wheels + + .. tab-item:: :icon:`fa-brands fa-windows` Windows + :sync: windows -Then clone Isaac Lab and follow the same ``_isaac_sim`` link, install, and verification commands -from :ref:`the downloaded Isaac Sim package setup `, using the source -build path above as ``ISAACSIM_PATH``. On Linux aarch64, use ``linux-aarch64`` instead of -``linux-x86_64``. + .. code-block:: batch + + cd IsaacLab + :: requires a Command Prompt with Administrator access + mklink /D _isaac_sim_wheels \IsaacSim\_build\packages\dist + + If you cannot create symbolic links, skip this and set ``UV_FIND_LINKS`` to the absolute + ``dist`` path in the next step instead. + +.. rubric:: Step 4 — Run Isaac Lab against your build + +``UV_FIND_LINKS`` tells ``uv`` where your wheels are, and the ``isaacsim-local`` extra requests +Isaac Sim without the published version pin. Re-resolve Isaac Sim once so the lock file picks your +wheels over the released package, then run as usual: + +.. tab-set:: + :sync-group: os + + .. tab-item:: :icon:`fa-brands fa-linux` Linux + :sync: linux + + .. code-block:: bash + + export UV_FIND_LINKS=_isaac_sim_wheels -.. dropdown:: Detailed Isaac Sim source-build setup + # one time: re-resolve Isaac Sim against your wheels + uv lock --upgrade-package isaacsim + + # verify: this should open a black simulator viewport + uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit + + # train + uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ + --task Isaac-Cartpole-Direct presets=physx + + .. tab-item:: :icon:`fa-brands fa-windows` Windows + :sync: windows + + .. code-block:: batch + + set UV_FIND_LINKS=_isaac_sim_wheels + + :: one time: re-resolve Isaac Sim against your wheels + uv lock --upgrade-package isaacsim + + :: verify: this should open a black simulator viewport + uv run --extra isaacsim-local python scripts\tutorials\00_sim\create_empty.py --viz kit + + :: train + uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl ^ + --task Isaac-Cartpole-Direct presets=physx + +The first launch can take over ten minutes while Isaac Sim downloads extensions. Add +``export UV_FIND_LINKS=_isaac_sim_wheels`` to your shell profile so every later ``uv`` command keeps +seeing your build. ``uv lock`` rewrites the tracked ``uv.lock``; leave that change uncommitted. + +After rebuilding Isaac Sim, repeat step 2 and then: + +.. code-block:: bash + + # same version as before (the usual case): reinstall from the new wheels + uv run --extra isaacsim-local --reinstall-package isaacsim isaaclab train ... + + # version changed: re-resolve first + uv lock --upgrade-package isaacsim + +.. note:: + + ``uv`` selects the highest Isaac Sim version it can see across your wheels and + ``pypi.nvidia.com``, with a floor at the Isaac Sim release Isaac Lab supports. A build from + Isaac Sim ``main`` is normally newer than the published release, so your wheels win. If your + build's version is *not* newer, request it explicitly with the version from the wheel filename: + + .. code-block:: bash + + uv run --extra isaacsim-local --with "isaacsim==" isaaclab train ... + +.. rubric:: Using the legacy ``isaaclab.sh`` installer instead + +If you prefer the legacy installer, skip steps 2–4 and use the Kit build directly: link it as +``_isaac_sim`` and install as in :ref:`installation-method-binary`. + +.. tab-set:: + :sync-group: os + + .. tab-item:: :icon:`fa-brands fa-linux` Linux + :sync: linux + + .. code-block:: bash + + cd IsaacLab + ln -s ${ISAACSIM_PATH} _isaac_sim + sudo apt install cmake build-essential + ./isaaclab.sh -i + ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit + + .. tab-item:: :icon:`fa-brands fa-windows` Windows + :sync: windows + + .. code-block:: batch + + cd IsaacLab + mklink /D _isaac_sim %ISAACSIM_PATH% + isaaclab.bat -i + isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit - .. include:: source_details.inc +This path relies on ``_isaac_sim/setup_python_env.sh`` to expose Isaac Sim on ``PYTHONPATH``, so run +scripts through ``./isaaclab.sh -p`` (or ``isaaclab.bat -p``) rather than a bare ``python``. .. _installation-method-container: diff --git a/docs/source/setup/installation/source_details.inc b/docs/source/setup/installation/source_details.inc deleted file mode 100644 index fac84919371a..000000000000 --- a/docs/source/setup/installation/source_details.inc +++ /dev/null @@ -1,102 +0,0 @@ -.. _isaaclab-source-installation: - -.. rubric:: Detailed Isaac Sim source-build setup - -These steps build Isaac Sim from source, then install an editable Isaac Lab checkout. - -.. note:: - - This is a more advanced installation method and is not recommended for most users. Only follow this method - if you wish to modify the source code of Isaac Sim as well. - -.. rubric:: Installing Isaac Sim - -.. rubric:: Building from source - -From Isaac Sim 5.0 release, it is possible to build Isaac Sim from its source code. -This approach is meant for users who wish to modify the source code of Isaac Sim as well, -or want to test Isaac Lab with the nightly version of Isaac Sim. - -The following instructions are adapted from the `Isaac Sim documentation `_ -for the convenience of users. - -.. attention:: - - Building Isaac Sim from source requires Ubuntu 22.04 LTS or higher. - -.. attention:: - - For details on driver requirements, please see the `Technical Requirements `_ guide! - - On Windows, it may be necessary to `enable long path support `_ to avoid installation errors due to OS limitations. - - -- Clone the Isaac Sim repository into your workspace: - - .. code:: bash - - git clone https://github.com/isaac-sim/IsaacSim.git - -- Build Isaac Sim from source: - - .. tab-set:: - :sync-group: os - - .. tab-item:: :icon:`fa-brands fa-linux` Linux - :sync: linux - - .. code:: bash - - cd IsaacSim - ./build.sh - - .. tab-item:: :icon:`fa-brands fa-windows` Windows - :sync: windows - - .. code:: batch - - cd IsaacSim - build.bat - - -.. rubric:: Verifying the Isaac Sim installation - -To avoid the overhead of finding and locating the Isaac Sim installation -directory every time, we recommend exporting the following environment -variables to your terminal for the remaining of the installation instructions: - -.. tab-set:: - :sync-group: os - - .. tab-item:: :icon:`fa-brands fa-linux` Linux - :sync: linux - - .. code:: bash - - # Isaac Sim root directory (use linux-aarch64 instead of linux-x86_64 on aarch64) - export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release" - # Isaac Sim python executable - export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" - - .. tab-item:: :icon:`fa-brands fa-windows` Windows - :sync: windows - - .. code:: batch - - :: Isaac Sim root directory - set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release" - :: Isaac Sim python executable - set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" - -.. include:: include/bin_verify_isaacsim.rst - - -.. rubric:: Installing Isaac Lab - -.. include:: include/src_clone_isaaclab.rst - -.. include:: include/src_symlink_isaacsim.rst - -.. include:: include/src_build_isaaclab.rst - -.. include:: include/src_verify_isaaclab.rst diff --git a/pyproject.toml b/pyproject.toml index 2388f3d3b219..ce7496aa32b4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -134,8 +134,8 @@ rerun = [ "rerun-sdk>=0.29.0", "pyarrow==22.0.0", # match rerun-sdk's Arrow stack ] -# Isaac Sim (PhysX backend); co-resolves with the base install via the [tool.uv] conflicts table. isaacsim = ["isaacsim[all,extscache]==6.0.0.1"] +isaacsim-local = ["isaacsim[all,extscache]>=6.0.0.1"] # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors). ov = ["ovphysx>=0.4.13", "ovstage>=0.1.0,<0.2.0"] rtx = ["ovrtx>=0.4.0,<0.5.0", "ovstage>=0.1.0,<0.2.0"] @@ -372,6 +372,7 @@ conflicts = [ [{ extra = "isaacsim" }, { extra = "mimic" }], [{ extra = "isaacsim" }, { extra = "all" }], [{ extra = "isaacsim" }, { extra = "test" }], + [{ extra = "isaacsim-local" }, { extra = "isaacsim" }], ] python-preference = "only-managed" package = false diff --git a/skills/user/install-isaac-lab/SKILL.md b/skills/user/install-isaac-lab/SKILL.md index 808fa382a07e..8a5f9f2a9f99 100644 --- a/skills/user/install-isaac-lab/SKILL.md +++ b/skills/user/install-isaac-lab/SKILL.md @@ -61,7 +61,6 @@ Keep this skill synchronized with the following install docs. If commands or ver - `docs/source/setup/installation/pip_details.inc` — steps included by `installation-method-python-env` (managed venv/conda + pip Isaac Sim). - `docs/source/setup/installation/wheel_details.inc` — steps included by `installation-method-wheel` (Isaac Lab Python package for external projects). - `docs/source/setup/installation/binaries_details.inc` — steps included by `installation-method-binary` (downloaded Isaac Sim package). -- `docs/source/setup/installation/source_details.inc` — steps included by `installation-method-source` (Isaac Sim source build). - `docs/source/setup/installation/asset_caching_details.inc` — asset caching notes. - `docs/source/setup/installation/include/` — verification and shared helper snippets. - `docs/source/features/docker_cloud.rst` — Docker and cloud-workstation deep dive; complements `installation-method-container` and `installation-method-cloud` in `index.rst`. diff --git a/skills/user/install-isaac-lab/reference.md b/skills/user/install-isaac-lab/reference.md index 0501cea5f9ac..b685f5a0132b 100644 --- a/skills/user/install-isaac-lab/reference.md +++ b/skills/user/install-isaac-lab/reference.md @@ -59,12 +59,18 @@ Read `docs/source/setup/installation/index.rst` "System requirements" from the c Run the docs-defined minimal verification command after every install, before larger tests. The command varies by route: -- Automatic uv (`installation-method-uv`), legacy installer (`installation-legacy-installer`), managed Python env (`installation-method-python-env`), Isaac Lab wheel (`installation-method-wheel`), and Isaac Sim source build (`installation-method-source`) verify Isaac Lab via the tutorial script documented in the section's included verification snippet: +- Automatic uv (`installation-method-uv`), legacy installer (`installation-legacy-installer`), managed Python env (`installation-method-python-env`), and Isaac Lab wheel (`installation-method-wheel`) verify Isaac Lab via the tutorial script documented in the section's included verification snippet: ```bash uv run python scripts/tutorials/00_sim/create_empty.py --viz kit ``` +- Isaac Sim source build (`installation-method-source`) runs the same script against the locally built Isaac Sim wheels: + +```bash +UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit +``` + - Downloaded Isaac Sim package (`installation-method-binary`) uses the bundled-Python verification documented in the section (launch via `${ISAACSIM_PATH}/isaac-sim.sh`, then run the tutorial script from the checkout). - Docker (`installation-method-container`) runs the same tutorial verification inside the container as documented in `docs/source/features/docker_cloud.rst`. diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst new file mode 100644 index 000000000000..f797f3431b0a --- /dev/null +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -0,0 +1,7 @@ +Added +^^^^^ + +* Added the ``--isaacsim_source`` CLI option, which builds Isaac Sim from a source checkout, + packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, + and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with + ``uv run --extra isaacsim-local``. diff --git a/source/isaaclab/isaaclab/cli/__init__.py b/source/isaaclab/isaaclab/cli/__init__.py index cc64b7133f06..c1b5ee2bc6f1 100644 --- a/source/isaaclab/isaaclab/cli/__init__.py +++ b/source/isaaclab/isaaclab/cli/__init__.py @@ -17,6 +17,7 @@ ) from .commands.misc import ( command_build_docs, + command_build_isaacsim, command_new, command_run_docker, command_run_isaacsim, @@ -213,6 +214,15 @@ def cli() -> None: const="env_isaaclab", help="Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'.", ) + parser.add_argument( + "--isaacsim_source", + metavar="PATH", + help=( + "Build Isaac Sim from the source checkout at PATH, package it as wheels, and link\n" + "them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'.\n" + "Skips the build when the checkout is already built." + ), + ) args = parser.parse_args() @@ -228,6 +238,9 @@ def cli() -> None: elif args.uv: command_setup_uv(args.uv) + elif args.isaacsim_source: + command_build_isaacsim(args.isaacsim_source) + elif args.vscode: command_vscode_settings() diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index f1d92a766870..27459691301f 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -5,12 +5,17 @@ """Misc commands""" +import os +import shutil +from pathlib import Path + from ..utils import ( ISAACLAB_ROOT, extract_isaacsim_exe, extract_python_exe, get_pip_command, is_windows, + print_error, print_info, print_warning, run_command, @@ -112,6 +117,78 @@ def command_build_docs() -> None: print_info(f"Open with: xdg-open {index_path}") +def command_build_isaacsim(source_path: str) -> None: + """Build Isaac Sim from source and make it usable through ``uv`` (--isaacsim_source). + + Builds the Isaac Sim checkout when it has no build output yet, packages that build into + Python wheels, links the wheels into the Isaac Lab repository as ``_isaac_sim_wheels``, + and re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build + with ``uv run --extra isaacsim-local``. + + Args: + source_path: Path to an Isaac Sim source checkout. + """ + isaacsim_root = Path(source_path).expanduser().resolve() + build_script = isaacsim_root / ("build.bat" if is_windows() else "build.sh") + repo_script = isaacsim_root / ("repo.bat" if is_windows() else "repo.sh") + + if not build_script.is_file(): + print_error(f"'{isaacsim_root}' is not an Isaac Sim source checkout ({build_script.name} not found).") + print_info("Clone it first with: git clone https://github.com/isaac-sim/IsaacSim.git") + raise SystemExit(1) + + build_dir = isaacsim_root / "_build" + if build_dir.is_dir(): + print_info(f"Using the existing Isaac Sim build in {build_dir}.") + print_info(f"To rebuild, run {build_script} yourself before this command.") + else: + print_info("Building Isaac Sim from source. This takes a while...") + run_command([str(build_script)], cwd=isaacsim_root) + + print_info("Packaging the Isaac Sim build as Python wheels...") + for repo_args in (["python_package", "--create"], ["comment_archive_deps"], ["python_package", "--wheel"]): + run_command([str(repo_script)] + repo_args, cwd=isaacsim_root) + + wheel_dir = build_dir / "packages" / "dist" + wheels = sorted(wheel_dir.glob("*.whl")) if wheel_dir.is_dir() else [] + if not wheels: + print_error(f"No wheels were produced in {wheel_dir}.") + raise SystemExit(1) + print_info(f"Built {len(wheels)} wheel(s) in {wheel_dir}.") + + # A stable, git-ignored path inside the repository keeps ``UV_FIND_LINKS`` short and + # valid across shells, the same way ``_isaac_sim`` does for the Kit build. + link_path = ISAACLAB_ROOT / "_isaac_sim_wheels" + if link_path.is_symlink() or link_path.exists(): + if link_path.is_symlink(): + link_path.unlink() + else: + print_error(f"{link_path} exists and is not a symbolic link. Remove it and re-run.") + raise SystemExit(1) + try: + link_path.symlink_to(wheel_dir, target_is_directory=True) + find_links = link_path.name + print_info(f"Linked {link_path} -> {wheel_dir}") + except OSError as error: + # Windows requires elevation (or developer mode) to create symbolic links. + find_links = str(wheel_dir) + print_warning(f"Could not create {link_path} ({error}). Using the absolute wheel path instead.") + + # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. + if shutil.which("uv") is not None: + print_info("Re-resolving Isaac Sim from the local wheels...") + run_command(["uv", "lock", "--upgrade-package", "isaacsim"], env={**os.environ, "UV_FIND_LINKS": find_links}) + else: + print_warning("uv was not found on PATH. Run 'uv lock --upgrade-package isaacsim' once uv is available.") + + export_cmd = f"set UV_FIND_LINKS={find_links}" if is_windows() else f"export UV_FIND_LINKS={find_links}" + print_info("Isaac Sim is ready. Run Isaac Lab against it with:") + print_info(f" {export_cmd}") + print_info( + " uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct presets=physx" + ) + + def command_run_docker(args: list[str]) -> None: """Run the docker container helper script (docker/container.py). From 027f84ebc041d1a5380e521b5b434a99d0e219a5 Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Tue, 28 Jul 2026 15:27:01 -0700 Subject: [PATCH 02/10] Fix conflicts between isaacsim-local and other extras --- pyproject.toml | 10 +- uv.lock | 2331 ++++++++++++++++++++---------------------------- 2 files changed, 954 insertions(+), 1387 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index ce7496aa32b4..7f7a8c44407e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -134,8 +134,8 @@ rerun = [ "rerun-sdk>=0.29.0", "pyarrow==22.0.0", # match rerun-sdk's Arrow stack ] -isaacsim = ["isaacsim[all,extscache]==6.0.0.1"] -isaacsim-local = ["isaacsim[all,extscache]>=6.0.0.1"] +isaacsim = ["isaacsim[all,extscache]==6.0.1.0"] +isaacsim-local = ["isaacsim[all,extscache]>=6.0.1.0"] # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors). ov = ["ovphysx>=0.4.13", "ovstage>=0.1.0,<0.2.0"] rtx = ["ovrtx>=0.4.0,<0.5.0", "ovstage>=0.1.0,<0.2.0"] @@ -372,6 +372,12 @@ conflicts = [ [{ extra = "isaacsim" }, { extra = "mimic" }], [{ extra = "isaacsim" }, { extra = "all" }], [{ extra = "isaacsim" }, { extra = "test" }], + [{ extra = "isaacsim-local" }, { extra = "teleop" }], + [{ extra = "isaacsim-local" }, { extra = "ov" }], + [{ extra = "isaacsim-local" }, { extra = "viser" }], + [{ extra = "isaacsim-local" }, { extra = "mimic" }], + [{ extra = "isaacsim-local" }, { extra = "all" }], + [{ extra = "isaacsim-local" }, { extra = "test" }], [{ extra = "isaacsim-local" }, { extra = "isaacsim" }], ] python-preference = "only-managed" diff --git a/uv.lock b/uv.lock index 2a475cabf511..5b01dd8dccd4 100644 --- a/uv.lock +++ b/uv.lock @@ -2,68 +2,16 @@ version = 1 revision = 3 requires-python = "==3.12.*" resolution-markers = [ - "platform_machine == 'x86_64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop'", 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"isaacsim-local" }, +], [ + { package = "isaaclab-dev", extra = "isaacsim-local" }, + { package = "isaaclab-dev", extra = "test" }, +], [ + { package = "isaaclab-dev", extra = "isaacsim" }, + { package = "isaaclab-dev", extra = "isaacsim-local" }, ]] [options] @@ -131,14 +100,12 @@ resolution-markers = [ "platform_machine == 'AMD64' and sys_platform == 'linux'", "platform_machine == 'aarch64' and sys_platform == 'linux'", "platform_machine == 'arm64' and sys_platform == 'linux'", - "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform != 'win32'", - "platform_machine == 's390x' and sys_platform != 'win32'", + "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32'", "(platform_machine == 'AMD64' and sys_platform == 'win32') or (platform_machine == 'x86_64' and 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"https://files.pythonhosted.org/packages/64/c7/8de93764ad66968d19329a7e0c147a2bb3c7054c554d4a119111b8f9440f/absl_py-2.4.0.tar.gz", hash = "sha256:8c6af82722b35cf71e0f4d1d47dcaebfff286e27110a99fc359349b247dfb5d4", size = 116543, upload-time = "2026-01-28T10:17:05.322Z" } wheels = [ @@ -173,14 +140,14 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "huggingface-hub" }, { name = "numpy" }, - { name = "packaging", version = "23.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 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'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cudart = [ - { name = "nvidia-cuda-runtime-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine 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'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-runtime-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cufft = [ - { name = "nvidia-cufft-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 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and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 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extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cufile-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 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'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cupti = [ - { name = "nvidia-cuda-cupti-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-cupti-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] curand = [ - { name = "nvidia-curand-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-curand-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusolver = [ - { name = "nvidia-cusolver-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusolver-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusparse = [ - { name = "nvidia-cusparse-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusparse-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvjitlink = [ - { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvrtc = [ - { name = "nvidia-cuda-nvrtc-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-nvrtc-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvtx = [ - { name = "nvidia-nvtx-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvtx-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] [[package]] @@ -1718,25 +1569,9 @@ name = "cuda-toolkit" version = "13.0.2" source = { registry = "https://pypi.nvidia.com/" } resolution-markers = [ - "platform_machine == 'aarch64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 'arm64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop'", - "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 'aarch64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 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'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser'", - "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser'", - "platform_machine == 's390x' and sys_platform != 'win32' and extra != 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser'", - "platform_machine == 'aarch64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine == 'arm64' and sys_platform == 'linux' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", - "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-teleop'", + "platform_machine == 'aarch64' and sys_platform == 'linux'", + "platform_machine == 'arm64' and sys_platform == 'linux'", + "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32'", ] wheels = [ { url = "https://pypi.nvidia.com/cuda-toolkit/cuda_toolkit-13.0.2-py2.py3-none-any.whl", hash = "sha256:b198824cf2f54003f50d64ada3a0f184b42ca0846c1c94192fa269ecd97a66eb" }, @@ -1744,37 +1579,37 @@ wheels = [ [package.optional-dependencies] cublas = [ - { name = "nvidia-cublas", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 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extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cudart = [ - { name = "nvidia-cuda-runtime", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cufft = [ - { name = "nvidia-cufft", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or 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'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cufile = [ - { name = "nvidia-cufile", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cufile", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 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== 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cupti = [ - { name = "nvidia-cuda-cupti", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-cupti", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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== 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] curand = [ - { name = "nvidia-curand", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-curand", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusolver = [ - { name = "nvidia-cusolver", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusolver", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusparse = [ - { name = "nvidia-cusparse", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusparse", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 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== 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvjitlink = [ - { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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== 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvrtc = [ - { name = "nvidia-cuda-nvrtc", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 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'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-nvrtc", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] [[package]] @@ -1791,12 +1626,12 @@ name = "cyclopts" version = "5.0.0a7" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "attrs", version = "25.1.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and extra == 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and sys_platform == 'linux'", + "platform_machine == 'AMD64' and sys_platform == 'linux'", + "platform_machine == 'aarch64' and sys_platform == 'linux'", + "platform_machine == 'arm64' and sys_platform == 'linux'", + "platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32'", +] +dependencies = [ + { name = "cmeel", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra == 'extra-12-isaaclab-dev-all') or (platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32' and extra 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extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'arm64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "tqdm" }, { name = "transformers" }, - { name = "trimesh", version = "4.11.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "trimesh", version = "4.12.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "trimesh", version = "4.11.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or extra == 'extra-12-isaaclab-dev-isaacsim-local' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser')" }, + { name = "trimesh", version = "4.12.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra == 'extra-12-isaaclab-dev-mimic' or extra == 'extra-12-isaaclab-dev-ov' or extra == 'extra-12-isaaclab-dev-teleop' or extra == 'extra-12-isaaclab-dev-test' or extra == 'extra-12-isaaclab-dev-viser' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local')" }, { name = "typing-extensions" }, - { name = "usd-core", marker = "platform_machine in 'x86_64 AMD64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "usd-exchange", marker = "platform_machine in 'aarch64 arm64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "usd-core", marker = "platform_machine in 'x86_64 AMD64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "usd-exchange", marker = "platform_machine in 'aarch64 arm64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "warp-lang" }, ] @@ -3134,7 +2930,7 @@ all = [ { name = "pandas" }, { name = "peft" }, { name = "pyarrow" }, - { name = "ray", extra = ["default"], marker = "extra == 'extra-12-isaaclab-dev-all' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "ray", extra = ["default"], marker = "extra == 'extra-12-isaaclab-dev-all' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "rerun-sdk" }, { name = "rich" }, { name = "rl-games" }, @@ -3147,7 +2943,10 @@ all = [ { name = "tqdm" }, ] isaacsim = [ - { name = "isaacsim", extra = ["all", "extscache"], marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "isaacsim", extra = ["all", "extscache"], marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, +] +isaacsim-local = [ + { name = "isaacsim", extra = ["all", "extscache"], marker = "extra == 'extra-12-isaaclab-dev-isaacsim-local' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser')" }, ] mimic = [ { name = "ipywidgets" }, @@ -3163,8 +2962,8 @@ rerun = [ { name = "rerun-sdk" }, ] rl-games = [ - { name = "aiohttp", version = "3.12.14", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "aiohttp", version = "3.14.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "aiohttp", version = "3.13.4", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or extra == 'extra-12-isaaclab-dev-isaacsim-local' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser')" }, + { name = "aiohttp", version = "3.14.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra == 'extra-12-isaaclab-dev-mimic' or extra == 'extra-12-isaaclab-dev-ov' or extra == 'extra-12-isaaclab-dev-teleop' or extra == 'extra-12-isaaclab-dev-test' or extra == 'extra-12-isaaclab-dev-viser' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local')" }, { name = "gym" }, { name = "rl-games" }, { name = "standard-distutils" }, @@ -3200,7 +2999,7 @@ skrl = [ teleop = [ { name = "dex-retargeting", marker = "platform_machine in 'x86_64 AMD64' and sys_platform == 'linux'" }, { name = "isaaclab-teleop" }, - { name = "isaacteleop", extra = ["cloudxr", "retargeters", "ui"], marker = "(platform_machine in 'x86_64 AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine not in 'x86_64 AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "isaacteleop", extra = ["cloudxr", "retargeters", "ui"], marker = "(platform_machine in 'x86_64 AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine not in 'x86_64 AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser')" }, ] test = [ { name = "coverage", version = "7.15.2", source = { registry = "https://pypi.org/simple" } }, @@ -3252,7 +3051,8 @@ requires-dist = [ { name = "isaaclab-tasks-experimental", editable = "source/isaaclab_tasks_experimental" }, { name = "isaaclab-teleop", marker = "extra == 'teleop'", editable = "source/isaaclab_teleop" }, { name = "isaaclab-visualizers", editable = "source/isaaclab_visualizers" }, - { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim'", specifier = "==6.0.0.1" }, + { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim'", specifier = "==6.0.1.0" }, + { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim-local'", specifier = ">=6.0.1.0" }, { name = "isaacteleop", extras = ["retargeters", "ui", "cloudxr"], marker = "platform_machine in 'x86_64 AMD64' and sys_platform == 'linux' and extra == 'teleop'", specifier = "~=1.4.0" }, { name = "junitparser", marker = "extra == 'test'" }, { name = "lazy-loader", specifier = ">=0.4" }, @@ -3328,7 +3128,7 @@ requires-dist = [ { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.16" }, { name = "warp-lang", specifier = "==1.16.0.dev20260723" }, ] -provides-extras = ["test", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun", "isaacsim", "ov", "rtx", "mimic", "teleop", "rlinf", "all"] +provides-extras = ["test", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun", "isaacsim", "isaacsim-local", "ov", "rtx", "mimic", "teleop", "rlinf", "all"] [[package]] name = "isaaclab-experimental" @@ -3492,15 +3292,15 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaacsim" -version = "6.0.0.1" +version = "6.0.1.0" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ { name = "isaacsim-kernel" }, ] wheels = [ - { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.0.1-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:a1f02dc7e1dec915671ff0d35f75ab8a46d33aa9cf1d897ad387f0515667325b" }, - { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.0.1-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:d17b299d72566f0ce41b9f416df83bd5911b9f177c5810856324a1a6d04b9ee6" }, - { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.0.1-cp312-none-win_amd64.whl", hash = "sha256:3802a715d5f85915951ef5af7641576dfc2fabbb893a7bf31ca8c77b4836e97a" }, + { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:bfb100300201953e92bcd82c01590ce888dfd8a77bdd139023465660ee39f790" }, + { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:d3fea3b40b513482e85c62e552bfdfb73a3ac950662a843c7375cfa8c97941c2" }, + { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:a978f1ffb72bcba89fe1ee3bcc4fd204f8401938c369d6a3db8fc5c2753e6223" }, ] [package.optional-dependencies] @@ -3534,60 +3334,60 @@ extscache = [ [[package]] name = "isaacsim-app" -version = "6.0.0.1" +version = "6.0.1.0" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ { name = "isaacsim-kernel" }, ] wheels = [ - { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.0.0.1-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:7dd0fddc87d8cf907e1de8b5faa53aa599e49cd3f8eb450618badd3bef124bd3" }, - { url = 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[ { name = "mujoco-warp" }, { name = "nest-asyncio" }, { name = "networkx" }, - { name = "newton", extra = ["importers", "sim"], marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "newton", extra = ["importers", "sim"], marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or extra == 'extra-12-isaaclab-dev-isaacsim-local' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra != 'extra-12-isaaclab-dev-all' and extra != 'extra-12-isaaclab-dev-mimic' and extra != 'extra-12-isaaclab-dev-ov' and extra != 'extra-12-isaaclab-dev-teleop' and extra != 'extra-12-isaaclab-dev-test' and extra != 'extra-12-isaaclab-dev-viser')" }, { name = "newton-actuators" }, { name = 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'extra-12-isaaclab-dev-ov') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cufft/nvidia_cufft-12.0.0.61-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:2708c852ef8cd89d1d2068bdbece0aa188813a0c934db3779b9b1faa8442e5f5" }, @@ -5233,7 +4977,7 @@ name = "nvidia-cufft-cu12" version = "11.3.3.83" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cufft-cu12/nvidia_cufft_cu12-11.3.3.83-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:848ef7224d6305cdb2a4df928759dca7b1201874787083b6e7550dd6765ce69a" }, @@ -5284,9 +5028,9 @@ name = "nvidia-cusolver" version = "12.0.4.66" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-cublas", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'arm64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 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'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 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(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-ov') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 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'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cusolver-cu12/nvidia_cusolver_cu12-11.7.3.90-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:db9ed69dbef9715071232caa9b69c52ac7de3a95773c2db65bdba85916e4e5c0" }, @@ -5314,7 +5058,7 @@ name = "nvidia-cusparse" version = "12.6.3.3" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim-local' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "tqdm", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or sys_platform == 'linux'" }, ] @@ -7102,12 +6804,12 @@ dependencies = [ { name = "onnxscript" }, { name = "tensorboard" }, { name = "tensordict" }, - { name = "torch", version = "2.11.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or 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extra == 'extra-12-isaaclab-dev-mimic' or extra == 'extra-12-isaaclab-dev-ov' or extra == 'extra-12-isaaclab-dev-teleop' or extra == 'extra-12-isaaclab-dev-test' or extra == 'extra-12-isaaclab-dev-viser' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local')" }, + { name = "multidict", version = "6.7.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra == 'extra-12-isaaclab-dev-mimic' or extra == 'extra-12-isaaclab-dev-ov' or extra == 'extra-12-isaaclab-dev-teleop' or extra == 'extra-12-isaaclab-dev-test' or extra == 'extra-12-isaaclab-dev-viser' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-isaacsim-local')" }, + { name = "propcache", version = "0.5.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra == 'extra-12-isaaclab-dev-mimic' or extra == 'extra-12-isaaclab-dev-ov' or extra == 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21 deletions(-) diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index 2401541dade7..1e0ad2b05287 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -491,14 +491,19 @@ From an Isaac Lab checkout, one command runs the whole build-and-wire-up sequenc uv run isaaclab --isaacsim_source ./IsaacSim It builds Isaac Sim (skipped when the checkout is already built), packages the build as wheels, -links them into Isaac Lab as ``_isaac_sim_wheels``, and re-resolves Isaac Sim from those wheels. -When it finishes, run Isaac Lab against your build: +links them into Isaac Lab as ``_isaac_sim_wheels``, pins the ``isaacsim-local`` extra to the +version it just built, and re-resolves Isaac Sim from those wheels. When it finishes, run Isaac Lab +against your build: .. code-block:: bash export UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ - --task Isaac-Cartpole-Direct presets=physx + --task Isaac-Cartpole-Direct presets=isaacsim_physx + +The pin lands in the tracked ``pyproject.toml`` and the re-resolve rewrites the tracked +``uv.lock``. Both edits describe your machine only — leave them uncommitted, and drop them with +``git checkout pyproject.toml uv.lock`` when you go back to the published Isaac Sim. The four steps below are the same sequence performed by hand. Follow them when you want to run the build outside the Isaac Lab checkout or need to debug a failing step. On Windows, creating @@ -612,9 +617,18 @@ git-ignored, and it gives ``uv`` a stable path that survives shell restarts: .. rubric:: Step 4 — Run Isaac Lab against your build -``UV_FIND_LINKS`` tells ``uv`` where your wheels are, and the ``isaacsim-local`` extra requests -Isaac Sim without the published version pin. Re-resolve Isaac Sim once so the lock file picks your -wheels over the released package, then run as usual: +``UV_FIND_LINKS`` tells ``uv`` where your wheels are, and the ``isaacsim-local`` extra selects +Isaac Sim from them. Pin that extra to the version you built, re-resolve once, then run as usual. + +The pin is required. Source builds carry a pre-release local version such as +``6.0.1rc7+develop.0.98701505.local``, which sorts *below* the published release, so an unpinned +extra always resolves back to ``pypi.nvidia.com`` instead of your wheels. Read the version off the +wheel filename (``ls _isaac_sim_wheels/isaacsim-*.whl``) and edit the ``isaacsim-local`` entry under +``[project.optional-dependencies]`` in ``pyproject.toml``: + +.. code-block:: toml + + isaacsim-local = ["isaacsim[all,extscache]==6.0.1rc7+develop.0.98701505.local"] .. tab-set:: :sync-group: os @@ -634,7 +648,7 @@ wheels over the released package, then run as usual: # train uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ - --task Isaac-Cartpole-Direct presets=physx + --task Isaac-Cartpole-Direct presets=isaacsim_physx .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -651,7 +665,7 @@ wheels over the released package, then run as usual: :: train uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl ^ - --task Isaac-Cartpole-Direct presets=physx + --task Isaac-Cartpole-Direct presets=isaacsim_physx The first launch can take over ten minutes while Isaac Sim downloads extensions. Add ``export UV_FIND_LINKS=_isaac_sim_wheels`` to your shell profile so every later ``uv`` command keeps @@ -669,14 +683,16 @@ After rebuilding Isaac Sim, repeat step 2 and then: .. note:: - ``uv`` selects the highest Isaac Sim version it can see across your wheels and - ``pypi.nvidia.com``, with a floor at the Isaac Sim release Isaac Lab supports. A build from - Isaac Sim ``main`` is normally newer than the published release, so your wheels win. If your - build's version is *not* newer, request it explicitly with the version from the wheel filename: + ``pyproject.toml`` and ``uv.lock`` are both tracked files, and the steps above rewrite each to + describe your machine. Leave those edits uncommitted, and drop them with + ``git checkout pyproject.toml uv.lock`` when you switch back to the published Isaac Sim. - .. code-block:: bash +.. note:: - uv run --extra isaacsim-local --with "isaacsim==" isaaclab train ... + If Isaac Sim starts with ``Unable to bootstrap inner kit kernel: No module named 'carb._carb'``, + the ``_build`` tree is stale: it was produced by an older Kit built against a different Python + than the checkout now targets, and ``repo.sh python_package`` tagged the wheels from the + checkout rather than from those binaries. Delete ``IsaacSim/_build`` and rebuild from step 1. .. rubric:: Using the legacy ``isaaclab.sh`` installer instead diff --git a/pyproject.toml b/pyproject.toml index 7f7a8c44407e..6a3aaceb3795 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -135,7 +135,11 @@ rerun = [ "pyarrow==22.0.0", # match rerun-sdk's Arrow stack ] isaacsim = ["isaacsim[all,extscache]==6.0.1.0"] -isaacsim-local = ["isaacsim[all,extscache]>=6.0.1.0"] +# Isaac Sim built from source (``isaaclab --isaacsim_source``). Committed unpinned: source builds +# carry pre-release local versions (``6.0.1rc7+develop..local``) that sort *below* the +# published release, so any bound derived from it would exclude them. ``--isaacsim_source`` +# rewrites this line to pin the exact build; that edit is local-only, do not commit it. +isaacsim-local = ["isaacsim[all,extscache]==6.0.1rc7+develop.0.98701505.local"] # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors). ov = ["ovphysx>=0.4.13", "ovstage>=0.1.0,<0.2.0"] rtx = ["ovrtx>=0.4.0,<0.5.0", "ovstage>=0.1.0,<0.2.0"] diff --git a/skills/user/install-isaac-lab/reference.md b/skills/user/install-isaac-lab/reference.md index b685f5a0132b..83713b5ed26d 100644 --- a/skills/user/install-isaac-lab/reference.md +++ b/skills/user/install-isaac-lab/reference.md @@ -71,6 +71,11 @@ uv run python scripts/tutorials/00_sim/create_empty.py --viz kit UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit ``` + This only uses the local build when the `isaacsim-local` extra in `pyproject.toml` pins the exact + version from `_isaac_sim_wheels/isaacsim-*.whl`; `uv run isaaclab --isaacsim_source ` writes + that pin. Without it, uv resolves the published wheels from `pypi.nvidia.com` instead, because + source builds carry pre-release local versions that sort below the release. + - Downloaded Isaac Sim package (`installation-method-binary`) uses the bundled-Python verification documented in the section (launch via `${ISAACSIM_PATH}/isaac-sim.sh`, then run the tutorial script from the checkout). - Docker (`installation-method-container`) runs the same tutorial verification inside the container as documented in `docs/source/features/docker_cloud.rst`. diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index f797f3431b0a..d03dd36c41f6 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -3,5 +3,10 @@ Added * Added the ``--isaacsim_source`` CLI option, which builds Isaac Sim from a source checkout, packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, - and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with - ``uv run --extra isaacsim-local``. + pins the ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those + wheels. Run Isaac Lab against the build with ``uv run --extra isaacsim-local``. The pin is + required because source builds carry pre-release local versions that sort below the published + release, so an unpinned extra resolves back to the released wheels on ``pypi.nvidia.com``. +* Added a check to ``--isaacsim_source`` that rejects a stale Isaac Sim ``_build`` tree whose + packaged Kit kernel does not match the Python ABI its wheel is tagged for, instead of letting + Isaac Sim fail later with ``No module named 'carb._carb'``. diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 27459691301f..2e4cdd04c68a 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -6,7 +6,9 @@ """Misc commands""" import os +import re import shutil +import zipfile from pathlib import Path from ..utils import ( @@ -122,8 +124,13 @@ def command_build_isaacsim(source_path: str) -> None: Builds the Isaac Sim checkout when it has no build output yet, packages that build into Python wheels, links the wheels into the Isaac Lab repository as ``_isaac_sim_wheels``, - and re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build - with ``uv run --extra isaacsim-local``. + pins the ``isaacsim-local`` extra to the version that was built, and re-resolves Isaac Sim + from those wheels. Afterwards, run Isaac Lab against the build with + ``UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local``. + + The pin is required: source builds produce pre-release local versions that sort below the + published release, so an unpinned extra resolves back to the registry wheels instead. It + edits ``pyproject.toml``, which (like ``uv.lock``) must not be committed. Args: source_path: Path to an Isaac Sim source checkout. @@ -156,6 +163,9 @@ def command_build_isaacsim(source_path: str) -> None: raise SystemExit(1) print_info(f"Built {len(wheels)} wheel(s) in {wheel_dir}.") + local_version = _extract_local_isaacsim_version(wheel_dir) + _check_kernel_abi(wheel_dir, build_script) + # A stable, git-ignored path inside the repository keeps ``UV_FIND_LINKS`` short and # valid across shells, the same way ``_isaac_sim`` does for the Kit build. link_path = ISAACLAB_ROOT / "_isaac_sim_wheels" @@ -174,10 +184,19 @@ def command_build_isaacsim(source_path: str) -> None: find_links = str(wheel_dir) print_warning(f"Could not create {link_path} ({error}). Using the absolute wheel path instead.") + # Source builds carry a pre-release local version (``6.0.1rc7+develop..local``) that + # sorts *below* the published release, so an unpinned ``isaacsim-local`` extra always resolves + # back to the registry. uv only honors a version this specific per conflicting-extra fork when + # it is written into the requirement itself, so pin the extra to the version just built. + _pin_isaacsim_local_extra(local_version) + # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. if shutil.which("uv") is not None: print_info("Re-resolving Isaac Sim from the local wheels...") - run_command(["uv", "lock", "--upgrade-package", "isaacsim"], env={**os.environ, "UV_FIND_LINKS": find_links}) + run_command( + ["uv", "lock", "--upgrade-package", "isaacsim"], + env={**os.environ, "UV_FIND_LINKS": find_links}, + ) else: print_warning("uv was not found on PATH. Run 'uv lock --upgrade-package isaacsim' once uv is available.") @@ -185,8 +204,86 @@ def command_build_isaacsim(source_path: str) -> None: print_info("Isaac Sim is ready. Run Isaac Lab against it with:") print_info(f" {export_cmd}") print_info( - " uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct presets=physx" + " uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct" + " presets=isaacsim_physx" + ) + print_warning( + f"pyproject.toml now pins the 'isaacsim-local' extra to your build ({local_version}) and uv.lock resolves it" + " from _isaac_sim_wheels. Both are local-only; revert with 'git checkout pyproject.toml uv.lock' before" + " committing." + ) + + +def _extract_local_isaacsim_version(wheel_dir: Path) -> str: + """Read the version of the locally built ``isaacsim`` wheel. + + Args: + wheel_dir: Directory holding the wheels produced by the Isaac Sim source build. + + Returns: + The version of the top-level ``isaacsim`` wheel, e.g. ``6.0.1rc7+develop.0.98701505.local``. + """ + # Wheel filenames are ``---...``; the sibling extension wheels + # normalize to ``isaacsim_``, so only the top-level distribution matches here. + candidates = sorted(wheel_dir.glob("isaacsim-*.whl")) + if not candidates: + print_error(f"No top-level 'isaacsim' wheel found in {wheel_dir}.") + raise SystemExit(1) + return candidates[-1].name.split("-")[1] + + +def _check_kernel_abi(wheel_dir: Path, build_script: Path) -> None: + """Verify the packaged Kit kernel matches the Python ABI its wheel is tagged for. + + ``repo.sh python_package`` tags the wheels from ``repo.toml`` rather than from the binaries it + packages, so a build tree left over from an older Kit (a different Python) is repackaged under + the wrong tag. ``uv`` then installs it happily and Isaac Sim only fails much later with + ``No module named 'carb._carb'``. + + Args: + wheel_dir: Directory holding the wheels produced by the Isaac Sim source build. + build_script: Path to the Isaac Sim ``build.sh``/``build.bat``, quoted in the error message. + """ + kernels = sorted(wheel_dir.glob("isaacsim_kernel-*.whl")) + if not kernels: + # Older Isaac Sim layouts may not split the kernel out; nothing to check against. + return + kernel = kernels[-1] + # ``----.whl`` + wheel_tag = kernel.stem.split("-")[2] + + with zipfile.ZipFile(kernel) as archive: + # ``carb._carb`` is the module Kit bootstraps first, and it ships as a single ABI build. + found = [re.search(r"/carb/_carb\.(cp\d+)", name.replace("cpython-", "cp")) for name in archive.namelist()] + built_tags = {match.group(1) for match in found if match} + if not built_tags or wheel_tag in built_tags: + return + + print_error( + f"{kernel.name} is tagged '{wheel_tag}' but its carb kernel was built for" + f" {'/'.join(sorted(built_tags))}. The build tree is stale: it predates the Python version" + " the checkout now targets." ) + print_info(f"Remove '{wheel_dir.parents[1]}' and rebuild with: {build_script}") + raise SystemExit(1) + + +def _pin_isaacsim_local_extra(version: str) -> None: + """Pin the ``isaacsim-local`` extra in ``pyproject.toml`` to a locally built Isaac Sim. + + Args: + version: Version of the locally built ``isaacsim`` wheel. + """ + pyproject = ISAACLAB_ROOT / "pyproject.toml" + text = pyproject.read_text(encoding="utf-8") + pinned = f'isaacsim-local = ["isaacsim[all,extscache]=={version}"]' + updated, count = re.subn(r"^isaacsim-local = \[.*\]$", pinned, text, count=1, flags=re.MULTILINE) + if count == 0: + print_error(f"Could not find the 'isaacsim-local' extra in {pyproject}.") + raise SystemExit(1) + if updated != text: + pyproject.write_text(updated, encoding="utf-8") + print_info(f"Pinned the 'isaacsim-local' extra to isaacsim=={version}.") def command_run_docker(args: list[str]) -> None: From 2d73ce05cf82ff07efc800b1e4340d8e835727f9 Mon Sep 17 00:00:00 2001 From: Richard Lei Date: Thu, 30 Jul 2026 09:36:17 +1200 Subject: [PATCH 04/10] Author uv find-links in pyproject.toml when using isaacsim source install --- docs/source/setup/installation/index.rst | 56 +++++++++------ pyproject.toml | 2 +- skills/user/install-isaac-lab/reference.md | 12 ++-- ...v-friendly-isaacsim-source-build.minor.rst | 3 +- source/isaaclab/isaaclab/cli/commands/misc.py | 68 +++++++++++++++---- 5 files changed, 97 insertions(+), 44 deletions(-) diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index 1e0ad2b05287..6c448a603585 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -491,24 +491,25 @@ From an Isaac Lab checkout, one command runs the whole build-and-wire-up sequenc uv run isaaclab --isaacsim_source ./IsaacSim It builds Isaac Sim (skipped when the checkout is already built), packages the build as wheels, -links them into Isaac Lab as ``_isaac_sim_wheels``, pins the ``isaacsim-local`` extra to the -version it just built, and re-resolves Isaac Sim from those wheels. When it finishes, run Isaac Lab -against your build: +links them into Isaac Lab as ``_isaac_sim_wheels``, points ``uv`` at that directory through +``find-links``, pins the ``isaacsim-local`` extra to the version it just built, and re-resolves +Isaac Sim from those wheels. When it finishes, run Isaac Lab against your build: .. code-block:: bash - export UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct presets=isaacsim_physx -The pin lands in the tracked ``pyproject.toml`` and the re-resolve rewrites the tracked -``uv.lock``. Both edits describe your machine only — leave them uncommitted, and drop them with -``git checkout pyproject.toml uv.lock`` when you go back to the published Isaac Sim. +The ``find-links`` entry and the pin land in the tracked ``pyproject.toml``, and the re-resolve +rewrites the tracked ``uv.lock``. All of these describe your machine only — leave them uncommitted, +and drop them with ``git checkout pyproject.toml uv.lock`` when you go back to the published Isaac +Sim. Drop them the same way if you delete or move the wheel directory: ``uv`` refuses to run at all +while ``find-links`` points at a directory that does not exist. The four steps below are the same sequence performed by hand. Follow them when you want to run the build outside the Isaac Lab checkout or need to debug a failing step. On Windows, creating -``_isaac_sim_wheels`` needs an elevated prompt; without one the command falls back to reporting the -absolute wheel path to use for ``UV_FIND_LINKS``. +``_isaac_sim_wheels`` needs an elevated prompt; without one the command falls back to recording the +absolute wheel path in ``find-links``. .. rubric:: Step 1 — Build Isaac Sim @@ -612,19 +613,29 @@ git-ignored, and it gives ``uv`` a stable path that survives shell restarts: :: requires a Command Prompt with Administrator access mklink /D _isaac_sim_wheels \IsaacSim\_build\packages\dist - If you cannot create symbolic links, skip this and set ``UV_FIND_LINKS`` to the absolute - ``dist`` path in the next step instead. + If you cannot create symbolic links, skip this and use the absolute ``dist`` path in the + next step instead. .. rubric:: Step 4 — Run Isaac Lab against your build -``UV_FIND_LINKS`` tells ``uv`` where your wheels are, and the ``isaacsim-local`` extra selects -Isaac Sim from them. Pin that extra to the version you built, re-resolve once, then run as usual. +Two edits to ``pyproject.toml`` wire the wheels in: ``find-links`` tells ``uv`` where they are, and +the ``isaacsim-local`` extra selects Isaac Sim from them. Make both, re-resolve once, then run as +usual. -The pin is required. Source builds carry a pre-release local version such as +Add the wheel directory to the ``[tool.uv]`` table (use the absolute ``dist`` path if you skipped +the symbolic link). It is part of the project configuration, so it keeps applying after a shell +restart: + +.. code-block:: toml + + [tool.uv] + find-links = ["_isaac_sim_wheels"] + +The pin is required as well. Source builds carry a pre-release local version such as ``6.0.1rc7+develop.0.98701505.local``, which sorts *below* the published release, so an unpinned extra always resolves back to ``pypi.nvidia.com`` instead of your wheels. Read the version off the wheel filename (``ls _isaac_sim_wheels/isaacsim-*.whl``) and edit the ``isaacsim-local`` entry under -``[project.optional-dependencies]`` in ``pyproject.toml``: +``[project.optional-dependencies]``: .. code-block:: toml @@ -638,8 +649,6 @@ wheel filename (``ls _isaac_sim_wheels/isaacsim-*.whl``) and edit the ``isaacsim .. code-block:: bash - export UV_FIND_LINKS=_isaac_sim_wheels - # one time: re-resolve Isaac Sim against your wheels uv lock --upgrade-package isaacsim @@ -655,8 +664,6 @@ wheel filename (``ls _isaac_sim_wheels/isaacsim-*.whl``) and edit the ``isaacsim .. code-block:: batch - set UV_FIND_LINKS=_isaac_sim_wheels - :: one time: re-resolve Isaac Sim against your wheels uv lock --upgrade-package isaacsim @@ -667,9 +674,8 @@ wheel filename (``ls _isaac_sim_wheels/isaacsim-*.whl``) and edit the ``isaacsim uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl ^ --task Isaac-Cartpole-Direct presets=isaacsim_physx -The first launch can take over ten minutes while Isaac Sim downloads extensions. Add -``export UV_FIND_LINKS=_isaac_sim_wheels`` to your shell profile so every later ``uv`` command keeps -seeing your build. ``uv lock`` rewrites the tracked ``uv.lock``; leave that change uncommitted. +The first launch can take over ten minutes while Isaac Sim downloads extensions. ``uv lock`` +rewrites the tracked ``uv.lock``; leave that change uncommitted. After rebuilding Isaac Sim, repeat step 2 and then: @@ -687,6 +693,12 @@ After rebuilding Isaac Sim, repeat step 2 and then: describe your machine. Leave those edits uncommitted, and drop them with ``git checkout pyproject.toml uv.lock`` when you switch back to the published Isaac Sim. +.. note:: + + ``uv`` reads every ``find-links`` directory before it resolves anything, and errors out when one + is missing. If you delete or move the wheels, every ``uv`` command in the checkout fails with + ``Failed to read --find-links directory`` until you remove the entry (or restore the directory). + .. note:: If Isaac Sim starts with ``Unable to bootstrap inner kit kernel: No module named 'carb._carb'``, diff --git a/pyproject.toml b/pyproject.toml index 6a3aaceb3795..9f3607b4fc43 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -139,7 +139,7 @@ isaacsim = ["isaacsim[all,extscache]==6.0.1.0"] # carry pre-release local versions (``6.0.1rc7+develop..local``) that sort *below* the # published release, so any bound derived from it would exclude them. ``--isaacsim_source`` # rewrites this line to pin the exact build; that edit is local-only, do not commit it. -isaacsim-local = ["isaacsim[all,extscache]==6.0.1rc7+develop.0.98701505.local"] +isaacsim-local = ["isaacsim[all,extscache]>=6.0.1.0"] # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors). ov = ["ovphysx>=0.4.13", "ovstage>=0.1.0,<0.2.0"] rtx = ["ovrtx>=0.4.0,<0.5.0", "ovstage>=0.1.0,<0.2.0"] diff --git a/skills/user/install-isaac-lab/reference.md b/skills/user/install-isaac-lab/reference.md index 83713b5ed26d..d58ee01b010b 100644 --- a/skills/user/install-isaac-lab/reference.md +++ b/skills/user/install-isaac-lab/reference.md @@ -68,13 +68,15 @@ uv run python scripts/tutorials/00_sim/create_empty.py --viz kit - Isaac Sim source build (`installation-method-source`) runs the same script against the locally built Isaac Sim wheels: ```bash -UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit +uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit ``` - This only uses the local build when the `isaacsim-local` extra in `pyproject.toml` pins the exact - version from `_isaac_sim_wheels/isaacsim-*.whl`; `uv run isaaclab --isaacsim_source ` writes - that pin. Without it, uv resolves the published wheels from `pypi.nvidia.com` instead, because - source builds carry pre-release local versions that sort below the release. + This only uses the local build when `pyproject.toml` carries both edits that + `uv run isaaclab --isaacsim_source ` writes: `find-links = ["_isaac_sim_wheels"]` under + `[tool.uv]`, and an `isaacsim-local` extra pinning the exact version from + `_isaac_sim_wheels/isaacsim-*.whl`. Without the pin, uv resolves the published wheels from + `pypi.nvidia.com` instead, because source builds carry pre-release local versions that sort below + the release. - Downloaded Isaac Sim package (`installation-method-binary`) uses the bundled-Python verification documented in the section (launch via `${ISAACSIM_PATH}/isaac-sim.sh`, then run the tutorial script from the checkout). - Docker (`installation-method-container`) runs the same tutorial verification inside the container as documented in `docs/source/features/docker_cloud.rst`. diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index d03dd36c41f6..fc561372e2f3 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -3,7 +3,8 @@ Added * Added the ``--isaacsim_source`` CLI option, which builds Isaac Sim from a source checkout, packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, - pins the ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those + points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, pins the + ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with ``uv run --extra isaacsim-local``. The pin is required because source builds carry pre-release local versions that sort below the published release, so an unpinned extra resolves back to the released wheels on ``pypi.nvidia.com``. diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 2e4cdd04c68a..fd34062fb826 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -5,7 +5,6 @@ """Misc commands""" -import os import re import shutil import zipfile @@ -123,10 +122,10 @@ def command_build_isaacsim(source_path: str) -> None: """Build Isaac Sim from source and make it usable through ``uv`` (--isaacsim_source). Builds the Isaac Sim checkout when it has no build output yet, packages that build into - Python wheels, links the wheels into the Isaac Lab repository as ``_isaac_sim_wheels``, - pins the ``isaacsim-local`` extra to the version that was built, and re-resolves Isaac Sim - from those wheels. Afterwards, run Isaac Lab against the build with - ``UV_FIND_LINKS=_isaac_sim_wheels uv run --extra isaacsim-local``. + Python wheels, links the wheels into the Isaac Lab repository as ``_isaac_sim_wheels``, points + uv at that directory through ``find-links``, pins the ``isaacsim-local`` extra to the version + that was built, and re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against + the build with ``uv run --extra isaacsim-local``. The pin is required: source builds produce pre-release local versions that sort below the published release, so an unpinned extra resolves back to the registry wheels instead. It @@ -166,7 +165,7 @@ def command_build_isaacsim(source_path: str) -> None: local_version = _extract_local_isaacsim_version(wheel_dir) _check_kernel_abi(wheel_dir, build_script) - # A stable, git-ignored path inside the repository keeps ``UV_FIND_LINKS`` short and + # A stable, git-ignored path inside the repository keeps the find-links entry short and # valid across shells, the same way ``_isaac_sim`` does for the Kit build. link_path = ISAACLAB_ROOT / "_isaac_sim_wheels" if link_path.is_symlink() or link_path.exists(): @@ -184,6 +183,10 @@ def command_build_isaacsim(source_path: str) -> None: find_links = str(wheel_dir) print_warning(f"Could not create {link_path} ({error}). Using the absolute wheel path instead.") + # Point uv at the wheels from the project configuration so the setting survives shell restarts + # and applies to every later ``uv run``/``uv sync``. + _set_uv_find_links(find_links) + # Source builds carry a pre-release local version (``6.0.1rc7+develop..local``) that # sorts *below* the published release, so an unpinned ``isaacsim-local`` extra always resolves # back to the registry. uv only honors a version this specific per conflicting-extra fork when @@ -193,24 +196,19 @@ def command_build_isaacsim(source_path: str) -> None: # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. if shutil.which("uv") is not None: print_info("Re-resolving Isaac Sim from the local wheels...") - run_command( - ["uv", "lock", "--upgrade-package", "isaacsim"], - env={**os.environ, "UV_FIND_LINKS": find_links}, - ) + run_command(["uv", "lock", "--upgrade-package", "isaacsim"]) else: print_warning("uv was not found on PATH. Run 'uv lock --upgrade-package isaacsim' once uv is available.") - export_cmd = f"set UV_FIND_LINKS={find_links}" if is_windows() else f"export UV_FIND_LINKS={find_links}" print_info("Isaac Sim is ready. Run Isaac Lab against it with:") - print_info(f" {export_cmd}") print_info( " uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct" " presets=isaacsim_physx" ) print_warning( - f"pyproject.toml now pins the 'isaacsim-local' extra to your build ({local_version}) and uv.lock resolves it" - " from _isaac_sim_wheels. Both are local-only; revert with 'git checkout pyproject.toml uv.lock' before" - " committing." + f"pyproject.toml now points uv at '{find_links}' and pins the 'isaacsim-local' extra to your build" + f" ({local_version}), and uv.lock resolves it from there. Both are local-only; revert with" + " 'git checkout pyproject.toml uv.lock' before committing." ) @@ -268,6 +266,46 @@ def _check_kernel_abi(wheel_dir: Path, build_script: Path) -> None: raise SystemExit(1) +def _set_uv_find_links(find_links: str) -> None: + """Point uv at a wheel directory by writing ``find-links`` into ``[tool.uv]`` in ``pyproject.toml``. + + The entry is part of the project configuration, so it survives shell restarts and applies to + every later ``uv`` invocation in the checkout. Re-running the build rewrites the existing entry. + + Args: + find_links: Directory holding the locally built Isaac Sim wheels, either the repository-relative + ``_isaac_sim_wheels`` link or an absolute path when that link could not be created. + """ + pyproject = ISAACLAB_ROOT / "pyproject.toml" + text = pyproject.read_text(encoding="utf-8") + + header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) + if header is None: + print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") + raise SystemExit(1) + + # Confine the edit to the ``[tool.uv]`` table so a ``find-links`` entry in another table is + # neither read nor rewritten. Windows paths are normalized to forward slashes, which uv accepts + # and which need no escaping in a TOML string. + start = header.end() + following = re.search(r"^\[", text[start:], flags=re.MULTILINE) + end = start + (following.start() if following is not None else len(text) - start) + section = text[start:end] + entry = f'find-links = ["{Path(find_links).as_posix()}"]' + + # Replace through a callable: a Windows path reaches this as a literal and ``re`` would read + # its backslashes as escapes in a replacement string. + section, count = re.subn(r"^find-links = \[.*\]$", lambda _: entry, section, count=1, flags=re.MULTILINE) + if count == 0: + comment = "# Locally built Isaac Sim wheels ('isaaclab --isaacsim_source'). Local-only, do not commit." + section = f"\n{comment}\n{entry}{section}" + + updated = text[:start] + section + text[end:] + if updated != text: + pyproject.write_text(updated, encoding="utf-8") + print_info(f"Pointed uv at the local wheels via 'find-links' in {pyproject.name} ({find_links}).") + + def _pin_isaacsim_local_extra(version: str) -> None: """Pin the ``isaacsim-local`` extra in ``pyproject.toml`` to a locally built Isaac Sim. From a6cb903b59eaca8a111a35c8e45cff5cec3cd45e Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Fri, 7 Aug 2026 14:38:39 -0700 Subject: [PATCH 05/10] Add incremental build, cleanup --- docs/source/setup/installation/index.rst | 4 +-- ...v-friendly-isaacsim-source-build.minor.rst | 2 +- source/isaaclab/isaaclab/cli/__init__.py | 2 +- source/isaaclab/isaaclab/cli/commands/misc.py | 14 ++++------ .../isaaclab/test/cli/test_misc_commands.py | 26 +++++++++++++++++++ 5 files changed, 35 insertions(+), 13 deletions(-) diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index 225e82782b75..0e3370f2fd24 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -749,7 +749,7 @@ On Windows, enable `long-path support `__ before building. For the recommended ``uv`` workflow, clone the Isaac Sim source next to an Isaac Lab checkout and -run the following command from the Isaac Lab root. It builds Isaac Sim when necessary, packages the +run the following command from the Isaac Lab root. It triggers an incremental Isaac Sim build, packages the build as wheels, and configures ``uv`` to use those wheels: .. code-block:: bash @@ -766,7 +766,7 @@ published Isaac Sim packages, revert both files before committing. Then run Isaa uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ --task Isaac-Cartpole-Direct physics=isaacsim_physx -The platform instructions below are useful when building or debugging Isaac Sim manually. After a +The platform instructions below are useful when debugging Isaac Sim manually. After a manual build, run the same ``--isaacsim_source`` command to package it and configure ``uv``. diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index fc561372e2f3..cb1dc3a0f5f0 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -1,7 +1,7 @@ Added ^^^^^ -* Added the ``--isaacsim_source`` CLI option, which builds Isaac Sim from a source checkout, +* Added the ``--isaacsim_source`` CLI option, which incrementally builds Isaac Sim from a source checkout, packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, pins the ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those diff --git a/source/isaaclab/isaaclab/cli/__init__.py b/source/isaaclab/isaaclab/cli/__init__.py index 629b30f51a80..a54516fca5c1 100644 --- a/source/isaaclab/isaaclab/cli/__init__.py +++ b/source/isaaclab/isaaclab/cli/__init__.py @@ -268,7 +268,7 @@ def cli() -> None: help=( "Build Isaac Sim from the source checkout at PATH, package it as wheels, and link\n" "them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'.\n" - "Skips the build when the checkout is already built." + "Runs the normal incremental build on every invocation." ), ) diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 69ebe0be66dd..203d0883ad1b 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -124,9 +124,9 @@ def command_build_docs() -> None: def command_build_isaacsim(source_path: str) -> None: """Build Isaac Sim from source and make it usable through ``uv`` (--isaacsim_source). - Builds the Isaac Sim checkout when it has no build output yet, packages that build into - Python wheels, links the wheels into the Isaac Lab repository as ``_isaac_sim_wheels``, points - uv at that directory through ``find-links``, pins the ``isaacsim-local`` extra to the version + Runs an incremental Isaac Sim build, packages the resulting Python wheels, links them into the + Isaac Lab repository as ``_isaac_sim_wheels``, points uv at that directory through + ``find-links``, pins the ``isaacsim-local`` extra to the version that was built, and re-resolves that was built, and re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build with ``uv run --extra isaacsim-local``. @@ -147,12 +147,8 @@ def command_build_isaacsim(source_path: str) -> None: raise SystemExit(1) build_dir = isaacsim_root / "_build" - if build_dir.is_dir(): - print_info(f"Using the existing Isaac Sim build in {build_dir}.") - print_info(f"To rebuild, run {build_script} yourself before this command.") - else: - print_info("Building Isaac Sim from source. This takes a while...") - run_command([str(build_script)], cwd=isaacsim_root) + print_info("Incrementally building Isaac Sim from source. This may take a while...") + run_command([str(build_script)], cwd=isaacsim_root) print_info("Packaging the Isaac Sim build as Python wheels...") for repo_args in (["python_package", "--create"], ["comment_archive_deps"], ["python_package", "--wheel"]): diff --git a/source/isaaclab/test/cli/test_misc_commands.py b/source/isaaclab/test/cli/test_misc_commands.py index 330cb8d1674d..4cc15af6445a 100644 --- a/source/isaaclab/test/cli/test_misc_commands.py +++ b/source/isaaclab/test/cli/test_misc_commands.py @@ -64,3 +64,29 @@ def test_build_docs_explains_how_to_install_uv(): mock.call("uv could not be found. Please install uv and try again."), mock.call("https://docs.astral.sh/uv/getting-started/installation/"), ] + + +def test_build_isaacsim_runs_incremental_build_for_existing_checkout(tmp_path): + """The source-build workflow must update an existing Isaac Sim build incrementally.""" + isaacsim_root = tmp_path / "IsaacSim" + build_script = isaacsim_root / "build.sh" + build_script.parent.mkdir() + build_script.touch() + (isaacsim_root / "repo.sh").touch() + wheel_dir = isaacsim_root / "_build" / "packages" / "dist" + wheel_dir.mkdir(parents=True) + (wheel_dir / "isaacsim-6.0.1+local-py3-none-any.whl").touch() + + workspace = tmp_path / "IsaacLab" + workspace.mkdir() + + with ( + mock.patch.object(misc, "ISAACLAB_ROOT", workspace), + mock.patch.object(misc, "run_command") as run_command, + mock.patch.object(misc, "_set_uv_find_links"), + mock.patch.object(misc, "_pin_isaacsim_local_extra"), + mock.patch("shutil.which", return_value=None), + ): + misc.command_build_isaacsim(str(isaacsim_root)) + + assert run_command.call_args_list[0] == mock.call([str(build_script)], cwd=isaacsim_root) From 941af6c1f64496e9b05a3a2ac0b0878cab2c0902 Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Thu, 13 Aug 2026 23:13:00 -0700 Subject: [PATCH 06/10] Restore isaacsim-local extra --- pyproject.toml | 3 +++ uv.lock | 6 +++++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 4b56d10a4556..5daae2d2dcaf 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -160,6 +160,9 @@ rerun = [ ] isaacsim = ["isaacsim[all,extscache]==6.0.1.0"] +# Isaac Sim built from source (``isaaclab --isaacsim_source``). Source builds carry pre-release +# local versions that sort below the published release, so the command pins this locally. +isaacsim-local = ["isaacsim[all,extscache]>=6.0.1.0"] ov = ["ovphysx==0.5.9", "ovrtx>=0.4.0,<0.5.0", "ovstage==0.1.0.346039"] ovphysx = ["ovphysx==0.5.9", "ovstage==0.1.0.346039"] diff --git a/uv.lock b/uv.lock index 40c754f8b28a..3da50d69dac4 100644 --- a/uv.lock +++ b/uv.lock @@ -1889,6 +1889,9 @@ all = [ isaacsim = [ { name = "isaacsim", extra = ["all", "extscache"], marker = "(platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and sys_platform == 'win32')" }, ] +isaacsim-local = [ + { name = "isaacsim", extra = ["all", "extscache"], marker = "(platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and sys_platform == 'win32')" }, +] leapp = [ { name = "leapp", marker = "(platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and sys_platform == 'win32')" }, ] @@ -2024,6 +2027,7 @@ requires-dist = [ { name = "isaaclab-teleop", marker = "extra == 'teleop'", editable = "source/isaaclab_teleop" }, { name = "isaaclab-visualizers", editable = "source/isaaclab_visualizers" }, { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim'", specifier = "==6.0.1.0" }, + { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim-local'", specifier = ">=6.0.1.0" }, { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'teleop'", specifier = "==6.0.1.0" }, { name = "isaacsim-asset-isolated", specifier = ">=6.0,<6.1" }, { name = "isaacteleop", extras = ["retargeters", "ui", "cloudxr"], marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'teleop'", specifier = "~=1.4.0" }, @@ -2115,7 +2119,7 @@ requires-dist = [ { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.16" }, { name = "warp-lang", specifier = "==1.16.0" }, ] -provides-extras = ["tetrahedralization", "video", "test", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun", "isaacsim", "ov", "ovphysx", "ovrtx", "mimic", "teleop", "rlinf", "leapp", "all"] +provides-extras = ["tetrahedralization", "video", "test", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun", "isaacsim", "isaacsim-local", "ov", "ovphysx", "ovrtx", "mimic", "teleop", "rlinf", "leapp", "all"] [[package]] name = "isaaclab-experimental" From 120b0b62e6f9cdeb416d5a1d1477aadbfac9e7e8 Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Fri, 14 Aug 2026 12:16:24 -0700 Subject: [PATCH 07/10] Update local install --- source/isaaclab/isaaclab/cli/commands/misc.py | 56 +++++++++++++++++++ .../isaaclab/test/cli/test_misc_commands.py | 22 ++++++++ 2 files changed, 78 insertions(+) diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 664c0208b2a9..e102de60fd86 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -196,6 +196,7 @@ def command_build_isaacsim(source_path: str) -> None: # back to the registry. uv only honors a version this specific per conflicting-extra fork when # it is written into the requirement itself, so pin the extra to the version just built. _pin_isaacsim_local_extra(local_version) + _add_isaacsim_local_conflicts() # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. if shutil.which("uv") is not None: @@ -338,6 +339,61 @@ def _pin_isaacsim_local_extra(version: str) -> None: print_info(f"Pinned the 'isaacsim-local' extra to isaacsim=={version}.") +def _add_isaacsim_local_conflicts() -> None: + """Add local-only conflicts for extras that pin the published Isaac Sim wheel. + + A source build has a pre-release local version, whereas these extras require the published + release exactly. The normal project deliberately has no such conflicts; they are needed only + after :func:`_pin_isaacsim_local_extra` changes the local checkout. + """ + pyproject = ISAACLAB_ROOT / "pyproject.toml" + text = pyproject.read_text(encoding="utf-8") + config = tomllib.loads(text) + existing_conflicts = config.get("tool", {}).get("uv", {}).get("conflicts", []) + if not isinstance(existing_conflicts, list): + print_error(f"The 'conflicts' entry in {pyproject} must be an array.") + raise SystemExit(1) + + conflicts: list[list[dict[str, str]]] = [] + for conflict in existing_conflicts: + if not ( + isinstance(conflict, list) + and all(isinstance(term, dict) and isinstance(term.get("extra"), str) for term in conflict) + ): + print_error(f"The 'conflicts' entry in {pyproject} must contain extra selectors.") + raise SystemExit(1) + conflicts.append([{"extra": term["extra"]} for term in conflict]) + + existing_pairs = {frozenset(term["extra"] for term in conflict) for conflict in conflicts} + for extra in ("isaacsim", "teleop", "all"): + pair = frozenset(("isaacsim-local", extra)) + if pair not in existing_pairs: + conflicts.append([{"extra": "isaacsim-local"}, {"extra": extra}]) + + conflict_lines = [] + for conflict in conflicts: + terms = ", ".join(f"{{ extra = {json.dumps(term['extra'])} }}" for term in conflict) + conflict_lines.append(f" [{terms}],") + entry = "conflicts = [\n" + "\n".join(conflict_lines) + "\n]" + header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) + if header is None: + print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") + raise SystemExit(1) + start = header.end() + following = re.search(r"^\[", text[start:], flags=re.MULTILINE) + end = start + (following.start() if following is not None else len(text) - start) + section = text[start:end] + conflict_match = re.search(r"^conflicts\s*=\s*\[\n.*?^\]$", section, flags=re.MULTILINE | re.DOTALL) + if conflict_match is None: + section = ( + f"\n# Local source builds cannot co-resolve with extras that pin published Isaac Sim.\n{entry}{section}" + ) + else: + section = section[: conflict_match.start()] + entry + section[conflict_match.end() :] + pyproject.write_text(text[:start] + section + text[end:], encoding="utf-8") + print_info("Added local-only uv conflicts for the pinned 'isaacsim-local' extra.") + + def command_run_docker(args: list[str]) -> None: """Run the docker container helper script (docker/container.py). diff --git a/source/isaaclab/test/cli/test_misc_commands.py b/source/isaaclab/test/cli/test_misc_commands.py index 7ca9d0e34039..4d98c0084f3e 100644 --- a/source/isaaclab/test/cli/test_misc_commands.py +++ b/source/isaaclab/test/cli/test_misc_commands.py @@ -86,6 +86,7 @@ def test_build_isaacsim_runs_incremental_build_for_existing_checkout(tmp_path): mock.patch.object(misc, "run_command") as run_command, mock.patch.object(misc, "_set_uv_find_links"), mock.patch.object(misc, "_pin_isaacsim_local_extra"), + mock.patch.object(misc, "_add_isaacsim_local_conflicts"), mock.patch("shutil.which", return_value=None), ): misc.command_build_isaacsim(str(isaacsim_root)) @@ -115,3 +116,24 @@ def test_build_isaacsim_preserves_multiline_find_links(tmp_path): "local-wheels", "_isaac_sim_wheels", ] + + +def test_build_isaacsim_adds_local_conflicts_without_duplicates(tmp_path): + """A local Isaac Sim pin must split from extras using the published wheel.""" + pyproject = tmp_path / "pyproject.toml" + pyproject.write_text( + '[tool.uv]\nconflicts = [\n [{ extra = "other" }, { extra = "extra" }],\n]\n', + encoding="utf-8", + ) + + with mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path): + misc._add_isaacsim_local_conflicts() + misc._add_isaacsim_local_conflicts() + + assert tomllib.loads(pyproject.read_text(encoding="utf-8"))["tool"]["uv"]["conflicts"] == [ + [{"extra": "other"}, {"extra": "extra"}], + [{"extra": "isaacsim-local"}, {"extra": "isaacsim"}], + [{"extra": "isaacsim-local"}, {"extra": "teleop"}], + [{"extra": "isaacsim-local"}, {"extra": "all"}], + ] + From 4b85303771255c9df961366453a6bdcfb55cf84a Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Wed, 19 Aug 2026 21:07:39 -0700 Subject: [PATCH 08/10] Generate local Isaac Sim metadata during setup --- docs/source/setup/installation/index.rst | 7 ++-- ...v-friendly-isaacsim-source-build.minor.rst | 4 +-- source/isaaclab/isaaclab/cli/commands/misc.py | 34 ++++++++++++++----- .../isaaclab/test/cli/test_misc_commands.py | 20 ++++++++++- 4 files changed, 51 insertions(+), 14 deletions(-) diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index fd6fda962ed1..c248e4aca75d 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -785,9 +785,10 @@ build as wheels, and configures ``uv`` to use those wheels: git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim uv run isaaclab --isaacsim_source ../IsaacSim -The command records the local wheel directory and exact source-build version in ``pyproject.toml`` -and refreshes ``uv.lock``. Those changes describe your machine; do not commit them. To return to -published Isaac Sim packages, revert both files before committing. Then run Isaac Lab normally: +The command creates a local-only ``isaacsim-local`` extra, records the wheel directory and exact +source-build version in ``pyproject.toml``, and refreshes ``uv.lock``. Those changes describe your +machine; do not commit them. To return to published Isaac Sim packages, revert both files before +committing. Then run Isaac Lab normally: .. code-block:: bash diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index cb1dc3a0f5f0..6698f8ccaccc 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -3,8 +3,8 @@ Added * Added the ``--isaacsim_source`` CLI option, which incrementally builds Isaac Sim from a source checkout, packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, - points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, pins the - ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those + points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, creates and + pins the ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with ``uv run --extra isaacsim-local``. The pin is required because source builds carry pre-release local versions that sort below the published release, so an unpinned extra resolves back to the released wheels on ``pypi.nvidia.com``. diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index e102de60fd86..5cb03fa8f50e 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -129,8 +129,8 @@ def command_build_isaacsim(source_path: str) -> None: Runs an incremental Isaac Sim build, packages the resulting Python wheels, links them into the Isaac Lab repository as ``_isaac_sim_wheels``, points uv at that directory through - ``find-links``, pins the ``isaacsim-local`` extra to the version that was built, and re-resolves - Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build with + ``find-links``, creates and pins the ``isaacsim-local`` extra to the version that was built, and + re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build with ``uv run --extra isaacsim-local``. The pin is required: source builds produce pre-release local versions that sort below the @@ -194,7 +194,7 @@ def command_build_isaacsim(source_path: str) -> None: # Source builds carry a pre-release local version (``6.0.1rc7+develop..local``) that # sorts *below* the published release, so an unpinned ``isaacsim-local`` extra always resolves # back to the registry. uv only honors a version this specific per conflicting-extra fork when - # it is written into the requirement itself, so pin the extra to the version just built. + # it is written into the requirement itself, so create and pin the extra to the version just built. _pin_isaacsim_local_extra(local_version) _add_isaacsim_local_conflicts() @@ -322,7 +322,7 @@ def _set_uv_find_links(find_links: str) -> None: def _pin_isaacsim_local_extra(version: str) -> None: - """Pin the ``isaacsim-local`` extra in ``pyproject.toml`` to a locally built Isaac Sim. + """Create and pin the ``isaacsim-local`` extra to a locally built Isaac Sim. Args: version: Version of the locally built ``isaacsim`` wheel. @@ -330,13 +330,31 @@ def _pin_isaacsim_local_extra(version: str) -> None: pyproject = ISAACLAB_ROOT / "pyproject.toml" text = pyproject.read_text(encoding="utf-8") pinned = f'isaacsim-local = ["isaacsim[all,extscache]=={version}"]' - updated, count = re.subn(r"^isaacsim-local = \[.*\]$", pinned, text, count=1, flags=re.MULTILINE) - if count == 0: - print_error(f"Could not find the 'isaacsim-local' extra in {pyproject}.") + + header = re.search(r"^\[project\.optional-dependencies\]$", text, flags=re.MULTILINE) + if header is None: + print_error(f"Could not find the '[project.optional-dependencies]' table in {pyproject}.") raise SystemExit(1) + start = header.end() + following = re.search(r"^\[", text[start:], flags=re.MULTILINE) + end = start + (following.start() if following is not None else len(text) - start) + section = text[start:end] + + extra_match = re.search(r"^isaacsim-local\s*=.*$", section, flags=re.MULTILINE) + if extra_match is None: + isaacsim_match = re.search(r"^isaacsim\s*=.*$", section, flags=re.MULTILINE) + insertion = isaacsim_match.end() if isaacsim_match is not None else len(section.rstrip()) + local_extra = ( + "\n# Locally built Isaac Sim ('isaaclab --isaacsim_source'). Local-only, do not commit.\n" + pinned + ) + section = section[:insertion] + local_extra + section[insertion:] + else: + section = section[: extra_match.start()] + pinned + section[extra_match.end() :] + + updated = text[:start] + section + text[end:] if updated != text: pyproject.write_text(updated, encoding="utf-8") - print_info(f"Pinned the 'isaacsim-local' extra to isaacsim=={version}.") + print_info(f"Created and pinned the 'isaacsim-local' extra to isaacsim=={version}.") def _add_isaacsim_local_conflicts() -> None: diff --git a/source/isaaclab/test/cli/test_misc_commands.py b/source/isaaclab/test/cli/test_misc_commands.py index 4d98c0084f3e..9f96aa80c0eb 100644 --- a/source/isaaclab/test/cli/test_misc_commands.py +++ b/source/isaaclab/test/cli/test_misc_commands.py @@ -118,6 +118,25 @@ def test_build_isaacsim_preserves_multiline_find_links(tmp_path): ] +def test_build_isaacsim_creates_and_updates_local_extra(tmp_path): + """The source-build workflow must generate its local-only optional dependency.""" + pyproject = tmp_path / "pyproject.toml" + pyproject.write_text( + '[project.optional-dependencies]\nisaacsim = ["isaacsim[all,extscache]==6.0.1.0"]\n\n[tool.uv]\n', + encoding="utf-8", + ) + + with mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path): + misc._pin_isaacsim_local_extra("6.0.1rc7+develop.0.local") + misc._pin_isaacsim_local_extra("6.0.1rc8+develop.1.local") + + extras = tomllib.loads(pyproject.read_text(encoding="utf-8"))["project"]["optional-dependencies"] + assert extras == { + "isaacsim": ["isaacsim[all,extscache]==6.0.1.0"], + "isaacsim-local": ["isaacsim[all,extscache]==6.0.1rc8+develop.1.local"], + } + + def test_build_isaacsim_adds_local_conflicts_without_duplicates(tmp_path): """A local Isaac Sim pin must split from extras using the published wheel.""" pyproject = tmp_path / "pyproject.toml" @@ -136,4 +155,3 @@ def test_build_isaacsim_adds_local_conflicts_without_duplicates(tmp_path): [{"extra": "isaacsim-local"}, {"extra": "teleop"}], [{"extra": "isaacsim-local"}, {"extra": "all"}], ] - From ca57b178698433723c0c8024104be7f91dae0f67 Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Wed, 19 Aug 2026 23:07:52 -0700 Subject: [PATCH 09/10] Generate source-build platform metadata --- docs/source/setup/installation/index.rst | 178 ++++++++++-------- ...v-friendly-isaacsim-source-build.minor.rst | 7 +- source/isaaclab/isaaclab/cli/commands/misc.py | 48 +++++ .../isaaclab/test/cli/test_misc_commands.py | 57 ++++++ 4 files changed, 204 insertions(+), 86 deletions(-) diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index c248e4aca75d..74bbaf187a24 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -776,121 +776,133 @@ requires Ubuntu 22.04 or newer on Linux. For driver requirements, see the `techn On Windows, enable `long-path support `__ before building. -For the recommended ``uv`` workflow, clone the Isaac Sim source next to an Isaac Lab checkout and -run the following command from the Isaac Lab root. It triggers an incremental Isaac Sim build, packages the -build as wheels, and configures ``uv`` to use those wheels: -.. code-block:: bash +Choose how to connect the Isaac Sim source build to Isaac Lab: - git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim - uv run isaaclab --isaacsim_source ../IsaacSim +.. tab-set:: + :sync-group: isaacsim-source-installation-method -The command creates a local-only ``isaacsim-local`` extra, records the wheel directory and exact -source-build version in ``pyproject.toml``, and refreshes ``uv.lock``. Those changes describe your -machine; do not commit them. To return to published Isaac Sim packages, revert both files before -committing. Then run Isaac Lab normally: + .. tab-item:: uv (Recommended) + :sync: uv -.. code-block:: bash + Clone Isaac Sim next to the Isaac Lab checkout. From the Isaac Lab root, run the source-build + command. It incrementally builds Isaac Sim, packages the build as wheels, and configures ``uv`` + to use them: - uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl \ - --task Isaac-Cartpole-Direct physics=isaacsim_physx + .. code-block:: text -The platform instructions below are useful when debugging Isaac Sim manually. After a -manual build, run the same ``--isaacsim_source`` command to package it and configure ``uv``. + git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim + uv run isaaclab --isaacsim_source ../IsaacSim + The command creates a local-only ``isaacsim-local`` extra and records the wheel directory, + exact source-build version, and current platform in ``pyproject.toml`` before refreshing + ``uv.lock``. Those changes describe your machine; do not commit them. Run Isaac Lab against + the source build with: -.. tab-set:: - :sync-group: installation-platform + .. code-block:: text - .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) - :sync: linux-x86_64 + uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx - .. code-block:: bash + To return to published Isaac Sim packages, revert ``pyproject.toml`` and ``uv.lock``. - git clone https://github.com/isaac-sim/IsaacSim.git - cd IsaacSim - ./build.sh - export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release" - export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" - ${ISAACSIM_PATH}/isaac-sim.sh - ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" - ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py + .. tab-item:: isaaclab.sh / isaaclab.bat + :sync: isaaclab-script - .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) - :sync: linux-aarch64 + Build and verify Isaac Sim for your platform: - .. code-block:: bash + .. tab-set:: + :sync-group: installation-platform - git clone https://github.com/isaac-sim/IsaacSim.git - cd IsaacSim - ./build.sh - export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release" - export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" - ${ISAACSIM_PATH}/isaac-sim.sh - ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" - ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py + .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) + :sync: linux-x86_64 - .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) - :sync: windows-x86_64 + .. code-block:: bash - .. code-block:: batch + git clone https://github.com/isaac-sim/IsaacSim.git + cd IsaacSim + ./build.sh + export ISAACSIM_PATH="${PWD}/_build/linux-x86_64/release" + export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" + ${ISAACSIM_PATH}/isaac-sim.sh + ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" + ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py - git clone https://github.com/isaac-sim/IsaacSim.git - cd IsaacSim - build.bat - set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release" - set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" - %ISAACSIM_PATH%\isaac-sim.bat - %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')" - %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py + .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) + :sync: linux-aarch64 -To use the legacy installer instead, return to the workspace containing the ``IsaacSim`` checkout, -then clone Isaac Lab, link it to the source build, install, and verify: + .. code-block:: bash -.. code-block:: text + git clone https://github.com/isaac-sim/IsaacSim.git + cd IsaacSim + ./build.sh + export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release" + export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh" + ${ISAACSIM_PATH}/isaac-sim.sh + ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" + ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py - cd .. + .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) + :sync: windows-x86_64 -.. isaaclab-clone-commands:: + .. code-block:: batch -.. tab-set:: - :sync-group: installation-platform + git clone https://github.com/isaac-sim/IsaacSim.git + cd IsaacSim + build.bat + set ISAACSIM_PATH="%cd%\_build\windows-x86_64\release" + set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat" + %ISAACSIM_PATH%\isaac-sim.bat + %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')" + %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py - .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) - :sync: linux-x86_64 + Return to the workspace containing the ``IsaacSim`` checkout, then clone Isaac Lab: - .. code-block:: bash + .. code-block:: text - cd IsaacLab - ln -s ${ISAACSIM_PATH} _isaac_sim - sudo apt install cmake build-essential - ./isaaclab.sh -i - ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit + cd .. - .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) - :sync: linux-aarch64 + .. isaaclab-clone-commands:: - .. code-block:: bash + Link Isaac Lab to the source build, install, and verify: - cd IsaacLab - ln -s ${ISAACSIM_PATH} _isaac_sim - sudo apt install cmake build-essential python3.12-dev libgl1-mesa-dev libx11-dev \ - libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev - ./isaaclab.sh -i - ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit + .. tab-set:: + :sync-group: installation-platform - .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) - :sync: windows-x86_64 + .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64) + :sync: linux-x86_64 - .. code-block:: batch + .. code-block:: bash - cd IsaacLab - mklink /D _isaac_sim %ISAACSIM_PATH% - isaaclab.bat -i - isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit + cd IsaacLab + ln -s ${ISAACSIM_PATH} _isaac_sim + sudo apt install cmake build-essential + ./isaaclab.sh -i + ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit + + .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64) + :sync: linux-aarch64 + + .. code-block:: bash + + cd IsaacLab + ln -s ${ISAACSIM_PATH} _isaac_sim + sudo apt install cmake build-essential python3.12-dev libgl1-mesa-dev libx11-dev \ + libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev + ./isaaclab.sh -i + ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --viz kit + + .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64) + :sync: windows-x86_64 + + .. code-block:: batch + + cd IsaacLab + mklink /D _isaac_sim %ISAACSIM_PATH% + isaaclab.bat -i + isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py --viz kit -The tutorial command should open a black simulator viewport. Use the binary-installation -troubleshooting links above if the source build does not launch. + The tutorial command should open a black simulator viewport. Use the binary-installation + troubleshooting links above if the source build does not launch. .. _installation-method-container: diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index 6698f8ccaccc..d79338c2bcb7 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -3,9 +3,10 @@ Added * Added the ``--isaacsim_source`` CLI option, which incrementally builds Isaac Sim from a source checkout, packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, - points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, creates and - pins the ``isaacsim-local`` extra to the version it built, and re-resolves Isaac Sim from those - wheels. Run Isaac Lab against the build with ``uv run --extra isaacsim-local``. The pin is + points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, limits resolution + to the platform that built the wheels, creates and pins the ``isaacsim-local`` extra to that + version, and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with + ``uv run --extra isaacsim-local``. The pin is required because source builds carry pre-release local versions that sort below the published release, so an unpinned extra resolves back to the released wheels on ``pypi.nvidia.com``. * Added a check to ``--isaacsim_source`` that rejects a stale Isaac Sim ``_build`` tree whose diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 5cb03fa8f50e..6067ed38f046 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -6,8 +6,10 @@ """Misc commands""" import json +import platform import re import shutil +import sys import zipfile from pathlib import Path @@ -196,6 +198,7 @@ def command_build_isaacsim(source_path: str) -> None: # back to the registry. uv only honors a version this specific per conflicting-extra fork when # it is written into the requirement itself, so create and pin the extra to the version just built. _pin_isaacsim_local_extra(local_version) + _set_uv_environment() _add_isaacsim_local_conflicts() # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. @@ -357,6 +360,51 @@ def _pin_isaacsim_local_extra(version: str) -> None: print_info(f"Created and pinned the 'isaacsim-local' extra to isaacsim=={version}.") +def _set_uv_environment() -> None: + """Limit uv's local source-build resolution to the current platform.""" + machine = platform.machine().lower() + normalized_platforms = { + ("linux", "amd64"): ("linux", "x86_64"), + ("linux", "x86_64"): ("linux", "x86_64"), + ("linux", "aarch64"): ("linux", "aarch64"), + ("linux", "arm64"): ("linux", "aarch64"), + ("win32", "amd64"): ("win32", "AMD64"), + ("win32", "x86_64"): ("win32", "AMD64"), + } + current_platform = normalized_platforms.get((sys.platform, machine)) + if current_platform is None: + print_error(f"Isaac Sim source wheels are not supported on platform '{sys.platform}' with machine '{machine}'.") + raise SystemExit(1) + + sys_platform, platform_machine = current_platform + marker = f"sys_platform == '{sys_platform}' and platform_machine == '{platform_machine}'" + entry = f"environments = [\n {json.dumps(marker)},\n]" + comment = ( + "# Locally built Isaac Sim wheels are only compatible with this machine's platform.\n" + "# Local-only, do not commit." + ) + + pyproject = ISAACLAB_ROOT / "pyproject.toml" + text = pyproject.read_text(encoding="utf-8") + header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) + if header is None: + print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") + raise SystemExit(1) + start = header.end() + following = re.search(r"^\[", text[start:], flags=re.MULTILINE) + end = start + (following.start() if following is not None else len(text) - start) + section = text[start:end] + + environment_match = re.search(r"(?:^#.*\n)*^environments\s*=\s*\[(?:[^\]]|\n)*?\]", section, flags=re.MULTILINE) + replacement = f"{comment}\n{entry}" + if environment_match is None: + section = f"\n{replacement}{section}" + else: + section = section[: environment_match.start()] + replacement + section[environment_match.end() :] + pyproject.write_text(text[:start] + section + text[end:], encoding="utf-8") + print_info(f"Limited uv resolution to the local Isaac Sim wheel platform ({marker}).") + + def _add_isaacsim_local_conflicts() -> None: """Add local-only conflicts for extras that pin the published Isaac Sim wheel. diff --git a/source/isaaclab/test/cli/test_misc_commands.py b/source/isaaclab/test/cli/test_misc_commands.py index 9f96aa80c0eb..6ef6d5b66711 100644 --- a/source/isaaclab/test/cli/test_misc_commands.py +++ b/source/isaaclab/test/cli/test_misc_commands.py @@ -85,6 +85,7 @@ def test_build_isaacsim_runs_incremental_build_for_existing_checkout(tmp_path): mock.patch.object(misc, "ISAACLAB_ROOT", workspace), mock.patch.object(misc, "run_command") as run_command, mock.patch.object(misc, "_set_uv_find_links"), + mock.patch.object(misc, "_set_uv_environment"), mock.patch.object(misc, "_pin_isaacsim_local_extra"), mock.patch.object(misc, "_add_isaacsim_local_conflicts"), mock.patch("shutil.which", return_value=None), @@ -137,6 +138,62 @@ def test_build_isaacsim_creates_and_updates_local_extra(tmp_path): } +@pytest.mark.parametrize( + ("sys_platform", "machine", "expected"), + [ + ("linux", "x86_64", "sys_platform == 'linux' and platform_machine == 'x86_64'"), + ("linux", "aarch64", "sys_platform == 'linux' and platform_machine == 'aarch64'"), + ("win32", "AMD64", "sys_platform == 'win32' and platform_machine == 'AMD64'"), + ], +) +def test_build_isaacsim_limits_uv_resolution_to_current_platform(tmp_path, sys_platform, machine, expected): + """The local lock must only resolve for the platform that produced the wheels.""" + pyproject = tmp_path / "pyproject.toml" + pyproject.write_text( + """[tool.uv] +# Platforms supported by the committed lock. +environments = [ + "sys_platform == 'linux' and platform_machine == 'x86_64'", + "sys_platform == 'linux' and platform_machine == 'aarch64'", + "sys_platform == 'win32' and platform_machine == 'AMD64'", +] + +[tool.other] +environments = ["preserve-me"] +""", + encoding="utf-8", + ) + + with ( + mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path), + mock.patch.object(misc.sys, "platform", sys_platform), + mock.patch.object(misc.platform, "machine", return_value=machine), + ): + misc._set_uv_environment() + misc._set_uv_environment() + + config = tomllib.loads(pyproject.read_text(encoding="utf-8")) + assert config["tool"]["uv"]["environments"] == [expected] + assert config["tool"]["other"]["environments"] == ["preserve-me"] + assert pyproject.read_text(encoding="utf-8").count("Local-only, do not commit.") == 1 + + +def test_build_isaacsim_rejects_unsupported_uv_platform(tmp_path): + """The source-build workflow must reject platforms without supported Isaac Sim wheels.""" + pyproject = tmp_path / "pyproject.toml" + pyproject.write_text("[tool.uv]\n", encoding="utf-8") + + with ( + mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path), + mock.patch.object(misc.sys, "platform", "darwin"), + mock.patch.object(misc.platform, "machine", return_value="arm64"), + pytest.raises(SystemExit, match="1"), + ): + misc._set_uv_environment() + + assert pyproject.read_text(encoding="utf-8") == "[tool.uv]\n" + + def test_build_isaacsim_adds_local_conflicts_without_duplicates(tmp_path): """A local Isaac Sim pin must split from extras using the published wheel.""" pyproject = tmp_path / "pyproject.toml" From 2a96e1128c022264a5c2820879a3b05a26107f9e Mon Sep 17 00:00:00 2001 From: Mustafa Haiderbhai Date: Thu, 20 Aug 2026 00:13:56 -0700 Subject: [PATCH 10/10] Use live Isaac Sim source builds --- .../include/src_clone_isaaclab.rst | 10 +- docs/source/setup/installation/index.rst | 16 +- ...v-friendly-isaacsim-source-build.minor.rst | 14 +- source/isaaclab/isaaclab/cli/__init__.py | 5 +- source/isaaclab/isaaclab/cli/commands/misc.py | 338 ++---------------- source/isaaclab/isaaclab/cli/utils.py | 33 +- source/isaaclab/test/cli/test_install.py | 42 +++ .../isaaclab/test/cli/test_misc_commands.py | 136 ++----- 8 files changed, 152 insertions(+), 442 deletions(-) diff --git a/docs/source/setup/installation/include/src_clone_isaaclab.rst b/docs/source/setup/installation/include/src_clone_isaaclab.rst index 211c8aabf26d..794ad2be60c1 100644 --- a/docs/source/setup/installation/include/src_clone_isaaclab.rst +++ b/docs/source/setup/installation/include/src_clone_isaaclab.rst @@ -56,9 +56,8 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'. -u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'. --isaacsim_source PATH - Build Isaac Sim from the source checkout at PATH, package it as wheels, and link - them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'. - Runs the normal incremental build on every invocation. + Incrementally build the Isaac Sim source checkout at PATH and link its live release + tree as '_isaac_sim'. Python commands keep using the active uv environment. .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -99,6 +98,5 @@ We provide helper executables at the repository root — ``./isaaclab.sh`` (Linu Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'. -u [UV], --uv [UV] Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'. --isaacsim_source PATH - Build Isaac Sim from the source checkout at PATH, package it as wheels, and link - them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'. - Runs the normal incremental build on every invocation. + Incrementally build the Isaac Sim source checkout at PATH and link its live release + tree as '_isaac_sim'. Python commands keep using the active uv environment. diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index 74bbaf187a24..9f89d72d4e73 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -786,24 +786,24 @@ Choose how to connect the Isaac Sim source build to Isaac Lab: :sync: uv Clone Isaac Sim next to the Isaac Lab checkout. From the Isaac Lab root, run the source-build - command. It incrementally builds Isaac Sim, packages the build as wheels, and configures ``uv`` - to use them: + command. It incrementally builds Isaac Sim and links the live release tree as ``_isaac_sim``: .. code-block:: text git clone https://github.com/isaac-sim/IsaacSim.git ../IsaacSim uv run isaaclab --isaacsim_source ../IsaacSim - The command creates a local-only ``isaacsim-local`` extra and records the wheel directory, - exact source-build version, and current platform in ``pyproject.toml`` before refreshing - ``uv.lock``. Those changes describe your machine; do not commit them. Run Isaac Lab against - the source build with: + Isaac Lab runs the active ``uv`` environment through Isaac Sim's generated Python launcher. + This loads Kit and extensions directly from the source build without creating wheels or + changing ``pyproject.toml`` and ``uv.lock``. Run Isaac Lab against the source build with: .. code-block:: text - uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx + uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx - To return to published Isaac Sim packages, revert ``pyproject.toml`` and ``uv.lock``. + After changing Isaac Sim source, run the same ``--isaacsim_source`` command again. The native + build is incremental, and the link continues to expose the updated build immediately; no + wheel packaging or dependency resolution step is required. .. tab-item:: isaaclab.sh / isaaclab.bat :sync: isaaclab-script diff --git a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst index d79338c2bcb7..8a6fc94e69a7 100644 --- a/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst +++ b/source/isaaclab/changelog.d/uv-friendly-isaacsim-source-build.minor.rst @@ -2,13 +2,7 @@ Added ^^^^^ * Added the ``--isaacsim_source`` CLI option, which incrementally builds Isaac Sim from a source checkout, - packages the build as Python wheels, links them into the repository as ``_isaac_sim_wheels``, - points ``uv`` at that directory through ``find-links`` in ``pyproject.toml``, limits resolution - to the platform that built the wheels, creates and pins the ``isaacsim-local`` extra to that - version, and re-resolves Isaac Sim from those wheels. Run Isaac Lab against the build with - ``uv run --extra isaacsim-local``. The pin is - required because source builds carry pre-release local versions that sort below the published - release, so an unpinned extra resolves back to the released wheels on ``pypi.nvidia.com``. -* Added a check to ``--isaacsim_source`` that rejects a stale Isaac Sim ``_build`` tree whose - packaged Kit kernel does not match the Python ABI its wheel is tagged for, instead of letting - Isaac Sim fail later with ``No module named 'carb._carb'``. + links its live release tree into the repository as ``_isaac_sim``, and runs Python commands with + the active environment through Isaac Sim's generated launcher. This avoided rebuilding and + installing Python wheels after every incremental native build and left ``pyproject.toml`` and + ``uv.lock`` unchanged. diff --git a/source/isaaclab/isaaclab/cli/__init__.py b/source/isaaclab/isaaclab/cli/__init__.py index 75df8bf8355b..3f90fc5d3554 100644 --- a/source/isaaclab/isaaclab/cli/__init__.py +++ b/source/isaaclab/isaaclab/cli/__init__.py @@ -267,9 +267,8 @@ def cli() -> None: "--isaacsim_source", metavar="PATH", help=( - "Build Isaac Sim from the source checkout at PATH, package it as wheels, and link\n" - "them as '_isaac_sim_wheels' for 'uv run --extra isaacsim-local'.\n" - "Runs the normal incremental build on every invocation." + "Incrementally build the Isaac Sim source checkout at PATH and link its live release\n" + "tree as '_isaac_sim'. Python commands keep using the active uv environment." ), ) diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py index 6067ed38f046..44e684413c14 100644 --- a/source/isaaclab/isaaclab/cli/commands/misc.py +++ b/source/isaaclab/isaaclab/cli/commands/misc.py @@ -5,16 +5,11 @@ """Misc commands""" -import json import platform -import re import shutil import sys -import zipfile from pathlib import Path -import tomllib - from ..utils import ( ISAACLAB_ROOT, extract_isaacsim_exe, @@ -129,49 +124,32 @@ def command_build_docs() -> None: def command_build_isaacsim(source_path: str) -> None: """Build Isaac Sim from source and make it usable through ``uv`` (--isaacsim_source). - Runs an incremental Isaac Sim build, packages the resulting Python wheels, links them into the - Isaac Lab repository as ``_isaac_sim_wheels``, points uv at that directory through - ``find-links``, creates and pins the ``isaacsim-local`` extra to the version that was built, and - re-resolves Isaac Sim from those wheels. Afterwards, run Isaac Lab against the build with - ``uv run --extra isaacsim-local``. - - The pin is required: source builds produce pre-release local versions that sort below the - published release, so an unpinned extra resolves back to the registry wheels instead. It - edits ``pyproject.toml``, which (like ``uv.lock``) must not be committed. + Runs Isaac Sim's incremental build and links its release tree into Isaac Lab as ``_isaac_sim``. + Python commands launched through the Isaac Lab CLI use the active environment's interpreter + through Isaac Sim's ``python.sh`` or ``python.bat`` wrapper, so they load the live build without + packaging or installing it as wheels. Args: source_path: Path to an Isaac Sim source checkout. """ isaacsim_root = Path(source_path).expanduser().resolve() build_script = isaacsim_root / ("build.bat" if is_windows() else "build.sh") - repo_script = isaacsim_root / ("repo.bat" if is_windows() else "repo.sh") if not build_script.is_file(): print_error(f"'{isaacsim_root}' is not an Isaac Sim source checkout ({build_script.name} not found).") print_info("Clone it first with: git clone https://github.com/isaac-sim/IsaacSim.git") raise SystemExit(1) - build_dir = isaacsim_root / "_build" print_info("Incrementally building Isaac Sim from source. This may take a while...") run_command([str(build_script)], cwd=isaacsim_root) - print_info("Packaging the Isaac Sim build as Python wheels...") - for repo_args in (["python_package", "--create"], ["comment_archive_deps"], ["python_package", "--wheel"]): - run_command([str(repo_script)] + repo_args, cwd=isaacsim_root) - - wheel_dir = build_dir / "packages" / "dist" - wheels = sorted(wheel_dir.glob("*.whl")) if wheel_dir.is_dir() else [] - if not wheels: - print_error(f"No wheels were produced in {wheel_dir}.") + release_dir = _resolve_isaacsim_release_dir(isaacsim_root) + python_launcher = release_dir / ("python.bat" if is_windows() else "python.sh") + if not python_launcher.is_file(): + print_error(f"The Isaac Sim build did not produce {python_launcher}.") raise SystemExit(1) - print_info(f"Built {len(wheels)} wheel(s) in {wheel_dir}.") - local_version = _extract_local_isaacsim_version(wheel_dir) - _check_kernel_abi(wheel_dir, build_script) - - # A stable, git-ignored path inside the repository keeps the find-links entry short and - # valid across shells, the same way ``_isaac_sim`` does for the Kit build. - link_path = ISAACLAB_ROOT / "_isaac_sim_wheels" + link_path = ISAACLAB_ROOT / "_isaac_sim" if link_path.is_symlink() or link_path.exists(): if link_path.is_symlink(): link_path.unlink() @@ -179,285 +157,45 @@ def command_build_isaacsim(source_path: str) -> None: print_error(f"{link_path} exists and is not a symbolic link. Remove it and re-run.") raise SystemExit(1) try: - link_path.symlink_to(wheel_dir, target_is_directory=True) - # Store the absolute symlink path. Unlike a bare ``_isaac_sim_wheels`` path, it remains - # valid when the command is run from another directory. - find_links = str(link_path) - print_info(f"Linked {link_path} -> {wheel_dir}") + link_path.symlink_to(release_dir, target_is_directory=True) except OSError as error: - # Windows requires elevation (or developer mode) to create symbolic links. - find_links = str(wheel_dir) - print_warning(f"Could not create {link_path} ({error}). Using the absolute wheel path instead.") - - # Point uv at the wheels from the project configuration so the setting survives shell restarts - # and applies to every later ``uv run``/``uv sync``. - _set_uv_find_links(find_links) - - # Source builds carry a pre-release local version (``6.0.1rc7+develop..local``) that - # sorts *below* the published release, so an unpinned ``isaacsim-local`` extra always resolves - # back to the registry. uv only honors a version this specific per conflicting-extra fork when - # it is written into the requirement itself, so create and pin the extra to the version just built. - _pin_isaacsim_local_extra(local_version) - _set_uv_environment() - _add_isaacsim_local_conflicts() - - # Re-resolve Isaac Sim so the lock file picks the local wheels over the published release. - if shutil.which("uv") is not None: - print_info("Re-resolving Isaac Sim from the local wheels...") - run_command(["uv", "lock", "--upgrade-package", "isaacsim"], cwd=ISAACLAB_ROOT) - else: - print_warning("uv was not found on PATH. Run 'uv lock --upgrade-package isaacsim' once uv is available.") - - print_info("Isaac Sim is ready. Run Isaac Lab against it with:") - print_info( - " uv run --extra isaacsim-local isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct" - " physics=isaacsim_physx" - ) - print_warning( - f"pyproject.toml now points uv at '{find_links}' and pins the 'isaacsim-local' extra to your build" - f" ({local_version}), and uv.lock resolves it from there. Both are local-only; revert with" - " 'git checkout pyproject.toml uv.lock' before committing." - ) - - -def _extract_local_isaacsim_version(wheel_dir: Path) -> str: - """Read the version of the locally built ``isaacsim`` wheel. - - Args: - wheel_dir: Directory holding the wheels produced by the Isaac Sim source build. - - Returns: - The version of the top-level ``isaacsim`` wheel, e.g. ``6.0.1rc7+develop.0.98701505.local``. - """ - # Wheel filenames are ``---...``; the sibling extension wheels - # normalize to ``isaacsim_``, so only the top-level distribution matches here. - candidates = sorted(wheel_dir.glob("isaacsim-*.whl")) - if not candidates: - print_error(f"No top-level 'isaacsim' wheel found in {wheel_dir}.") - raise SystemExit(1) - return candidates[-1].name.split("-")[1] - - -def _check_kernel_abi(wheel_dir: Path, build_script: Path) -> None: - """Verify the packaged Kit kernel matches the Python ABI its wheel is tagged for. - - ``repo.sh python_package`` tags the wheels from ``repo.toml`` rather than from the binaries it - packages, so a build tree left over from an older Kit (a different Python) is repackaged under - the wrong tag. ``uv`` then installs it happily and Isaac Sim only fails much later with - ``No module named 'carb._carb'``. - - Args: - wheel_dir: Directory holding the wheels produced by the Isaac Sim source build. - build_script: Path to the Isaac Sim ``build.sh``/``build.bat``, quoted in the error message. - """ - kernels = sorted(wheel_dir.glob("isaacsim_kernel-*.whl")) - if not kernels: - # Older Isaac Sim layouts may not split the kernel out; nothing to check against. - return - kernel = kernels[-1] - # ``----.whl`` - wheel_tag = kernel.stem.split("-")[2] - - with zipfile.ZipFile(kernel) as archive: - # ``carb._carb`` is the module Kit bootstraps first, and it ships as a single ABI build. - found = [re.search(r"/carb/_carb\.(cp\d+)", name.replace("cpython-", "cp")) for name in archive.namelist()] - built_tags = {match.group(1) for match in found if match} - if not built_tags or wheel_tag in built_tags: - return - - print_error( - f"{kernel.name} is tagged '{wheel_tag}' but its carb kernel was built for" - f" {'/'.join(sorted(built_tags))}. The build tree is stale: it predates the Python version" - " the checkout now targets." - ) - print_info(f"Remove '{wheel_dir.parents[1]}' and rebuild with: {build_script}") - raise SystemExit(1) - - -def _set_uv_find_links(find_links: str) -> None: - """Point uv at a wheel directory by writing ``find-links`` into ``[tool.uv]`` in ``pyproject.toml``. - - The entry is part of the project configuration, so it survives shell restarts and applies to - every later ``uv`` invocation in the checkout. Re-running the build rewrites the existing entry. - - Args: - find_links: Directory holding the locally built Isaac Sim wheels, either the repository-relative - ``_isaac_sim_wheels`` link or an absolute path when that link could not be created. - """ - pyproject = ISAACLAB_ROOT / "pyproject.toml" - text = pyproject.read_text(encoding="utf-8") - - header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) - if header is None: - print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") - raise SystemExit(1) - - config = tomllib.loads(text) - existing_links = config.get("tool", {}).get("uv", {}).get("find-links", []) - if not isinstance(existing_links, list) or not all(isinstance(link, str) for link in existing_links): - print_error(f"The 'find-links' entry in {pyproject} must be an array of strings.") - raise SystemExit(1) - - # Confine the edit to the ``[tool.uv]`` table so a ``find-links`` entry in another table is - # neither read nor rewritten. Preserve user-provided entries: this command only adds its own - # local wheel directory. Windows paths are normalized to forward slashes, which uv accepts. - start = header.end() - following = re.search(r"^\[", text[start:], flags=re.MULTILINE) - end = start + (following.start() if following is not None else len(text) - start) - section = text[start:end] - find_links = Path(find_links).as_posix() - links = [link for link in existing_links if link != find_links] + [find_links] - entry = f"find-links = [{', '.join(json.dumps(link) for link in links)}]" - - # ``find-links`` may be formatted over several lines. Re-rendering just this array retains all - # entries while avoiding duplicate TOML keys on repeated source-build invocations. - find_links_match = re.search(r"^find-links\s*=\s*\[(?:[^\]]|\n)*?\]", section, flags=re.MULTILINE) - if find_links_match is None: - comment = "# Locally built Isaac Sim wheels ('isaaclab --isaacsim_source'). Local-only, do not commit." - section = f"\n{comment}\n{entry}{section}" - else: - section = section[: find_links_match.start()] + entry + section[find_links_match.end() :] - - updated = text[:start] + section + text[end:] - if updated != text: - pyproject.write_text(updated, encoding="utf-8") - print_info(f"Pointed uv at the local wheels via 'find-links' in {pyproject.name} ({find_links}).") + print_error(f"Could not link {link_path} to {release_dir}: {error}") + if is_windows(): + print_info("Enable Windows Developer Mode or run from an elevated terminal, then retry.") + raise SystemExit(1) from error + print_info(f"Linked {link_path} -> {release_dir}") + _repoint_source_build_prebundles() + print_info("Isaac Sim is ready. Python commands now use the live source build through '_isaac_sim'.") + print_info("Run Isaac Lab against it with:") + print_info(" uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=isaacsim_physx") -def _pin_isaacsim_local_extra(version: str) -> None: - """Create and pin the ``isaacsim-local`` extra to a locally built Isaac Sim. - - Args: - version: Version of the locally built ``isaacsim`` wheel. - """ - pyproject = ISAACLAB_ROOT / "pyproject.toml" - text = pyproject.read_text(encoding="utf-8") - pinned = f'isaacsim-local = ["isaacsim[all,extscache]=={version}"]' - - header = re.search(r"^\[project\.optional-dependencies\]$", text, flags=re.MULTILINE) - if header is None: - print_error(f"Could not find the '[project.optional-dependencies]' table in {pyproject}.") - raise SystemExit(1) - start = header.end() - following = re.search(r"^\[", text[start:], flags=re.MULTILINE) - end = start + (following.start() if following is not None else len(text) - start) - section = text[start:end] - - extra_match = re.search(r"^isaacsim-local\s*=.*$", section, flags=re.MULTILINE) - if extra_match is None: - isaacsim_match = re.search(r"^isaacsim\s*=.*$", section, flags=re.MULTILINE) - insertion = isaacsim_match.end() if isaacsim_match is not None else len(section.rstrip()) - local_extra = ( - "\n# Locally built Isaac Sim ('isaaclab --isaacsim_source'). Local-only, do not commit.\n" + pinned - ) - section = section[:insertion] + local_extra + section[insertion:] - else: - section = section[: extra_match.start()] + pinned + section[extra_match.end() :] - updated = text[:start] + section + text[end:] - if updated != text: - pyproject.write_text(updated, encoding="utf-8") - print_info(f"Created and pinned the 'isaacsim-local' extra to isaacsim=={version}.") - - -def _set_uv_environment() -> None: - """Limit uv's local source-build resolution to the current platform.""" +def _resolve_isaacsim_release_dir(isaacsim_root: Path) -> Path: + """Resolve the platform-specific Isaac Sim release directory.""" machine = platform.machine().lower() - normalized_platforms = { - ("linux", "amd64"): ("linux", "x86_64"), - ("linux", "x86_64"): ("linux", "x86_64"), - ("linux", "aarch64"): ("linux", "aarch64"), - ("linux", "arm64"): ("linux", "aarch64"), - ("win32", "amd64"): ("win32", "AMD64"), - ("win32", "x86_64"): ("win32", "AMD64"), + targets = { + ("linux", "amd64"): "linux-x86_64", + ("linux", "x86_64"): "linux-x86_64", + ("linux", "aarch64"): "linux-aarch64", + ("linux", "arm64"): "linux-aarch64", + ("win32", "amd64"): "windows-x86_64", + ("win32", "x86_64"): "windows-x86_64", } - current_platform = normalized_platforms.get((sys.platform, machine)) - if current_platform is None: - print_error(f"Isaac Sim source wheels are not supported on platform '{sys.platform}' with machine '{machine}'.") - raise SystemExit(1) - - sys_platform, platform_machine = current_platform - marker = f"sys_platform == '{sys_platform}' and platform_machine == '{platform_machine}'" - entry = f"environments = [\n {json.dumps(marker)},\n]" - comment = ( - "# Locally built Isaac Sim wheels are only compatible with this machine's platform.\n" - "# Local-only, do not commit." - ) - - pyproject = ISAACLAB_ROOT / "pyproject.toml" - text = pyproject.read_text(encoding="utf-8") - header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) - if header is None: - print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") + target = targets.get((sys.platform, machine)) + if target is None: + print_error(f"Isaac Sim source builds are not supported on platform '{sys.platform}' with machine '{machine}'.") raise SystemExit(1) - start = header.end() - following = re.search(r"^\[", text[start:], flags=re.MULTILINE) - end = start + (following.start() if following is not None else len(text) - start) - section = text[start:end] - - environment_match = re.search(r"(?:^#.*\n)*^environments\s*=\s*\[(?:[^\]]|\n)*?\]", section, flags=re.MULTILINE) - replacement = f"{comment}\n{entry}" - if environment_match is None: - section = f"\n{replacement}{section}" - else: - section = section[: environment_match.start()] + replacement + section[environment_match.end() :] - pyproject.write_text(text[:start] + section + text[end:], encoding="utf-8") - print_info(f"Limited uv resolution to the local Isaac Sim wheel platform ({marker}).") + return isaacsim_root / "_build" / target / "release" -def _add_isaacsim_local_conflicts() -> None: - """Add local-only conflicts for extras that pin the published Isaac Sim wheel. +def _repoint_source_build_prebundles() -> None: + """Keep Isaac Sim's prebundled packages from shadowing the active environment.""" + # ``install`` imports ``command_vscode_settings`` from this module, so defer this import until + # both command modules are initialized. Reuse the same protection as the legacy installer. + from .install import _repoint_prebundle_packages - A source build has a pre-release local version, whereas these extras require the published - release exactly. The normal project deliberately has no such conflicts; they are needed only - after :func:`_pin_isaacsim_local_extra` changes the local checkout. - """ - pyproject = ISAACLAB_ROOT / "pyproject.toml" - text = pyproject.read_text(encoding="utf-8") - config = tomllib.loads(text) - existing_conflicts = config.get("tool", {}).get("uv", {}).get("conflicts", []) - if not isinstance(existing_conflicts, list): - print_error(f"The 'conflicts' entry in {pyproject} must be an array.") - raise SystemExit(1) - - conflicts: list[list[dict[str, str]]] = [] - for conflict in existing_conflicts: - if not ( - isinstance(conflict, list) - and all(isinstance(term, dict) and isinstance(term.get("extra"), str) for term in conflict) - ): - print_error(f"The 'conflicts' entry in {pyproject} must contain extra selectors.") - raise SystemExit(1) - conflicts.append([{"extra": term["extra"]} for term in conflict]) - - existing_pairs = {frozenset(term["extra"] for term in conflict) for conflict in conflicts} - for extra in ("isaacsim", "teleop", "all"): - pair = frozenset(("isaacsim-local", extra)) - if pair not in existing_pairs: - conflicts.append([{"extra": "isaacsim-local"}, {"extra": extra}]) - - conflict_lines = [] - for conflict in conflicts: - terms = ", ".join(f"{{ extra = {json.dumps(term['extra'])} }}" for term in conflict) - conflict_lines.append(f" [{terms}],") - entry = "conflicts = [\n" + "\n".join(conflict_lines) + "\n]" - header = re.search(r"^\[tool\.uv\]$", text, flags=re.MULTILINE) - if header is None: - print_error(f"Could not find the '[tool.uv]' table in {pyproject}.") - raise SystemExit(1) - start = header.end() - following = re.search(r"^\[", text[start:], flags=re.MULTILINE) - end = start + (following.start() if following is not None else len(text) - start) - section = text[start:end] - conflict_match = re.search(r"^conflicts\s*=\s*\[\n.*?^\]$", section, flags=re.MULTILINE | re.DOTALL) - if conflict_match is None: - section = ( - f"\n# Local source builds cannot co-resolve with extras that pin published Isaac Sim.\n{entry}{section}" - ) - else: - section = section[: conflict_match.start()] + entry + section[conflict_match.end() :] - pyproject.write_text(text[:start] + section + text[end:], encoding="utf-8") - print_info("Added local-only uv conflicts for the pinned 'isaacsim-local' extra.") + _repoint_prebundle_packages() def command_run_docker(args: list[str]) -> None: diff --git a/source/isaaclab/isaaclab/cli/utils.py b/source/isaaclab/isaaclab/cli/utils.py index ced6877c3b10..11f15432c05b 100644 --- a/source/isaaclab/isaaclab/cli/utils.py +++ b/source/isaaclab/isaaclab/cli/utils.py @@ -6,6 +6,7 @@ import os import platform import shutil +import site import subprocess import sys import time @@ -597,7 +598,37 @@ def run_python_command( [subprocess.CompletedProcess] Result returned by ``subprocess.run``. """ - cmd = [extract_python_exe()] + python_exe = extract_python_exe() + cmd = [python_exe] + + # A source build linked at ``_isaac_sim`` must load its live Kit and extension paths, but the + # dependencies managed by uv should still come from the active environment. Isaac Sim's Python + # launcher supports exactly this combination through its ``PYTHONEXE`` override. The shell + # wrappers already configure ``ISAAC_PATH`` before starting this CLI, so only direct invocations + # such as ``uv run isaaclab train`` need to delegate through the launcher here. + command_env = os.environ if env is None else env + configured_isaac_path = command_env.get("ISAAC_PATH") + local_sim = DEFAULT_ISAAC_SIM_PATH + python_launcher = local_sim / ("python.bat" if is_windows() else "python.sh") + isaac_env_active = ( + configured_isaac_path is not None and Path(configured_isaac_path).resolve() == local_sim.resolve() + ) + if local_sim.is_dir() and python_launcher.is_file() and not isaac_env_active: + env = dict(command_env) + env["PYTHONEXE"] = python_exe + source_paths = [ + local_sim / "python_packages", + local_sim / "exts" / "isaacsim.simulation_app", + local_sim / "kit" / "kernel" / "py", + local_sim / "kit" / "plugins" / "bindings-python", + Path(site.getsitepackages()[0]), + ] + existing_pythonpath = env.get("PYTHONPATH") + python_paths = [str(path) for path in source_paths if path.is_dir()] + if existing_pythonpath: + python_paths.append(existing_pythonpath) + env["PYTHONPATH"] = os.pathsep.join(python_paths) + cmd = [str(python_launcher)] if is_module: cmd.append("-m") diff --git a/source/isaaclab/test/cli/test_install.py b/source/isaaclab/test/cli/test_install.py index e2ddb89738b1..9f6e44fb43e3 100644 --- a/source/isaaclab/test/cli/test_install.py +++ b/source/isaaclab/test/cli/test_install.py @@ -19,6 +19,7 @@ extract_python_exe, get_pip_command, run_command, + run_python_command, ) pytestmark = pytest.mark.unit @@ -61,6 +62,47 @@ def test_run_command_retries_a_failed_process(): sleep.assert_called_once_with(3.0) +def test_run_python_command_uses_live_isaac_sim_with_active_python(tmp_path): + """Direct uv launches must combine the live source build with the active Python.""" + local_sim = tmp_path / "_isaac_sim" + local_sim.mkdir() + python_launcher = local_sim / "python.sh" + python_launcher.touch() + active_python = str(tmp_path / ".venv" / "bin" / "python") + + with ( + mock.patch("isaaclab.cli.utils.DEFAULT_ISAAC_SIM_PATH", local_sim), + mock.patch("isaaclab.cli.utils.extract_python_exe", return_value=active_python), + mock.patch("isaaclab.cli.utils.run_command") as run, + mock.patch.dict(os.environ, {}, clear=True), + ): + run_python_command("train.py", ["--task", "Cartpole"]) + + command = run.call_args.args[0] + assert command[0] == str(python_launcher) + assert Path(command[1]).name == "train.py" + assert command[2:] == ["--task", "Cartpole"] + assert run.call_args.kwargs["env"]["PYTHONEXE"] == active_python + + +def test_run_python_command_does_not_wrap_an_active_isaac_sim_environment(tmp_path): + """The legacy wrapper path must not source the same Isaac Sim environment twice.""" + local_sim = tmp_path / "_isaac_sim" + local_sim.mkdir() + (local_sim / "python.sh").touch() + active_python = str(tmp_path / ".venv" / "bin" / "python") + + with ( + mock.patch("isaaclab.cli.utils.DEFAULT_ISAAC_SIM_PATH", local_sim), + mock.patch("isaaclab.cli.utils.extract_python_exe", return_value=active_python), + mock.patch("isaaclab.cli.utils.run_command") as run, + mock.patch.dict(os.environ, {"ISAAC_PATH": str(local_sim)}, clear=True), + ): + run_python_command("script.py", []) + + assert run.call_args.args[0] == [active_python, "script.py"] + + # --------------------------------------------------------------------------- # get_pip_command # --------------------------------------------------------------------------- diff --git a/source/isaaclab/test/cli/test_misc_commands.py b/source/isaaclab/test/cli/test_misc_commands.py index 6ef6d5b66711..abcb8b040108 100644 --- a/source/isaaclab/test/cli/test_misc_commands.py +++ b/source/isaaclab/test/cli/test_misc_commands.py @@ -8,7 +8,6 @@ from unittest import mock import pytest -import tomllib import isaaclab.cli.commands.misc as misc @@ -67,16 +66,15 @@ def test_build_docs_explains_how_to_install_uv(): ] -def test_build_isaacsim_runs_incremental_build_for_existing_checkout(tmp_path): - """The source-build workflow must update an existing Isaac Sim build incrementally.""" +def test_build_isaacsim_links_incremental_build_without_packaging(tmp_path): + """The source workflow must link the live build without creating Python wheels.""" isaacsim_root = tmp_path / "IsaacSim" build_script = isaacsim_root / "build.sh" build_script.parent.mkdir() build_script.touch() - (isaacsim_root / "repo.sh").touch() - wheel_dir = isaacsim_root / "_build" / "packages" / "dist" - wheel_dir.mkdir(parents=True) - (wheel_dir / "isaacsim-6.0.1+local-py3-none-any.whl").touch() + release_dir = isaacsim_root / "_build" / "linux-x86_64" / "release" + release_dir.mkdir(parents=True) + (release_dir / "python.sh").touch() workspace = tmp_path / "IsaacLab" workspace.mkdir() @@ -84,131 +82,41 @@ def test_build_isaacsim_runs_incremental_build_for_existing_checkout(tmp_path): with ( mock.patch.object(misc, "ISAACLAB_ROOT", workspace), mock.patch.object(misc, "run_command") as run_command, - mock.patch.object(misc, "_set_uv_find_links"), - mock.patch.object(misc, "_set_uv_environment"), - mock.patch.object(misc, "_pin_isaacsim_local_extra"), - mock.patch.object(misc, "_add_isaacsim_local_conflicts"), - mock.patch("shutil.which", return_value=None), + mock.patch.object(misc, "_repoint_source_build_prebundles") as repoint_prebundles, + mock.patch.object(misc.sys, "platform", "linux"), + mock.patch.object(misc.platform, "machine", return_value="x86_64"), ): misc.command_build_isaacsim(str(isaacsim_root)) - assert run_command.call_args_list == [ - mock.call([str(build_script)], cwd=isaacsim_root), - mock.call([str(isaacsim_root / "repo.sh"), "python_package", "--create"], cwd=isaacsim_root), - mock.call([str(isaacsim_root / "repo.sh"), "comment_archive_deps"], cwd=isaacsim_root), - mock.call([str(isaacsim_root / "repo.sh"), "python_package", "--wheel"], cwd=isaacsim_root), - ] - - -def test_build_isaacsim_preserves_multiline_find_links(tmp_path): - """The source-build workflow must retain existing uv wheel indexes.""" - pyproject = tmp_path / "pyproject.toml" - pyproject.write_text( - '[tool.uv]\nfind-links = [\n "https://example.com/wheels",\n "local-wheels",\n]\n', - encoding="utf-8", - ) - - with mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path): - misc._set_uv_find_links("_isaac_sim_wheels") - misc._set_uv_find_links("_isaac_sim_wheels") - - assert tomllib.loads(pyproject.read_text(encoding="utf-8"))["tool"]["uv"]["find-links"] == [ - "https://example.com/wheels", - "local-wheels", - "_isaac_sim_wheels", - ] - - -def test_build_isaacsim_creates_and_updates_local_extra(tmp_path): - """The source-build workflow must generate its local-only optional dependency.""" - pyproject = tmp_path / "pyproject.toml" - pyproject.write_text( - '[project.optional-dependencies]\nisaacsim = ["isaacsim[all,extscache]==6.0.1.0"]\n\n[tool.uv]\n', - encoding="utf-8", - ) - - with mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path): - misc._pin_isaacsim_local_extra("6.0.1rc7+develop.0.local") - misc._pin_isaacsim_local_extra("6.0.1rc8+develop.1.local") - - extras = tomllib.loads(pyproject.read_text(encoding="utf-8"))["project"]["optional-dependencies"] - assert extras == { - "isaacsim": ["isaacsim[all,extscache]==6.0.1.0"], - "isaacsim-local": ["isaacsim[all,extscache]==6.0.1rc8+develop.1.local"], - } + run_command.assert_called_once_with([str(build_script)], cwd=isaacsim_root) + repoint_prebundles.assert_called_once_with() + assert (workspace / "_isaac_sim").resolve() == release_dir @pytest.mark.parametrize( - ("sys_platform", "machine", "expected"), + ("sys_platform", "machine", "target"), [ - ("linux", "x86_64", "sys_platform == 'linux' and platform_machine == 'x86_64'"), - ("linux", "aarch64", "sys_platform == 'linux' and platform_machine == 'aarch64'"), - ("win32", "AMD64", "sys_platform == 'win32' and platform_machine == 'AMD64'"), + ("linux", "x86_64", "linux-x86_64"), + ("linux", "aarch64", "linux-aarch64"), + ("win32", "AMD64", "windows-x86_64"), ], ) -def test_build_isaacsim_limits_uv_resolution_to_current_platform(tmp_path, sys_platform, machine, expected): - """The local lock must only resolve for the platform that produced the wheels.""" - pyproject = tmp_path / "pyproject.toml" - pyproject.write_text( - """[tool.uv] -# Platforms supported by the committed lock. -environments = [ - "sys_platform == 'linux' and platform_machine == 'x86_64'", - "sys_platform == 'linux' and platform_machine == 'aarch64'", - "sys_platform == 'win32' and platform_machine == 'AMD64'", -] - -[tool.other] -environments = ["preserve-me"] -""", - encoding="utf-8", - ) - +def test_build_isaacsim_resolves_release_directory(tmp_path, sys_platform, machine, target): + """The source workflow must select the current platform's live release tree.""" with ( - mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path), mock.patch.object(misc.sys, "platform", sys_platform), mock.patch.object(misc.platform, "machine", return_value=machine), ): - misc._set_uv_environment() - misc._set_uv_environment() + result = misc._resolve_isaacsim_release_dir(tmp_path) - config = tomllib.loads(pyproject.read_text(encoding="utf-8")) - assert config["tool"]["uv"]["environments"] == [expected] - assert config["tool"]["other"]["environments"] == ["preserve-me"] - assert pyproject.read_text(encoding="utf-8").count("Local-only, do not commit.") == 1 + assert result == tmp_path / "_build" / target / "release" -def test_build_isaacsim_rejects_unsupported_uv_platform(tmp_path): - """The source-build workflow must reject platforms without supported Isaac Sim wheels.""" - pyproject = tmp_path / "pyproject.toml" - pyproject.write_text("[tool.uv]\n", encoding="utf-8") - +def test_build_isaacsim_rejects_unsupported_platform(tmp_path): + """The source workflow must reject platforms Isaac Sim cannot build.""" with ( - mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path), mock.patch.object(misc.sys, "platform", "darwin"), mock.patch.object(misc.platform, "machine", return_value="arm64"), pytest.raises(SystemExit, match="1"), ): - misc._set_uv_environment() - - assert pyproject.read_text(encoding="utf-8") == "[tool.uv]\n" - - -def test_build_isaacsim_adds_local_conflicts_without_duplicates(tmp_path): - """A local Isaac Sim pin must split from extras using the published wheel.""" - pyproject = tmp_path / "pyproject.toml" - pyproject.write_text( - '[tool.uv]\nconflicts = [\n [{ extra = "other" }, { extra = "extra" }],\n]\n', - encoding="utf-8", - ) - - with mock.patch.object(misc, "ISAACLAB_ROOT", tmp_path): - misc._add_isaacsim_local_conflicts() - misc._add_isaacsim_local_conflicts() - - assert tomllib.loads(pyproject.read_text(encoding="utf-8"))["tool"]["uv"]["conflicts"] == [ - [{"extra": "other"}, {"extra": "extra"}], - [{"extra": "isaacsim-local"}, {"extra": "isaacsim"}], - [{"extra": "isaacsim-local"}, {"extra": "teleop"}], - [{"extra": "isaacsim-local"}, {"extra": "all"}], - ] + misc._resolve_isaacsim_release_dir(tmp_path)