From 229d5b98c557386e95816abebf72659a9de12517 Mon Sep 17 00:00:00 2001 From: klakhi Date: Fri, 7 Aug 2026 10:35:15 +0530 Subject: [PATCH 1/3] Pin ovphysx 0.5.10 and ovrtx 0.4.1 from Artifactory Route OV runtime wheels through ct-omniverse-pypi-local and bump ovstage to 0.1.1.355824 required by ovphysx 0.5.10. --- pyproject.toml | 22 ++++-- .../test/cli/test_uv_run_pyproject.py | 16 +++-- source/isaaclab_ov/pyproject.toml | 2 +- source/isaaclab_ovphysx/pyproject.toml | 2 +- uv.lock | 68 +++++++++---------- 5 files changed, 63 insertions(+), 47 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index aaea776b1c51..ed9af11a5c46 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -147,9 +147,9 @@ rerun = [ ] isaacsim = ["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"] -ovrtx = ["ovrtx>=0.4.0,<0.5.0", "ovstage==0.1.0.346039"] +ov = ["ovphysx==0.5.10", "ovrtx>=0.4.1,<0.5.0", "ovstage==0.1.1.355824"] +ovphysx = ["ovphysx==0.5.10", "ovstage==0.1.1.355824"] +ovrtx = ["ovrtx>=0.4.1,<0.5.0", "ovstage==0.1.1.355824"] mimic = [ "isaaclab-mimic", @@ -196,9 +196,9 @@ isaacsim = "6.0.1.0" torch = "2.11.0" torchvision = "0.26.0" torchaudio = "2.11.0" -ovphysx = "0.5.9" -ovrtx = ">=0.4.0,<0.5.0" -ovstage = "0.1.0.346039" +ovphysx = "0.5.10" +ovrtx = ">=0.4.1,<0.5.0" +ovstage = "0.1.1.355824" newton = "release-1.5" warp = "1.16.0" @@ -344,6 +344,13 @@ markers = [ url = "https://pypi.nvidia.com" explicit = false +# Internal Omniverse PyPI (ct-omniverse-pypi-local). Hosts pre-release ovphysx/ovrtx +# builds not yet on public PyPI / pypi.nvidia.com (e.g. ovphysx 0.5.10, ovrtx 0.4.1.*). +[[tool.uv.index]] +name = "ct-omniverse-pypi" +url = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" +explicit = true + [[tool.uv.index]] name = "pypi-public" url = "https://pypi.org/simple" @@ -404,7 +411,8 @@ package = false [tool.uv.sources] omniverseclient = { index = "pypi-public" } -ovphysx = { index = "pypi-public" } +ovphysx = { index = "ct-omniverse-pypi" } +ovrtx = { index = "ct-omniverse-pypi" } ovstage = { index = "pypi-public" } isaaclab = { path = "source/isaaclab", editable = true } "isaaclab-assets" = { path = "source/isaaclab_assets", editable = true } diff --git a/source/isaaclab/test/cli/test_uv_run_pyproject.py b/source/isaaclab/test/cli/test_uv_run_pyproject.py index 57b39fd3a2fe..48da8c31cfde 100644 --- a/source/isaaclab/test/cli/test_uv_run_pyproject.py +++ b/source/isaaclab/test/cli/test_uv_run_pyproject.py @@ -139,7 +139,7 @@ def test_version_single_source_matches_literal_pins(): optional = pyproject["project"]["optional-dependencies"] overrides = pyproject["tool"]["uv"]["override-dependencies"] - assert versions["ovphysx"] == "0.5.9" + assert versions["ovphysx"] == "0.5.10" assert "omniverseclient==2.72.3" in dependencies # Isaac Sim extra mirrors the table, and the teleop extra repeats the same pin. @@ -184,8 +184,8 @@ def spec(package: str) -> str: assert warp_spec in dependencies -def test_public_ov_packages_use_public_pypi_index(): - """Public OV packages must not resolve from the NVIDIA package index.""" +def test_ov_package_index_routing(): + """OV runtime wheels resolve from the declared uv indexes.""" pyproject = _root_pyproject() indexes = {index.get("name"): index for index in pyproject["tool"]["uv"]["index"]} sources = pyproject["tool"]["uv"]["sources"] @@ -195,8 +195,16 @@ def test_public_ov_packages_use_public_pypi_index(): "url": "https://pypi.org/simple", "explicit": True, } - for package in ("omniverseclient", "ovphysx", "ovstage"): + assert indexes["ct-omniverse-pypi"] == { + "name": "ct-omniverse-pypi", + "url": "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple", + "explicit": True, + } + for package in ("omniverseclient", "ovstage"): assert sources[package] == {"index": "pypi-public"} + # Pre-release OV runtime wheels live on the internal Omniverse PyPI. + for package in ("ovphysx", "ovrtx"): + assert sources[package] == {"index": "ct-omniverse-pypi"} def test_uv_run_declares_no_extra_conflicts(): diff --git a/source/isaaclab_ov/pyproject.toml b/source/isaaclab_ov/pyproject.toml index 1bfe1e0ed808..d02891809236 100644 --- a/source/isaaclab_ov/pyproject.toml +++ b/source/isaaclab_ov/pyproject.toml @@ -19,7 +19,7 @@ requires-python = ">=3.12" # Only interpackage dependencies should go here. dependencies = [ "isaaclab", - "ovstage==0.1.0.346039", + "ovstage==0.1.1.355824", ] [tool.uv.sources] diff --git a/source/isaaclab_ovphysx/pyproject.toml b/source/isaaclab_ovphysx/pyproject.toml index c29930b86ad8..d4c0fa783d9f 100644 --- a/source/isaaclab_ovphysx/pyproject.toml +++ b/source/isaaclab_ovphysx/pyproject.toml @@ -19,7 +19,7 @@ requires-python = ">=3.12" # Only interpackage dependencies should go here. dependencies = [ "isaaclab", - "ovstage==0.1.0.346039", + "ovstage==0.1.1.355824", ] [tool.uv.sources] diff --git a/uv.lock b/uv.lock index 427a0541dbb4..1598607b0594 100644 --- a/uv.lock +++ b/uv.lock @@ -1765,7 +1765,7 @@ wheels = [ [[package]] name = "isaaclab" -version = "15.4.0" +version = "15.6.0" source = { editable = "source/isaaclab" } [[package]] @@ -1785,7 +1785,7 @@ requires-dist = [ [[package]] name = "isaaclab-contrib" -version = "1.1.0" +version = "1.3.0" source = { editable = "source/isaaclab_contrib" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2032,13 +2032,13 @@ requires-dist = [ { name = "onnx", specifier = ">=1.18.0" }, { name = "onnxscript", specifier = ">=0.5" }, { name = "onnxscript", marker = "extra == 'rsl-rl'", specifier = ">=0.5" }, - { name = "ovphysx", marker = "extra == 'ov'", specifier = "==0.5.9", index = "https://pypi.org/simple" }, - { name = "ovphysx", marker = "extra == 'ovphysx'", specifier = "==0.5.9", index = "https://pypi.org/simple" }, - { name = "ovrtx", marker = "extra == 'ov'", specifier = ">=0.4.0,<0.5.0" }, - { name = "ovrtx", marker = "extra == 'ovrtx'", specifier = ">=0.4.0,<0.5.0" }, - { name = "ovstage", marker = "extra == 'ov'", specifier = "==0.1.0.346039", index = "https://pypi.org/simple" }, - { name = "ovstage", marker = "extra == 'ovphysx'", specifier = "==0.1.0.346039", index = "https://pypi.org/simple" }, - { name = "ovstage", marker = "extra == 'ovrtx'", specifier = "==0.1.0.346039", index = "https://pypi.org/simple" }, + { name = "ovphysx", marker = "extra == 'ov'", specifier = "==0.5.10", index = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" }, + { name = "ovphysx", marker = "extra == 'ovphysx'", specifier = "==0.5.10", index = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" }, + { name = "ovrtx", marker = "extra == 'ov'", specifier = ">=0.4.1,<0.5.0", index = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" }, + { name = "ovrtx", marker = "extra == 'ovrtx'", specifier = ">=0.4.1,<0.5.0", index = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" }, + { name = "ovstage", marker = "extra == 'ov'", specifier = "==0.1.1.355824", index = "https://pypi.org/simple" }, + { name = "ovstage", marker = "extra == 'ovphysx'", specifier = "==0.1.1.355824", index = "https://pypi.org/simple" }, + { name = "ovstage", marker = "extra == 'ovrtx'", specifier = "==0.1.1.355824", index = "https://pypi.org/simple" }, { name = "packaging" }, { name = "pandas", marker = "extra == 'rlinf'" }, { name = "peft", marker = "extra == 'rlinf'", specifier = ">=0.17.0" }, @@ -2115,7 +2115,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-mimic" -version = "2.0.3" +version = "2.0.4" source = { editable = "source/isaaclab_mimic" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2132,7 +2132,7 @@ requires-dist = [ [[package]] name = "isaaclab-newton" -version = "3.0.0" +version = "3.2.1" source = { editable = "source/isaaclab_newton" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2143,7 +2143,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-ov" -version = "0.10.4" +version = "0.10.5" source = { editable = "source/isaaclab_ov" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2153,12 +2153,12 @@ dependencies = [ [package.metadata] requires-dist = [ { name = "isaaclab", editable = "source/isaaclab" }, - { name = "ovstage", specifier = "==0.1.0.346039" }, + { name = "ovstage", specifier = "==0.1.1.355824" }, ] [[package]] name = "isaaclab-ovphysx" -version = "8.2.4" +version = "8.3.0" source = { editable = "source/isaaclab_ovphysx" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2168,12 +2168,12 @@ dependencies = [ [package.metadata] requires-dist = [ { name = "isaaclab", editable = "source/isaaclab" }, - { name = "ovstage", specifier = "==0.1.0.346039" }, + { name = "ovstage", specifier = "==0.1.1.355824" }, ] [[package]] name = "isaaclab-physx" -version = "4.1.0" +version = "4.2.1" source = { editable = "source/isaaclab_physx" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2195,7 +2195,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-rl" -version = "0.13.0" +version = "0.14.0" source = { editable = "source/isaaclab_rl" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2212,7 +2212,7 @@ requires-dist = [ [[package]] name = "isaaclab-tasks" -version = "13.0.0" +version = "15.0.0" source = { editable = "source/isaaclab_tasks" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2242,7 +2242,7 @@ requires-dist = [ [[package]] name = "isaaclab-teleop" -version = "0.7.1" +version = "0.8.0" source = { editable = "source/isaaclab_teleop" } dependencies = [ { name = "isaaclab", 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')" }, @@ -2253,7 +2253,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-visualizers" -version = "1.4.0" +version = "1.5.1" source = { editable = "source/isaaclab_visualizers" } dependencies = [ { name = "isaaclab", 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')" }, @@ -3957,36 +3957,36 @@ wheels = [ [[package]] name = "ovphysx" -version = "0.5.9" -source = { registry = "https://pypi.org/simple" } +version = "0.5.10" +source = { registry = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" } dependencies = [ { name = "ovstage", 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')" }, { name = "packaging", 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')" }, ] wheels = [ - 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Reinstall the + ``ovphysx`` or ``ov`` extra to pick up the new wheels. From 5961e3fa721b2121478e55f0908b17b64a5b6c47 Mon Sep 17 00:00:00 2001 From: klakhi Date: Mon, 10 Aug 2026 14:32:53 +0530 Subject: [PATCH 3/3] Pin Isaac Sim 6.1.0rc3 from the internal Artifactory index Route isaacsim and its isaacsim-* subpackages through sw-isaacsim-pypi-local, which carries the release candidate that pypi.nvidia.com does not publish. The index is left non-explicit because the isaacsim[all,extscache] metapackage pins every subpackage to the same version and only this index serves them. --- pyproject.toml | 15 +- .../klakhi-ov-runtime-pin-bump.rst | 11 + .../klakhi-ov-runtime-pin-bump.skip | 0 uv.lock | 328 ++++++++++-------- 4 files changed, 202 insertions(+), 152 deletions(-) create mode 100644 source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.rst delete mode 100644 source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.skip diff --git a/pyproject.toml b/pyproject.toml index ed9af11a5c46..992619265718 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -146,7 +146,7 @@ rerun = [ "pyarrow==22.0.0", # match rerun-sdk's Arrow stack ] -isaacsim = ["isaacsim[all,extscache]==6.0.1.0"] +isaacsim = ["isaacsim[all,extscache]==6.1.0rc3+release.45488.8127a152.gl"] ov = ["ovphysx==0.5.10", "ovrtx>=0.4.1,<0.5.0", "ovstage==0.1.1.355824"] ovphysx = ["ovphysx==0.5.10", "ovstage==0.1.1.355824"] ovrtx = ["ovrtx>=0.4.1,<0.5.0", "ovstage==0.1.1.355824"] @@ -158,7 +158,7 @@ mimic = [ ] teleop = [ - "isaacsim[all,extscache]==6.0.1.0", + "isaacsim[all,extscache]==6.1.0rc3+release.45488.8127a152.gl", "isaaclab-teleop", "isaaclab-mimic", "isaacteleop[retargeters,ui,cloudxr]~=1.4.0 ; platform_system == 'Linux' and platform_machine == 'x86_64'", @@ -192,7 +192,7 @@ all = [ # the extras above, and [tool.uv].override-dependencies mirror these values; # ``test_version_single_source`` fails CI if they drift. [tool.isaaclab.versions] -isaacsim = "6.0.1.0" +isaacsim = "6.1.0rc3+release.45488.8127a152.gl" torch = "2.11.0" torchvision = "0.26.0" torchaudio = "2.11.0" @@ -351,6 +351,15 @@ name = "ct-omniverse-pypi" url = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi-local/simple" explicit = true +# Internal Isaac Sim PyPI (sw-isaacsim-pypi-local). Hosts the release-candidate builds +# not yet on pypi.nvidia.com (e.g. 6.1.0rc3+release.45488.8127a152.gl). Left non-explicit +# because the ``isaacsim[all,extscache]`` metapackage pins every ``isaacsim-*`` subpackage +# to the same version, and only this index carries them; the repo hosts nothing else. +[[tool.uv.index]] +name = "sw-isaacsim-pypi" +url = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/sw-isaacsim-pypi-local/simple" +explicit = false + [[tool.uv.index]] name = "pypi-public" url = "https://pypi.org/simple" diff --git a/source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.rst b/source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.rst new file mode 100644 index 000000000000..ef86b6d1acf3 --- /dev/null +++ b/source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.rst @@ -0,0 +1,11 @@ +Changed +^^^^^^^ + +* Changed the Isaac Sim pin to ``6.1.0rc3+release.45488.8127a152.gl``, served by the + internal Isaac Sim PyPI index. ``uv sync`` and ``uv run`` pick it up from the declared + index; pip-based installs must add ``--extra-index-url`` for that index, since the + release candidate is not published on ``pypi.nvidia.com``. +* Changed the OV runtime pins to ``ovphysx==0.5.10``, ``ovrtx>=0.4.1,<0.5.0``, and + ``ovstage==0.1.1.355824``, with ``ovphysx`` and ``ovrtx`` routed through the internal + Omniverse PyPI index. Reinstall the ``ov``, ``ovphysx``, or ``ovrtx`` extra to pick up + the new wheels. diff --git a/source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.skip b/source/isaaclab/changelog.d/klakhi-ov-runtime-pin-bump.skip deleted file mode 100644 index e69de29bb2d1..000000000000 diff --git a/uv.lock b/uv.lock index 1598607b0594..0b65bfdc0045 100644 --- a/uv.lock +++ b/uv.lock @@ -2014,8 +2014,8 @@ 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 = "==6.0.1.0" }, - { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'teleop'", specifier = "==6.0.1.0" }, + { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'isaacsim'", specifier = "==6.1.0rc3+release.45488.8127a152.gl" }, + { name = "isaacsim", extras = ["all", "extscache"], marker = "extra == 'teleop'", specifier = "==6.1.0rc3+release.45488.8127a152.gl" }, { name = "isaacteleop", extras = ["retargeters", "ui", "cloudxr"], marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'teleop'", specifier = "~=1.4.0" }, { name = "junitparser", marker = "extra == 'test'" }, { name = "lazy-loader", specifier = ">=0.4" }, @@ -2264,15 +2264,15 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaacsim" -version = "6.0.1.0" -source = { registry = "https://pypi.nvidia.com/" } +version = "6.1.0rc3+release.45488.8127a152.gl" +source = { registry = "https://artifactory.pdx.nvidia.com/artifactory/api/pypi/sw-isaacsim-pypi-local/simple" } dependencies = [ { name = "isaacsim-kernel", marker = "(platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') 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