Pin ovphysx 0.5.10 and ovrtx 0.4.1 from Artifactory

pyproject.toml

@@ -146,10 +146,10 @@ rerun = [
     "pyarrow==22.0.0",  # match rerun-sdk's Arrow stack
 ]
 
-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"]
+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"]
 
 mimic = [
     "isaaclab-mimic",
@@ -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'",
@@ -192,13 +192,13 @@ 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"
-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 +344,22 @@ 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
+
+# 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"
@@ -404,7 +420,8 @@ 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 }

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.

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():

source/isaaclab_ov/changelog.d/klakhi-ov-runtime-pin-bump.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* Changed the OVRTX runtime pin to ``ovrtx>=0.4.1,<0.5.0`` and the OVStage pin to
+  ``ovstage==0.1.1.355824``, both resolved from the internal Omniverse PyPI index.
+  Reinstall the ``ovrtx`` or ``ov`` extra to pick up the new wheels.

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]

source/isaaclab_ovphysx/changelog.d/klakhi-ov-runtime-pin-bump.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* Changed the OVPhysX runtime pin to ``ovphysx==0.5.10`` and the OVStage pin to
+  ``ovstage==0.1.1.355824``, which OVPhysX 0.5.10 requires. Reinstall the
+  ``ovphysx`` or ``ov`` extra to pick up the new wheels.

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]