Ovphysx 0510 & Isaacim rc5 pins on develop

docs/_extensions/isaaclab_docs.py

@@ -281,11 +281,14 @@ class IsaacLabOvrtxInstall(SphinxDirective):
     has_content = False
 
     def run(self) -> list[nodes.Node]:
+        # Mirror resolve-ov-pins / extras: digit-leading values are exact pins
+        # (including ``0.4.1.*``); otherwise the value is already a full specifier.
         spec = self.config.ovrtx_spec
+        req = f"=={spec}" if spec and spec[0].isdigit() else spec
         content = f"""\
 .. code-block:: bash
 
-   pip install "ovrtx{spec}"
+   pip install "ovrtx{req}"
 """
         return _parse_rst(self, content)
 

pyproject.toml

@@ -115,7 +115,7 @@ tetrahedralization = ["pytetwild[all]>=0.3.0,<0.4"]
 video = ["moviepy>=1.0.3,<2.0.0.dev0"]
 
 importers = [
-    "isaacsim-asset-isolated>=6.0,<6.1",
+    "isaacsim-asset-isolated==6.1.0rc17",
     "tinyobjloader==2.0.0rc13",
 ]
 
@@ -160,7 +160,7 @@ rerun = [
     "pyarrow==22.0.0",  # match rerun-sdk's Arrow stack
 ]
 
-isaacsim = ["isaacsim[all,extscache]==6.0.1.0"]
+isaacsim = ["isaacsim[all,extscache]==6.1.0rc17"]
 
 ov = ["ovphysx==0.5.10", "ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]
 ovphysx = ["ovphysx==0.5.10", "ovstage==0.1.1.355824"]
@@ -174,7 +174,7 @@ mimic = [
 ]
 
 teleop = [
-    "isaacsim[all,extscache]==6.0.1.0",
+    "isaacsim[all,extscache]==6.1.0rc17",
     "isaaclab-teleop",
     "isaaclab-mimic",
     "isaacteleop[retargeters,ui,cloudxr]~=1.4.0 ; platform_system == 'Linux' and platform_machine == 'x86_64'",
@@ -204,7 +204,7 @@ 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 = "6.1.0rc17"
 usd_exchange = "2.3.0"
 torch = "2.11.0"
 torchvision = "0.26.0"
@@ -354,6 +354,16 @@ markers = [
 
 # Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.
 # Pip still needs "--extra-index-url https://pypi.nvidia.com".
+
+# 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]]
 url = "https://pypi.nvidia.com"
 explicit = false

source/isaaclab/changelog.d/ovphysx-0510-pins.skip

@@ -0,0 +1,2 @@
+Only the pinned OvPhysX version asserted by ``test_version_single_source_matches_literal_pins``
+changed; there is no user-visible behaviour change in ``isaaclab``.

source/isaaclab/test/cli/test_source_package_metadata.py

@@ -65,9 +65,11 @@ def test_standalone_importers_are_opt_in():
         pyproject = tomllib.load(f)
 
     project = pyproject["project"]
-    assert "isaacsim-asset-isolated>=6.0,<6.1" not in project["dependencies"]
+    versions = pyproject["tool"]["isaaclab"]["versions"]
+    importer_pin = f"isaacsim-asset-isolated=={versions['isaacsim']}"
+    assert importer_pin not in project["dependencies"]
     assert "tinyobjloader==2.0.0rc13" not in project["dependencies"]
     assert project["optional-dependencies"]["importers"] == [
-        "isaacsim-asset-isolated>=6.0,<6.1",
+        importer_pin,
         "tinyobjloader==2.0.0rc13",
     ]

source/isaaclab_ov/changelog.d/ovphysx-0510-pins.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* Updated OvPhysX to 0.5.10 and the OpenUSD stage bindings to ovstage 0.1.1.355824.
+  The two move together: OvPhysX 0.5.10 requires that exact ovstage build, so bumping
+  it alone leaves the environment unresolvable.

source/isaaclab_ov/changelog.d/ovrtx-041-pin.rst

@@ -0,0 +1,7 @@
+Changed
+^^^^^^^
+
+* Updated the optional OVRTX runtime dependency to ``ovrtx==0.4.1.364340``,
+  resolved from ``pypi.nvidia.com``. Reinstall the OVRTX extra with
+  ``uv run --extra ovrtx`` (or ``./isaaclab.sh -i 'ov[ovrtx]'``) to pick up
+  that build.