[Backport release/3.0.0] Bundle selected develop PRs

.github/actions/_lib/compute-deps-hash/action.yml

@@ -54,6 +54,7 @@ runs:
           isaaclab.sh
           environment.yml
           source/isaaclab/isaaclab/cli
+          tools/wheel_builder/uv-overrides.txt
           # Pins the CI pytest deps layered onto the image after build, so a
           # change to that list must invalidate the deps cache.
           .github/actions/docker-build/action.yml

.github/workflows/kitless-docker.yml

@@ -59,6 +59,7 @@ jobs:
           ^source/isaaclab/isaaclab/test/fixtures/ :: Isolated asset fixture implementation
           ^source/isaaclab_(physx|newton|ov)/isaaclab_.*/test/fixtures/ :: Backend fixture implementation
           ^source/isaaclab/test/benchmark/test_asset_suite_runtime_semantics\.py$ :: Kit-less pytest subset
+          ^tools/wheel_builder/uv-overrides\.txt$ :: Importer dependency overrides
           ^\.github/workflows/kitless-docker\.yml$ :: This workflow file
           ^\.github/actions/detect-changes/ :: Change-detection action
           ^\.github/actions/_lib/compute-deps-hash/ :: Dependency-cache identity

.github/workflows/license-check.yaml

@@ -61,12 +61,8 @@ jobs:
         ACCEPT_EULA: Y
         ISAACSIM_ACCEPT_EULA: YES
       run: |
-        # ``all`` covers every backend (Isaac Sim included), RL library, and visualizer.
-        # ``rlinf`` and ``mimic`` are outside ``all``, so name them to keep them scanned.
-        # No extras conflict, so this is a single resolution -- Isaac Sim no longer needs
-        # an imperative install after the sync.
         bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" \
-          uv sync --extra all --extra test --extra rlinf --extra mimic
+          uv sync --extra all --extra isaacsim --extra test --extra rlinf --extra mimic
         # ``[tool.uv.pip] prerelease = "allow"`` lets unpinned tools float onto
         # prereleases. pip-licenses 6.0.0a1 reports an empty License where 5.x reports
         # ``UNKNOWN``, which license-exceptions.json keys on, and joins multi-license

.github/workflows/wheel.yml

@@ -194,10 +194,16 @@ jobs:
             exit 1
           fi
 
+          bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv pip install --dry-run "${wheel}[all]"
+
+          bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv pip install \
+            --dry-run \
+            --overrides "$overrides" \
+            "${wheel}[importers]"
+
           bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" uv pip install \
             --dry-run \
             --overrides "$overrides" \
             --extra-index-url https://pypi.nvidia.com \
             --index-strategy unsafe-best-match \
-            --prerelease=allow \
-            "${wheel}[all]"
+            "${wheel}[isaacsim]"

CONTRIBUTORS.md

@@ -37,6 +37,7 @@ Guidelines for modifications:
 * Mayank Mittal
 * Mike Yan Michelis
 * Mikhail Yurasov
+* Mustafa Haiderbhai
 * Nikita Rudin
 * Octi (Zhengyu) Zhang
 * Ossama Ahmed

docker/Dockerfile.kitless

@@ -46,17 +46,24 @@ WORKDIR ${ISAACLAB_PATH}
 COPY pyproject.toml uv.lock VERSION LICENSE LICENSE-mimic README.md ./
 COPY source/ source/
 COPY isaaclab.sh ./
+COPY tools/wheel_builder/uv-overrides.txt tools/wheel_builder/uv-overrides.txt
 
 # Same entry point as Dockerfile.base. The selectors are explicit because a bare
 # --install excludes `ov` and `visualizer`; both take `[all]` here. The standalone
-# importers are core dependencies. The venv pins python3.12 to match the runtime
-# stage's libpython3.12, and isaaclab.sh resolves VIRTUAL_ENV first.
+# importers are explicit wheel extras, so install them with the resolver overrides
+# that preserve Isaac Lab's dependency versions. The venv pins python3.12 to match
+# the runtime stage's libpython3.12, and isaaclab.sh resolves VIRTUAL_ENV first.
 RUN uv venv --python /usr/bin/python3.12 --seed --no-managed-python "${VIRTUAL_ENV}" \
  && chmod +x "${ISAACLAB_PATH}/isaaclab.sh" \
  && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all] \
+ && uv pip install \
+      --overrides "${ISAACLAB_PATH}/tools/wheel_builder/uv-overrides.txt" \
+      "isaacsim-asset-isolated>=6.0,<6.1" \
+      "tinyobjloader==2.0.0rc13" \
  && python -c "import importlib.metadata as m; \
       names = {d.metadata['Name'].lower() for d in m.distributions()}; \
       assert 'isaacsim' not in names; \
+      assert 'isaacsim-asset-isolated' in names; \
       assert 'ovphysx' in names; \
       assert 'ovrtx' in names; \
       assert 'viser' in names; \

docker/test/test_dockerfile_nonroot.py

@@ -8,6 +8,7 @@
 from pathlib import Path
 
 import pytest
+import tomllib
 
 REPO_ROOT = Path(__file__).resolve().parents[2]
 DOCKER_DIR = REPO_ROOT / "docker"
@@ -110,17 +111,23 @@ def test_ros2_dockerfile_restores_non_root_runtime_user():
 
 
 def test_kitless_dockerfile_installs_newton_rl_ov_and_visualizers_without_isaac_sim():
-    """The kit-less image installs Newton, both OV runtimes, every Newton viewer, and the RL frameworks."""
+    """The kit-less image installs its runtime features and importers without the full Isaac Sim runtime."""
     dockerfile_text = (DOCKER_DIR / "Dockerfile.kitless").read_text(encoding="utf-8")
+    with (REPO_ROOT / "pyproject.toml").open("rb") as file:
+        importer_requirements = tomllib.load(file)["project"]["optional-dependencies"]["importers"]
 
     assert (
         "FROM ghcr.io/astral-sh/uv:0.9.25@sha256:13e233d08517abdafac4ead26c16d881cd77504a2c40c38c905cf3a0d70131a6 AS uv"
         in dockerfile_text
     )
     # Installed through the same entry point as Dockerfile.base/Dockerfile.curobo.
     assert '"${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all]' in dockerfile_text
+    assert "COPY tools/wheel_builder/uv-overrides.txt tools/wheel_builder/uv-overrides.txt" in dockerfile_text
+    assert '--overrides "${ISAACLAB_PATH}/tools/wheel_builder/uv-overrides.txt"' in dockerfile_text
+    assert all(f'"{requirement}"' in dockerfile_text for requirement in importer_requirements)
     assert "COPY isaaclab.sh ./" in dockerfile_text
     assert "'isaacsim' not in names" in dockerfile_text
+    assert "'isaacsim-asset-isolated' in names" in dockerfile_text
     assert "'ovphysx' in names" in dockerfile_text
     assert "'ovrtx' in names" in dockerfile_text
     assert "'viser' in names" in dockerfile_text

docs/_extensions/isaaclab_docs.py

@@ -203,8 +203,8 @@ def run(self) -> list[nodes.Node]:
         return _parse_rst(self, content)
 
 
-class IsaacLabUvWheelInstall(SphinxDirective):
-    """Render the uv wheel installation command for the current documentation version."""
+class IsaacLabUvIsaacSimWheelInstall(SphinxDirective):
+    """Render the Isaac Lab wheel command for the current Isaac Sim version."""
 
     has_content = False
 
@@ -216,10 +216,29 @@ def run(self) -> list[nodes.Node]:
         content = f"""\
 .. code-block:: bash
 
-   uv pip install "isaaclab[all]" \\
+   uv pip install "isaaclab[isaacsim]" \\
      --overrides "{overrides_url}" \\
      --extra-index-url https://pypi.nvidia.com \\
-     --index-strategy unsafe-best-match --prerelease=allow
+     --index-strategy unsafe-best-match
+"""
+        return _parse_rst(self, content)
+
+
+class IsaacLabUvImportersWheelInstall(SphinxDirective):
+    """Render the Isaac Lab standalone importer command with resolver overrides."""
+
+    has_content = False
+
+    def run(self) -> list[nodes.Node]:
+        branch = _source_branch(self.config)
+        overrides_url = (
+            f"https://raw.githubusercontent.com/isaac-sim/IsaacLab/{branch}/tools/wheel_builder/uv-overrides.txt"
+        )
+        content = f"""\
+.. code-block:: bash
+
+   uv pip install "isaaclab[importers]" \\
+     --overrides "{overrides_url}"
 """
         return _parse_rst(self, content)
 
@@ -323,7 +342,8 @@ def setup(app):
     app.add_directive("isaaclab-kitless-install-snippet", IsaacLabKitlessInstallSnippet)
     app.add_directive("isaaclab-quickstart-install", IsaacLabQuickstartInstall)
     app.add_directive("isaaclab-isaacsim-install", IsaacLabIsaacSimInstall)
-    app.add_directive("isaaclab-uv-wheel-install", IsaacLabUvWheelInstall)
+    app.add_directive("isaaclab-uv-isaacsim-wheel-install", IsaacLabUvIsaacSimWheelInstall)
+    app.add_directive("isaaclab-uv-importers-wheel-install", IsaacLabUvImportersWheelInstall)
     app.add_directive("isaaclab-torch-install", IsaacLabTorchInstall)
     app.add_directive("isaaclab-ovrtx-install", IsaacLabOvrtxInstall)
     return {

docs/source/_static/css/environment-browser.css

@@ -53,15 +53,17 @@ html[data-theme="dark"] .environment-browser {
     white-space: nowrap;
 }
 
-.environment-mode-switch {
+.environment-mode-switch,
+.environment-scope-switch {
     display: inline-flex;
     flex: 0 0 auto;
     overflow: hidden;
     border: 1px solid var(--environment-border);
     border-radius: 6px;
 }
 
-.environment-mode-switch button {
+.environment-mode-switch button,
+.environment-scope-switch button {
     min-height: 2.35rem;
     padding: 0.35rem 0.7rem;
     border: 0;
@@ -72,15 +74,24 @@ html[data-theme="dark"] .environment-browser {
     font-weight: 600;
 }
 
-.environment-mode-switch button:last-child {
+.environment-mode-switch button:last-child,
+.environment-scope-switch button:last-child {
     border-right: 0;
 }
 
-.environment-mode-switch button.is-active {
+.environment-mode-switch button.is-active,
+.environment-scope-switch button.is-active {
     color: #1f3300;
     background: #76b900;
 }
 
+.environment-mode-switch button:disabled,
+.environment-scope-switch button:disabled {
+    color: var(--environment-muted);
+    cursor: not-allowed;
+    opacity: 0.65;
+}
+
 .environment-inline-field,
 .environment-selector,
 .environment-checkpoint-toggle {
@@ -102,6 +113,14 @@ html[data-theme="dark"] .environment-browser {
     flex: 1 1 20rem;
 }
 
+.environment-task-field > span {
+    min-width: 4.75rem;
+}
+
+.environment-scope-switch {
+    margin-left: auto;
+}
+
 .environment-inline-field select,
 .environment-selector select,
 .environment-task-filter select,
@@ -167,8 +186,7 @@ html[data-theme="dark"] .environment-browser {
 
 .environment-checkpoint-toggle {
     justify-content: center;
-    justify-self: start;
-    width: calc(100% - 0.35rem);
+    width: 100%;
     min-height: 2.4rem;
     padding: 0.35rem 0.6rem;
     border: 1px solid var(--environment-border);
@@ -187,6 +205,32 @@ html[data-theme="dark"] .environment-browser {
     accent-color: var(--pst-color-primary);
 }
 
+.environment-checkpoint-toggle:has(input:disabled) {
+    color: var(--environment-muted);
+    background: color-mix(in srgb, var(--pst-color-background) 55%, transparent);
+    cursor: not-allowed;
+    opacity: 0.65;
+}
+
+.environment-non-rl-note {
+    display: flex;
+    align-items: baseline;
+    gap: 0.5rem;
+    margin: 1rem 0 0;
+    padding: 0.65rem 0.8rem;
+    border-left: 3px solid var(--pst-color-info);
+    color: var(--pst-color-text-base);
+    background: color-mix(in srgb, var(--pst-color-info) 8%, transparent);
+}
+
+.environment-non-rl-note[hidden] {
+    display: none;
+}
+
+.environment-non-rl-note i {
+    color: var(--pst-color-info);
+}
+
 .environment-command-output {
     display: grid;
     grid-template-columns: minmax(0, 1fr) auto;