Draft uv native install 2 by alexmillane · Pull Request #908 · isaac-sim/IsaacLab-Arena

alexmillane · 2026-07-14T13:20:47Z

Summary

Add uv install.

Detailed description

Based on Add native uv installation #846 but rebased on the Isaac Lab 3.0 Beta 2.0 upgrade.
TBD

Import the configclass decorator from its defining module so lazy package imports cannot shadow it. Defer physics-preset imports until SimulationApp startup to preserve config class identity during collection. Handle the solver, stage, and camera API shapes used by the public Isaac Lab wheel while retaining compatibility with Arena's Docker submodule. Skip the live endpoint test when its credential is absent. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

Move package metadata to PEP 621 and add an Arena-owned uv lock for Python 3.12, the public Isaac Lab 3.0 beta wheel, Isaac Sim 6, and the matching CUDA PyTorch stack. Keep simulator dependencies in a default PEP 735 group so Docker continues using its pinned Isaac Lab submodule. Document the native developer workflow and add a lightweight CI guard for lock consistency, editable package roots, and runtime resources. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

Use strict first-index resolution and route the sole incompatible NVIDIA/PyPI name collision explicitly to PyPI. Keep the locked package graph unchanged while making future name collisions fail closed. Clarify the editable-package check and ignore auxiliary uv environments. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

- Default --output_base_dir to ./outputs so the runners work natively and in Docker without flags (gitignored); document /eval as the override. - Lock resolution to Linux x86_64 (tool.uv.environments); drop the per-platform torch markers and the cu130 index. - Move the uv lock/editable validation out of the pre-commit job into its own uv_package CI job. - Align native and Docker verification docs (optional test phases in both); reword the uv docs positively and drop the redundant note. - Annotate the two Isaac Lab version shims (get_local_poses ProxyArray, get_current_stage location) for removal on version convergence. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

The subprocess-spawning tests hard-coded the Docker submodule interpreter (submodules/IsaacLab/_isaac_sim/python.sh), which does not exist in the native uv environment, so every with_subprocess test failed at spawn with FileNotFoundError before any Isaac Lab code ran. Fall back to the current interpreter (sys.executable = the uv venv python) when the Docker python.sh is absent; Docker keeps using python.sh unchanged. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

With the interpreter fix the native uv env runs the with_subprocess phase, but some tests cannot pass outside Docker for environmental reasons. Mark them with shared skipif markers (active only when the Docker python.sh is absent): - requires_docker_assets: tests that load assets not yet promoted to the public Nucleus (maple_table.usda 404s natively). - requires_docker_isaaclab: tests hitting API differences between the Docker Isaac Lab build and the public 3.0.0b2 wheel (ArticulationCfg in the RL training env; contact-view filter_count in mimic data generation). Remove once the Isaac Lab versions converge. Native result: 9 passed, 11 skipped (was 9 passed, 11 failed). Docker runs the full set unchanged. Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

Rebased onto the beta-2 submodule upgrade, the Docker build and the native uv env now run the same Isaac Lab 3.0 beta 2 (submodule v3.0.0-beta2.patch1 / public 3.0.0b2 wheel), so the dual-version accommodations are obsolete: - Drop the requires_docker_isaaclab skip marker and its two usages: the ArticulationCfg duplication is handled by the upgrade's _purge_leaked_isaaclab_assets_presets, and the contact-view filter issue by the recursiveLeafPatternMatch workaround (IsaacLab #6424). - Update docs and the stale submodule-version note in pyproject accordingly. - Register the new isaaclab_arena_curobo package in pyproject packaging and in the CI editable-package check (it was added to setup.py, which this branch replaces with pyproject.toml). Signed-off-by: alex <amillane@nvidia.com>

alexmillane

Self review #1

alexmillane · 2026-07-14T13:29:49Z

+          cd /tmp
+          /tmp/arena-package-venv/bin/python - <<'PY'
+          import importlib.util
+          from importlib import metadata
+          from pathlib import Path
+
+          package_roots = (
+              "isaaclab_arena",
+              "isaaclab_arena_curobo",
+              "isaaclab_arena_environments",
+              "isaaclab_arena_examples",
+              "isaaclab_arena_g1",
+              "isaaclab_arena_gr00t",
+              "isaaclab_arena_openpi",
+          )
+          for package_root in package_roots:
+              assert importlib.util.find_spec(package_root) is not None, package_root
+
+          arena_spec = importlib.util.find_spec("isaaclab_arena")
+          assert arena_spec is not None and arena_spec.origin is not None
+          repo_root = Path(arena_spec.origin).resolve().parent.parent
+
+          discoverable_modules = (
+              "isaaclab_arena.evaluation.policy_runner",
+              "isaaclab_arena.tasks.sequential_composite_tasks.franka_put_and_close_door_task",
+          )
+          for module in discoverable_modules:
+              assert importlib.util.find_spec(module) is not None, module
+
+          runtime_resources = (
+              "isaaclab_arena/visualization/report_template.html",
+              "isaaclab_arena_environments/eval_jobs_configs/zero_action_jobs_config.json",
+              "isaaclab_arena_g1/g1_env/config/loco_manip_g1_joints_order_43dof.yaml",
+              "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+          )
+          for runtime_resource in runtime_resources:
+              assert (repo_root / runtime_resource).is_file(), runtime_resource
+
+          version = metadata.version("isaaclab_arena")
+          print(f"editable package check passed: {version}")
+          PY


Can we add this to a test somewhere?

alexmillane · 2026-07-14T13:32:55Z

+``uv sync`` creates a Python 3.12 virtual environment in ``.venv/`` (pinned by
+``.python-version``), installs Isaac Lab Arena, and pulls
+``isaaclab[isaacsim,all]==3.0.0b2`` together with the matching Isaac Sim 6.0,
+PyTorch, and Newton wheels.


Let's leave out the version of Isaac Lab and Isaac Sim installed such that this documentation remains true over time.

alexmillane · 2026-07-14T13:33:27Z

+          version = metadata.version("isaaclab_arena")
+          print(f"editable package check passed: {version}")
+          PY
+


We need to add running all arena tests. We need to verify that everything works when installed via uv.

alexmillane · 2026-07-14T13:34:41Z

+Verify both in-process execution modes with one non-camera and one camera smoke
+test:
+
+.. code-block:: bash
+
+    uv run pytest -q isaaclab_arena/tests/test_achieve_cube_goal_pose.py::test_achieve_cube_goal_pose_initial_state
+    uv run pytest -q isaaclab_arena/tests/test_camera_observation.py::test_camera_observation


Let's remove this, and instead run all tests at the end. The next command after these should serve as a visual validation that things are running.

alexmillane · 2026-07-14T13:36:09Z

+Optionally verify the installation by running the in-process test phases (the
+same phases the Docker workflow runs below; the third, subprocess-based phase
+is currently Docker-only, see the note):
+
+.. code-block:: bash
+
+    uv run pytest -sv -m "with_cameras and not with_subprocess" isaaclab_arena/tests/
+    uv run pytest -sv -m "not with_cameras and not with_subprocess" isaaclab_arena/tests/
+
+.. note::
+   The policy and evaluation runners write to ``./outputs`` under the current
+   working directory by default (natively and in Docker alike). Pass
+   ``--output_base_dir`` to redirect, e.g. to Docker's ``/eval`` mount.
+
+.. note::
+   The third, subprocess-based phase (``-m with_subprocess``) also runs
+   natively. A few of its tests skip outside Docker, with the reason stated in
+   the skip marker: they load assets not yet promoted to the public Nucleus.
+   The Docker workflow below runs the full set.


The test failures should have been fixed in the underlying lab upgrade branch. Suggestion to remove the notes about the failing test and add the third test phase.

alexmillane · 2026-07-14T13:39:43Z



 @pytest.mark.with_subprocess
+@requires_docker_assets  # sweeps every registered env, incl. ones whose assets are unpromoted


remove. see comment above.

alexmillane · 2026-07-14T13:40:11Z

+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Regression test for the Isaac Lab wheel configclass import-order shadowing.
+
+With the public Isaac Lab wheel, importing ``isaaclab.envs.mimic_env_cfg`` (or
+``isaaclab_newton``) before ``from isaaclab.utils import configclass`` binds the
+``configclass`` *submodule* instead of the decorator, so ``@configclass`` fails.
+Arena imports the decorator directly from its defining module to stay
+order-safe; this test pins that behaviour with a representative manager cfg.
+"""
+
+import subprocess
+import sys
+
+
+def test_manager_cfg_import_survives_configclass_shadowing():
+    code = (
+        "from isaaclab.envs.mimic_env_cfg import MimicEnvCfg; "
+        "import isaaclab_arena.environments.isaaclab_arena_manager_based_env_cfg as _m; "
+        "print('IMPORT_OK')"
+    )
+    result = subprocess.run([sys.executable, "-c", code], capture_output=True, text=True)
+    assert result.returncode == 0, f"manager cfg import failed:\n{result.stderr}"
+    assert "IMPORT_OK" in result.stdout


issues solved. remove this test.

alexmillane · 2026-07-14T13:40:46Z

Revert the changes on this file.

alexmillane · 2026-07-14T13:42:14Z

+```bash
+git clone git@github.com:isaac-sim/IsaacLab-Arena.git
+cd IsaacLab-Arena
+uv sync
+```
+
+`uv sync` creates a Python 3.12 virtual environment in `.venv/`, installs Isaac Lab-Arena, and pulls `isaaclab[isaacsim,all]==3.0.0b2` with the matching Isaac Sim 6.0, PyTorch, and Newton wheels — the committed lockfile pins the complete environment. Accept the Isaac Sim EULA non-interactively and run the non-camera and camera smoke tests:
+
+```bash
+export OMNI_KIT_ACCEPT_EULA=YES ACCEPT_EULA=Y   # accept the Isaac Sim EULA non-interactively
+uv run pytest -q isaaclab_arena/tests/test_achieve_cube_goal_pose.py::test_achieve_cube_goal_pose_initial_state
+uv run pytest -q isaaclab_arena/tests/test_camera_observation.py::test_camera_observation
+```
+
+Launch a short rollout:
+
+```bash
+uv run python isaaclab_arena/evaluation/policy_runner.py \
+  --headless --policy_type zero_action --num_steps 20 cube_goal_pose
+```


Shorten these instructions to mask the docker instructions below. A single code block with short one line inline comments to explain the steps.

alexmillane · 2026-07-14T13:42:24Z

+> Outputs land in `./outputs` by default (both natively and in Docker); pass `--output_base_dir` to redirect them, e.g. to Docker's `/eval` mount.
+>
+> The subprocess-based eval phase (`-m with_subprocess`) also runs natively; a few tests skip outside Docker (unpromoted assets) — see the installation guide.


Remove these notes.

- Replace the CI editable-package heredoc with packaging tests (isaaclab_arena/tests/test_packaging.py) run by the uv_package job. - Add a uv_test CI job that syncs the locked env on the runner host and runs all arena test phases natively. - Drop the Docker-only skip markers and the import-order regression test; the underlying issues are fixed in the Isaac Lab beta-2 upgrade. - Revert test_physics_presets.py to the upgrade-branch version. - Move the subprocess interpreter lookup into a function in test constants. - Docs: drop pinned wheel versions, per-test smoke commands, and stale notes; run all test phases as the native verification; shorten the README native setup to a single commented code block matching the Docker one. Signed-off-by: alex <amillane@nvidia.com>

…2' into rcathomen/feature/uv-native-install-2

alexmillane

Self review #2

alexmillane · 2026-07-15T11:51:37Z

+    """Return the interpreter used to spawn subprocess-based tests.
+
+    Docker bundles Isaac Sim's ``python.sh`` under the IsaacLab submodule; the
+    native uv environment has no such bundle, so fall back to the current
+    interpreter (the uv venv python, which carries the isaaclab wheel).
+    """


First line: Return the Isaac Sim python interpretter.

Later: Docker bundles Isaac Sim's python.sh under the IsaacLab submodule; the native uv environment uses uv-managed python.

alexmillane · 2026-07-15T11:53:51Z

+DISCOVERABLE_MODULES = (
+    "isaaclab_arena.evaluation.policy_runner",
+    "isaaclab_arena.tasks.sequential_composite_tasks.franka_put_and_close_door_task",
+)
+
+RUNTIME_RESOURCES = (
+    "isaaclab_arena/visualization/report_template.html",
+    "isaaclab_arena_environments/eval_jobs_configs/zero_action_jobs_config.json",
+    "isaaclab_arena_g1/g1_env/config/loco_manip_g1_joints_order_43dof.yaml",
+    "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+)


Remove these.

alexmillane · 2026-07-15T11:54:08Z

+def _get_repo_root() -> Path:
+    """Locate the repo root from the installed ``isaaclab_arena`` package."""
+    arena_spec = importlib.util.find_spec("isaaclab_arena")
+    assert arena_spec is not None and arena_spec.origin is not None
+    return Path(arena_spec.origin).resolve().parent.parent


alexmillane · 2026-07-15T11:54:19Z

+def test_modules_discoverable():
+    for module in DISCOVERABLE_MODULES:
+        assert importlib.util.find_spec(module) is not None, module
+
+
+def test_runtime_resources_present():
+    repo_root = _get_repo_root()
+    for runtime_resource in RUNTIME_RESOURCES:
+        assert (repo_root / runtime_resource).is_file(), runtime_resource


alexmillane · 2026-07-15T11:56:08Z

+# PEP 735 dependency group. `uv sync` installs the default groups automatically
+# (so the new-user UX stays `git clone && uv sync && uv run pytest ...` with no
+# flags), but pip's `pip install -e .[dev]` path -- which the Docker build uses --
+# does NOT read PEP 735 groups. This is the load-bearing reason these pins live
+# here and NOT in [project.dependencies]: the Docker image installs IsaacLab from
+# the beta-2 submodule (reporting its internal extension version, editable,
+# --no-deps) and Isaac Sim from
+# the base image; resolving `isaaclab==3.0.0b2` against that editable install
+# would force pip to download the public wheel + Isaac Sim (~20 GB) and corrupt
+# the staged, ABI-sensitive Newton/MuJoCo setup. Keeping the public wheels in a
+# dependency group provides the native uv install without touching docker/.


Shorten this. The basic reason is that these dependencies are needed for the uv install but not the docker install. uv installs dependency groups by default but pip, which is used in the docker, does not.

alexmillane · 2026-07-15T12:01:53Z

+# Known upstream limitation (deliberately NOT worked around): isaacsim-kernel
+# 6.0.0.1 also hard-pins coverage==7.4.4, but every numba that supports numpy
+# 2.3.1 (>=0.62) subclasses coverage.types.Tracer, which needs coverage>=7.6 --
+# so `import numba` fails here. We do not override coverage to 7.6.x: that would
+# re-introduce the metadata inconsistency uv pip check catches and could break
+# untested Isaac Sim code. Arena never imports numba (it is only a transitive dep
+# of the isaaclab wheel); native in-process smoke tests, whole-suite collection,
+# and sensitivity analysis all work without it. numba-backed *upstream* Isaac
+# Lab functionality is outside the validated native-uv scope -- use Docker for
+# that.


Shorten this comment.

alexmillane · 2026-07-15T12:02:50Z

+
 [tool.isort]

 py_version = 310


is this still true. elsewhere (in .python-version) we specify another python version.

alexmillane · 2026-07-15T12:03:18Z

+# 4. Verify the installation
+uv run pytest -sv -m "not with_cameras" isaaclab_arena/tests/


Replace with the zero action run from the rst docs.

alexmillane · 2026-07-15T12:03:28Z

 #    Or with GR00T dependencies (for policy training/evaluation):
 ./docker/run_docker.sh -g


alexmillane · 2026-07-15T12:03:52Z

same comment as above. replace with the zero action runner command from the docs.

The CUDA base image only requests compute,utility from the NVIDIA container runtime, so the driver's graphics libraries (libGLX_nvidia, libEGL_nvidia, Vulkan ICD) were never injected. Kit's MDL/Neuray renderer then failed to load libGL.so.1 and hung indefinitely during material creation. Request all driver capabilities and install the GL/Vulkan loader packages that dispatch to the injected driver libraries (the same set the official Isaac Sim image installs). Signed-off-by: alex <amillane@nvidia.com>

The Isaac 6.0 asset tree replaced FrankaEmika/panda_instanceable.usd with a restructured MuJoCo-converted asset (franka_panda.usda with a different prim layout), which upstream FRANKA_PANDA_CFG has not been updated for, so spawning the assembly robot failed with a USD-not-found error in every container. Point the assembly config at the identical 5.0 asset until Isaac Lab catches up. Signed-off-by: alex <amillane@nvidia.com>

This reverts commit 1483ace. Signed-off-by: alex <amillane@nvidia.com>

This reverts commit 1215d52. Signed-off-by: alex <amillane@nvidia.com>

rafaelcathomen and others added 8 commits July 14, 2026 14:51

Update docs: subprocess phase runs natively with scoped skips

a927392

Signed-off-by: Rafael Cathomen <rcathomen@nvidia.com>

alexmillane commented Jul 14, 2026

View reviewed changes

alexmillane added 3 commits July 14, 2026 15:50

Merge remote-tracking branch 'origin/alex/feature/upgrade_lab_to_beta…

884b805

…2' into rcathomen/feature/uv-native-install-2

Simplify the uv-related CI to a single job.

6cd5097

alexmillane commented Jul 15, 2026

View reviewed changes

alexmillane added 11 commits July 15, 2026 15:50

Address self review.

733e9e0

Update readme test commands.

8cf526c

Add test to check imports during pytest start up.

ca83559

Move the uv tests to an nvidia container.

44898c0

Fix issue with agentic fixtures in the CI packaging test.

e0a9392

Reduce CI to uv tests only to speed up development.

1215d52

Add comment to depdency pins.

13d067a

Revert "Load the assembly Franka robot from the Isaac 5.0 asset tree."

d166021

This reverts commit 1483ace. Signed-off-by: alex <amillane@nvidia.com>

Revert "Reduce CI to uv tests only to speed up development."

a0b3199

This reverts commit 1215d52. Signed-off-by: alex <amillane@nvidia.com>



		@pytest.mark.with_subprocess
		@requires_docker_assets # sweeps every registered env, incl. ones whose assets are unpromoted

		# 4. Verify the installation
		uv run pytest -sv -m "not with_cameras" isaaclab_arena/tests/

		# Or with GR00T dependencies (for policy training/evaluation):
		./docker/run_docker.sh -g

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alexmillane commented Jul 14, 2026

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