Adds installation tests for conda/uv/modularized installation

.github/workflows/install-ci.yml

@@ -30,6 +30,7 @@ concurrency:
 permissions:
   contents: read
   pull-requests: read
+
 jobs:
   changes:
     name: Detect Installation Test Changes
@@ -46,10 +47,8 @@ jobs:
         run: |
           set -euo pipefail
 
-          # Installation tests run only when paths in the patterns table change.
-          # Otherwise the test job skips via `if:` and reports green to branch
-          # protection, which is why we don't use a workflow-level `paths:`
-          # filter (a not-triggered required check would block the PR forever).
+          # This job produces a PR summary showing which paths triggered tests.
+          # The installation test jobs themselves always run regardless of this output.
           patterns=(
             $'^apps/\tStandalone apps'
             $'^tools/\tBuild tooling'
@@ -59,8 +58,9 @@ jobs:
             $'^VERSION$\tVersion file'
             $'(^|/)pyproject\\.toml$\tPython project metadata'
             $'(^|/)environment\\.ya?ml$\tConda environment file'
+            $'^docker/Dockerfile\\.installci\tInstall CI Dockerfiles'
           )
-          triggered_jobs="Installation Tests"
+          triggered_jobs="Installation Tests (uv), Installation Tests (conda)"
 
           render_table() {
             local files="$1" entry regex desc count sample
@@ -79,77 +79,86 @@ jobs:
             done
           }
 
-          any_match() {
-            local files="$1" entry regex
-            for entry in "${patterns[@]}"; do
-              IFS=$'\t' read -r regex _ <<< "$entry"
-              if printf '%s\n' "$files" | grep -qE "$regex"; then
-                return 0
-              fi
-            done
-            return 1
-          }
-
-          decide() {
-            local decision="$1" reason="$2" files="${3:-}"
-            echo "Decision: run_install_tests=$decision ($reason)"
-            echo "run_install_tests=$decision" >> "$GITHUB_OUTPUT"
+          summarize() {
+            local files="${1:-}"
             {
               echo "## Installation test gating"
               echo ""
-              if [ "$decision" = "true" ]; then
-                echo "Installation tests will **run**: $reason."
-              else
-                echo "Installation tests will be **skipped**: $reason."
-              fi
-              echo ""
-              echo "Triggered jobs: $triggered_jobs."
+              echo "Installation tests always run. Triggered jobs: $triggered_jobs."
               if [ -n "$files" ]; then
                 echo ""
                 render_table "$files"
               fi
             } >> "$GITHUB_STEP_SUMMARY"
           }
 
+          # Always run; output is used for the summary only.
+          echo "run_install_tests=true" >> "$GITHUB_OUTPUT"
+
           if [ "$EVENT_NAME" != "pull_request" ]; then
-            decide true "non-PR event ($EVENT_NAME)"
+            summarize
             exit 0
           fi
 
           if ! changed_files="$(gh api --paginate "repos/$REPO/pulls/$PR_NUMBER/files" --jq '.[].filename')"; then
-            # Fail-safe: a transient API error must not block merge. Default to running.
-            echo "::warning::Could not list changed files; defaulting to running tests"
-            decide true "fail-safe (could not list changed files)"
+            echo "::warning::Could not list changed files"
+            summarize
             exit 0
           fi
 
           printf '%s\n' "$changed_files"
-
-          if any_match "$changed_files"; then
-            decide true "relevant paths changed" "$changed_files"
-          else
-            decide false "no relevant paths changed" "$changed_files"
-          fi
+          summarize "$changed_files"
 
   install-tests:
-    name: Installation Tests
+    name: Installation Tests (uv)
     needs: [changes]
-    if: needs.changes.outputs.run_install_tests == 'true'
     runs-on: [self-hosted, gpu]
-    timeout-minutes: 90
+    timeout-minutes: 120
     steps:
       - name: Checkout
         uses: actions/checkout@v6  # v6
-      - name: Run installation tests
+      - name: Run uv installation tests
         env:
           BASE_IMAGE: ${{ github.event_name == 'workflow_dispatch' && inputs.base_image || 'ubuntu:24.04' }}
           TEST_FILTER: ${{ github.event_name == 'workflow_dispatch' && inputs.test_filter || '' }}
         run: |
           RUNNER_ARGS="--base-image $BASE_IMAGE"
-          RUNNER_ARGS="$RUNNER_ARGS --results-dir ${{ github.workspace }}/results"
+          RUNNER_ARGS="$RUNNER_ARGS --results-dir ${{ github.workspace }}/results-uv"
+          RUNNER_ARGS="$RUNNER_ARGS --gpu"
+
+          # Always restrict to uv-marked tests so the conda suite does not run
+          # redundantly in this image (Dockerfile.installci has no conda).
+          # TEST_FILTER (-k) narrows further when provided via workflow_dispatch.
+          PYTEST_EXTRA_ARGS=(-sv -m uv)
+          if [ -n "$TEST_FILTER" ]; then
+            PYTEST_EXTRA_ARGS+=(-k "$TEST_FILTER")
+          fi
+
+          tools/run_install_ci.py docker $RUNNER_ARGS -- --tb=short "${PYTEST_EXTRA_ARGS[@]}"
+
+  install-tests-conda:
+    name: Installation Tests (conda)
+    needs: [changes]
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 160
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6  # v6
+      - name: Run conda installation tests
+        env:
+          BASE_IMAGE: ${{ github.event_name == 'workflow_dispatch' && inputs.base_image || 'ubuntu:24.04' }}
+          TEST_FILTER: ${{ github.event_name == 'workflow_dispatch' && inputs.test_filter || '' }}
+        run: |
+          RUNNER_ARGS="--conda"
+          RUNNER_ARGS="$RUNNER_ARGS --base-image $BASE_IMAGE"
+          RUNNER_ARGS="$RUNNER_ARGS --results-dir ${{ github.workspace }}/results-conda"
           RUNNER_ARGS="$RUNNER_ARGS --gpu"
 
-          PYTEST_EXTRA_ARGS=(-sv)
+          # Always restrict to conda-marked tests. The conda image
+          # (Dockerfile.installci-conda) also has uv, so without this filter it
+          # would re-run the entire uv suite redundantly.
+          # TEST_FILTER (-k) narrows further when provided via workflow_dispatch.
+          PYTEST_EXTRA_ARGS=(-sv -m conda)
           if [ -n "$TEST_FILTER" ]; then
             PYTEST_EXTRA_ARGS+=(-k "$TEST_FILTER")
           fi

docker/Dockerfile.installci-conda

@@ -0,0 +1,59 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Conda-enabled container for testing Isaac Lab installation scenarios.
+# Built on top of Dockerfile.installci (the uv image) so that all system
+# dependencies, uv, the repo copy, and pytest are already present.
+# Only Miniconda is added here.
+#
+# The runner script (tools/run_install_ci.py) builds Dockerfile.installci
+# first and then passes the resulting tag as UV_IMAGE when building this file.
+#
+# Manual usage (from repo root):
+#   # 1. Build the uv base image first:
+#   docker build -f docker/Dockerfile.installci -t isaaclab-installci:ubuntu-24.04 .
+#   # 2. Build the conda image on top:
+#   docker build -f docker/Dockerfile.installci-conda \
+#     --build-arg UV_IMAGE=isaaclab-installci:ubuntu-24.04 \
+#     -t isaaclab-installci-conda .
+#   # Run:
+#   docker run --rm --gpus all isaaclab-installci-conda -v --tb=short
+#   # Drop into a shell for debugging:
+#   docker run --rm -it --entrypoint bash isaaclab-installci-conda
+
+ARG UV_IMAGE=isaaclab-installci:ubuntu-24.04
+FROM ${UV_IMAGE}
+
+LABEL description="Container for conda-based installation CI tests."
+
+# Install Miniconda — select the correct installer for the build platform.
+# $(uname -m) returns x86_64 on amd64 and aarch64 on ARM (e.g. DGX Spark),
+# matching Anaconda's naming convention exactly.
+ARG MINICONDA_VERSION=latest
+RUN ARCH="$(uname -m)" && \
+    curl -fsSL "https://repo.anaconda.com/miniconda/Miniconda3-${MINICONDA_VERSION}-Linux-${ARCH}.sh" \
+        -o /tmp/miniconda.sh && \
+    bash /tmp/miniconda.sh -b -p /opt/miniconda3 && \
+    rm /tmp/miniconda.sh
+
+ENV PATH="/opt/miniconda3/bin:${PATH}"
+ENV CONDA_AUTO_ACTIVATE_BASE=false
+
+# Accept Anaconda's Terms of Service for the default channels so that
+# non-interactive `conda env create` calls inside tests don't hit
+# CondaToSNonInteractiveError (added in conda ≥ 24.9).
+RUN conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main && \
+    conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r
+
+# Initialize conda for bash so `conda run` and activation hooks work in subprocesses
+RUN conda init bash && \
+    conda config --set always_yes true && \
+    conda clean --all --yes
+
+# Use the system Python (where pytest is installed by Dockerfile.installci) rather
+# than conda's Python, which does not have pytest. Conda's bin is on PATH for the
+# tests themselves (which run `conda run …` / `conda activate …` in subprocesses).
+ENTRYPOINT ["/usr/bin/python", "-m", "pytest", "-c", "source/isaaclab/test/install_ci/pytest.ini", "source/isaaclab/test/install_ci"]
+CMD ["-v", "--tb=short", "-m", "conda"]

source/isaaclab/changelog.d/install-workflow-training-tests.rst

@@ -0,0 +1,7 @@
+Added
+^^^^^
+
+* Added installation workflow tests for training smoke coverage across uv,
+  conda, kitless, pip, and source-based Isaac Sim installs.
+* Added environment variable controls for Isaac Sim pip installation to support
+  version, extras, pre-release, and extra index URL overrides.

source/isaaclab/changelog.d/usd-core-25-11.rst

@@ -0,0 +1,4 @@
+Changed
+^^^^^^^
+
+* Updated the ``usd-core`` dependency to 25.11.0 to match Kit 110.1.1.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -282,12 +282,54 @@ def _ensure_cuda_torch() -> None:
 ISAACSIM_EXTRAS = "all"
 NVIDIA_INDEX_URL = "https://pypi.nvidia.com"
 
+# Internal NVIDIA PyPI registries used for pre-release / internal builds.
+# Activated when ISAACSIM_EXTRA_INDEX_URLS is set in the environment.
+_INTERNAL_ISAACSIM_INDEX_URLS = [
+    "https://urm.nvidia.com/artifactory/api/pypi/sw-isaacsim-pypi/simple",
+    "https://urm.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi/simple",
+]
+
 
 def _install_isaacsim() -> None:
-    """Install Isaac Sim pip package if not already present."""
+    """Install Isaac Sim pip package if not already present.
+
+    The following environment variables override defaults and enable installation
+    from internal NVIDIA registries (e.g. for pre-release builds not yet on
+    ``pypi.nvidia.com``):
+
+    ``ISAACSIM_VERSION_SPEC``
+        pip version specifier, e.g. ``"==6.4.0"`` (default: ``">=6.0.0"``).
+    ``ISAACSIM_EXTRAS``
+        pip extras string, e.g. ``"all,extscache"`` (default: ``"all"``).
+    ``ISAACSIM_EXTRA_INDEX_URLS``
+        Whitespace-separated ``--extra-index-url`` values appended after the
+        default NVIDIA public index.  The two internal NVIDIA Artifactory
+        registries (``sw-isaacsim-pypi`` and ``ct-omniverse-pypi``) are added
+        **automatically** whenever this variable is non-empty so callers only
+        need to supply any additional custom URLs beyond those two.
+    ``ISAACSIM_USE_PRE``
+        Set to ``"1"`` (or ``"true"`` / ``"yes"``) to pass ``--pre`` to pip,
+        which is required for pre-release wheel versions.
+    """
     python_exe = extract_python_exe()
     pip_cmd = get_pip_command(python_exe)
 
+    # Resolve settings — env vars win over module-level defaults.
+    version_spec = os.environ.get("ISAACSIM_VERSION_SPEC", ISAACSIM_VERSION_SPEC)
+    extras = os.environ.get("ISAACSIM_EXTRAS", ISAACSIM_EXTRAS)
+    use_pre = os.environ.get("ISAACSIM_USE_PRE", "").strip().lower() in ("1", "true", "yes")
+
+    # Build the extra-index-url list.  Always start with the public NVIDIA index.
+    extra_index_urls: list[str] = [NVIDIA_INDEX_URL]
+    extra_urls_env = os.environ.get("ISAACSIM_EXTRA_INDEX_URLS", "").split()
+    if extra_urls_env:
+        # Prepend the two internal registries so they are tried before pypi.org.
+        prepend_urls = [url for url in _INTERNAL_ISAACSIM_INDEX_URLS if url not in extra_index_urls]
+        extra_index_urls = prepend_urls + extra_index_urls
+        for url in extra_urls_env:
+            if url not in extra_index_urls:
+                extra_index_urls.append(url)
+
     # Check if already installed.
     result = run_command(
         [python_exe, "-c", "from importlib.metadata import version; print(version('isaacsim'))"],
@@ -302,22 +344,15 @@ def _install_isaacsim() -> None:
 
     print_info("Installing Isaac Sim...")
     using_uv = pip_cmd[0] == "uv"
-    extra_flags = []
-    if using_uv:
-        # uv needs unsafe-best-match to resolve packages across multiple indexes
-        # (isaacsim is on pypi.nvidia.com, its deps are on pypi.org).
-        extra_flags = ["--index-strategy", "unsafe-best-match"]
 
-    run_command(
-        pip_cmd
-        + [
-            "install",
-            f"isaacsim[{ISAACSIM_EXTRAS}]{ISAACSIM_VERSION_SPEC}",
-            "--extra-index-url",
-            NVIDIA_INDEX_URL,
-        ]
-        + extra_flags
-    )
+    pre_flags = ["--pre"] if use_pre else []
+    uv_flags = ["--index-strategy", "unsafe-best-match"] if using_uv else []
+
+    extra_idx_args: list[str] = []
+    for url in extra_index_urls:
+        extra_idx_args += ["--extra-index-url", url]
+
+    run_command(pip_cmd + ["install"] + pre_flags + [f"isaacsim[{extras}]{version_spec}"] + extra_idx_args + uv_flags)
 
 
 # Valid Isaac Lab submodule names that can be passed to --install.

source/isaaclab/isaaclab/sim/__init__.pyi

@@ -69,6 +69,7 @@ __all__ = [
     "SphereLightCfg",
     "spawn_rigid_body_material",
     "PhysicsMaterialCfg",
+    "RigidBodyMaterialBaseCfg",
     "RigidBodyMaterialCfg",
     "spawn_from_mdl_file",
     "spawn_preview_surface",
@@ -237,6 +238,7 @@ from .spawners import (
     SphereLightCfg,
     spawn_rigid_body_material,
     PhysicsMaterialCfg,
+    RigidBodyMaterialBaseCfg,
     RigidBodyMaterialCfg,
     spawn_from_mdl_file,
     spawn_preview_surface,

source/isaaclab/isaaclab/sim/simulation_cfg.py

@@ -14,7 +14,7 @@
 from typing import Any, Literal  # Literal used by RenderCfg
 
 from isaaclab.physics import PhysicsCfg
-from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
+from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg
 from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
@@ -193,8 +193,8 @@ class SimulationCfg:
     physics_prim_path: str = "/physicsScene"
     """The prim path where the USD PhysicsScene is created. Default is "/physicsScene"."""
 
-    physics_material: RigidBodyMaterialCfg = RigidBodyMaterialCfg()
-    """Default physics material settings for rigid bodies. Default is RigidBodyMaterialCfg.
+    physics_material: RigidBodyMaterialBaseCfg = RigidBodyMaterialBaseCfg()
+    """Default physics material settings for rigid bodies. Default is :class:`RigidBodyMaterialBaseCfg`.
 
     The physics engine defaults to this physics material for all the rigid body prims that do not have any
     physics material specified on them.

source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py

@@ -9,6 +9,7 @@
 from typing import TYPE_CHECKING, Literal
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg
 from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
@@ -87,7 +88,7 @@ class TerrainImporterCfg:
       to the grid color of the imported ground plane.
     """
 
-    physics_material: sim_utils.RigidBodyMaterialCfg = sim_utils.RigidBodyMaterialCfg()
+    physics_material: RigidBodyMaterialBaseCfg = RigidBodyMaterialBaseCfg()
     """The physics material of the terrain. Defaults to a default physics material.
 
     The material is created at the path: ``{prim_path}/physicsMaterial``.

source/isaaclab/setup.py

@@ -73,7 +73,7 @@
 ]
 # Adds OpenUSD dependencies based on architecture for Kit less mode.
 INSTALL_REQUIRES += [
-    f"usd-core==25.8.0 ; ({SUPPORTED_ARCHS})",
+    f"usd-core==25.11.0 ; ({SUPPORTED_ARCHS})",
     f"usd-exchange>=2.2 ; ({SUPPORTED_ARCHS_ARM})",
 ]
 

source/isaaclab/test/install_ci/conftest.py

@@ -84,7 +84,12 @@ def pytest_configure(config: pytest.Config) -> None:
     config.addinivalue_line("markers", "docker: tests that only run inside Docker")
     config.addinivalue_line("markers", "native: tests that only run natively (not in Docker)")
     config.addinivalue_line("markers", "slow: tests that take a long time")
-    config.addinivalue_line("markers", "uv: tests that require the uv package manager")
+    config.addinivalue_line("markers", "uv: tests that exercise the uv installation workflow")
+    config.addinivalue_line("markers", "conda: tests that exercise the conda installation workflow")
+    config.addinivalue_line(
+        "markers",
+        "isaacsim_source: tests that use Isaac Sim pre-installed via the _isaac_sim symlink",
+    )
 
     try:
         config.stash[_EXECUTION_ENVIRONMENT_KEY] = _utils.detect_execution_environment()