Update the central pyproject, remove subpackage specific dependencies

.github/workflows/build.yaml

@@ -772,13 +772,25 @@ jobs:
       with:
         fetch-depth: 1
         lfs: true
+    # Single source of truth: read the OV runtime pins from [tool.isaaclab.versions].
+    - name: Resolve OV runtime pins from pyproject
+      id: ov_pins
+      run: |
+        PINS=$(python3 <<'PY'
+        import re
+        block = re.search(r"^\[tool\.isaaclab\.versions\]\n(.*?)(?:\n\[|\Z)", open("pyproject.toml").read(), re.S | re.M).group(1)
+        vals = dict(re.findall(r'(\w+)\s*=\s*"([^"]+)"', block))
+        print(f"ovphysx=={vals['ovphysx']} ovrtx{vals['ovrtx']}")
+        PY
+        )
+        echo "pins=$PINS" >> "$GITHUB_OUTPUT"
     - uses: ./.github/actions/run-package-tests
       with:
         image-tag: ${{ needs.config.outputs.ci_image_tag }}
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx==0.4.13"
+        extra-pip-packages: ${{ steps.ov_pins.outputs.pins }}
         include-files: >-
           test_rendering_cartpole_kitless.py,
           test_rendering_dexsuite_kuka_homo_kitless.py,

.github/workflows/daily-compatibility.yml

@@ -95,6 +95,19 @@ jobs:
         fetch-depth: 1
         lfs: true
 
+    # Single source of truth: read the OV runtime pins from [tool.isaaclab.versions].
+    - name: Resolve OV runtime pins from pyproject
+      id: ov_pins
+      run: |
+        PINS=$(python3 <<'PY'
+        import re
+        block = re.search(r"^\[tool\.isaaclab\.versions\]\n(.*?)(?:\n\[|\Z)", open("pyproject.toml").read(), re.S | re.M).group(1)
+        vals = dict(re.findall(r'(\w+)\s*=\s*"([^"]+)"', block))
+        print(f"ovphysx=={vals['ovphysx']} ovrtx{vals['ovrtx']}")
+        PY
+        )
+        echo "pins=$PINS" >> "$GITHUB_OUTPUT"
+
     - name: Build Docker Image
       uses: ./.github/actions/docker-build
       with:
@@ -111,7 +124,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx==0.4.13"
+        extra-pip-packages: ${{ steps.ov_pins.outputs.pins }}
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

.github/workflows/license-check.yaml

@@ -62,8 +62,10 @@ jobs:
         ISAACSIM_ACCEPT_EULA: YES
       run: |
         uv sync --extra all
-        # Isaac Sim isn't in the dev pyproject; sync first so it isn't pruned.
-        uv pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '6.0.0' }}'
+        # Isaac Sim conflicts with --extra all under uv, so install it imperatively
+        # after the sync. Read the pinned spec from pyproject (single source of truth).
+        ISAACSIM_SPEC=$(.venv/bin/python -c "import tomllib; print(tomllib.load(open('pyproject.toml','rb'))['project']['optional-dependencies']['isaacsim'][0])")
+        uv pip install "$ISAACSIM_SPEC"
         uv pip install pip-licenses pipdeptree \
           -r tools/template/requirements.txt \
           -r docs/requirements.txt

.github/workflows/license-exceptions.json

@@ -488,6 +488,11 @@
     "license": "LicenseRef-NVIDIA-SOFTWARE-LICENSE",
     "comment": "NVIDIA"
   },
+  {
+    "package": "cuda-toolkit",
+    "license": "UNKNOWN",
+    "comment": "NVIDIA"
+  },
   {
     "package": "omniverseclient",
     "license": "NVIDIA Proprietary Software, https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement/",
@@ -507,5 +512,15 @@
     "package": "pytetwild",
     "license": "Mozilla Public License 2.0 (MPL 2.0)",
     "comment": "MPL-2.0 / OSRB"
+  },
+  {
+    "package": "distlib",
+    "license": "Python Software Foundation License",
+    "comment": "PSFL / OSRB"
+  },
+  {
+    "package": "ovrtx",
+    "license": "NVIDIA Proprietary Software",
+    "comment": "NVIDIA"
   }
 ]

docs/_extensions/isaaclab_docs.py

@@ -111,7 +111,13 @@ def run(self) -> list[nodes.Node]:
         if "kitless" in self.options:
             content = _quickstart_kitless(branch, platform)
         elif "isaacsim" in self.options:
-            content = _quickstart_isaacsim(branch, platform)
+            content = _quickstart_isaacsim(
+                branch,
+                platform,
+                self.config.isaacsim_version,
+                self.config.torch_version,
+                self.config.torchvision_version,
+            )
         else:
             raise self.error("Specify either :kitless: or :isaacsim:.")
 
@@ -148,7 +154,69 @@ def _quickstart_kitless(branch: str, platform: str) -> str:
 """
 
 
-def _quickstart_isaacsim(branch: str, platform: str) -> str:
+class IsaacLabIsaacSimInstall(SphinxDirective):
+    """Render the ``uv pip install isaacsim`` command pinned to the pyproject version."""
+
+    has_content = False
+
+    def run(self) -> list[nodes.Node]:
+        version = self.config.isaacsim_version
+        content = f"""\
+.. code-block:: bash
+
+   uv pip install "isaacsim[all,extscache]=={version}" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
+"""
+        return _parse_rst(self, content)
+
+
+class IsaacLabTorchInstall(SphinxDirective):
+    """Render the pinned ``torch``/``torchvision`` install command for a CUDA build.
+
+    Versions come from ``[tool.isaaclab.versions]`` (the single source of truth),
+    exposed via the ``torch_version`` / ``torchvision_version`` config values.
+
+    Usage::
+
+        .. isaaclab-torch-install:: cu128
+        .. isaaclab-torch-install:: cu130 pip
+    """
+
+    required_arguments = 1  # CUDA build tag, e.g. "cu128"
+    optional_arguments = 1  # installer: "pip" (default is "uv pip")
+
+    def run(self) -> list[nodes.Node]:
+        cuda_tag = self.arguments[0]
+        installer = "pip" if len(self.arguments) > 1 and self.arguments[1] == "pip" else "uv pip"
+        torch_version = self.config.torch_version
+        torchvision_version = self.config.torchvision_version
+        content = f"""\
+.. code-block:: bash
+
+   {installer} install -U torch=={torch_version} torchvision=={torchvision_version} --index-url https://download.pytorch.org/whl/{cuda_tag}
+"""
+        return _parse_rst(self, content)
+
+
+class IsaacLabOvrtxInstall(SphinxDirective):
+    """Render the ``pip install ovrtx`` command pinned to the pyproject spec.
+
+    The spec comes from ``[tool.isaaclab.versions].ovrtx``, exposed via the
+    ``ovrtx_spec`` config value.
+    """
+
+    has_content = False
+
+    def run(self) -> list[nodes.Node]:
+        spec = self.config.ovrtx_spec
+        content = f"""\
+.. code-block:: bash
+
+   pip install --extra-index-url https://pypi.nvidia.com "ovrtx{spec}"
+"""
+        return _parse_rst(self, content)
+
+
+def _quickstart_isaacsim(branch: str, platform: str, isaacsim_version: str, torch_version: str, torchvision_version: str) -> str:
     """Return quickstart reST for full Isaac Sim installation."""
     if platform == "linux":
         return f"""\
@@ -160,10 +228,10 @@ def _quickstart_isaacsim(branch: str, platform: str) -> str:
    uv venv --python 3.12 --seed env_isaaclab
    source env_isaaclab/bin/activate
    uv pip install --upgrade pip
-   uv pip install "isaacsim[all,extscache]==6.0.0.1" \\
+   uv pip install "isaacsim[all,extscache]=={isaacsim_version}" \\
      --extra-index-url https://pypi.nvidia.com \\
      --index-strategy unsafe-best-match --prerelease=allow
-   uv pip install -U torch==2.10.0 torchvision==0.25.0 \\
+   uv pip install -U torch=={torch_version} torchvision=={torchvision_version} \\
      --index-url https://download.pytorch.org/whl/cu128
    ./isaaclab.sh -i
 """
@@ -178,10 +246,10 @@ def _quickstart_isaacsim(branch: str, platform: str) -> str:
    uv venv --python 3.12 --seed env_isaaclab
    env_isaaclab\\Scripts\\activate
    uv pip install --upgrade pip
-   uv pip install "isaacsim[all,extscache]==6.0.0.1" ^
+   uv pip install "isaacsim[all,extscache]=={isaacsim_version}" ^
      --extra-index-url https://pypi.nvidia.com ^
      --index-strategy unsafe-best-match --prerelease=allow
-   uv pip install -U torch==2.10.0 torchvision==0.25.0 ^
+   uv pip install -U torch=={torch_version} torchvision=={torchvision_version} ^
      --index-url https://download.pytorch.org/whl/cu128
    isaaclab.bat -i
 """
@@ -190,10 +258,17 @@ def _quickstart_isaacsim(branch: str, platform: str) -> str:
 def setup(app):
     """Register Isaac Lab documentation directives."""
     app.add_config_value("isaaclab_latest_branch", "develop", "env")
+    app.add_config_value("isaacsim_version", "", "env")
+    app.add_config_value("torch_version", "", "env")
+    app.add_config_value("torchvision_version", "", "env")
+    app.add_config_value("ovrtx_spec", "", "env")
     app.add_directive("isaaclab-clone-commands", IsaacLabCloneCommands)
     app.add_directive("isaaclab-clone-https", IsaacLabCloneHttps)
     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-torch-install", IsaacLabTorchInstall)
+    app.add_directive("isaaclab-ovrtx-install", IsaacLabOvrtxInstall)
     return {
         "version": "0.1",
         "parallel_read_safe": True,

docs/conf.py

@@ -18,6 +18,8 @@
 import os
 import sys
 
+import tomllib
+
 sys.path.insert(0, os.path.abspath("_extensions"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab/isaaclab"))
@@ -62,11 +64,37 @@
 # Latest release branch referenced by installation documentation.
 isaaclab_latest_branch = os.getenv("ISAACLAB_LATEST_BRANCH", "develop")
 
+
+def _read_pinned_versions() -> dict:
+    """Read the ``[tool.isaaclab.versions]`` table from the root pyproject.
+
+    This table is the single source of truth for externally-pinned versions
+    (Isaac Sim, the torch stack, the OV renderer/physics wheels).
+    """
+    pyproject = os.path.join(os.path.dirname(__file__), "..", "pyproject.toml")
+    with open(pyproject, "rb") as f:
+        return tomllib.load(f)["tool"]["isaaclab"]["versions"]
+
+
+# Pinned external versions referenced by the installation docs. Shared with the
+# ``isaaclab_docs`` extension via config values of the same name.
+_pinned_versions = _read_pinned_versions()
+isaacsim_version = _pinned_versions["isaacsim"]
+torch_version = _pinned_versions["torch"]
+torchvision_version = _pinned_versions["torchvision"]
+ovrtx_spec = _pinned_versions["ovrtx"]
+ovphysx_version = _pinned_versions["ovphysx"]
+
 # Copy buttons on highlighted code blocks (including nested directive output).
 copybutton_selector = "div.highlight pre"
 
 rst_prolog = f"""
 .. |isaaclab_latest_branch| replace:: {isaaclab_latest_branch}
+.. |isaacsim_version| replace:: {isaacsim_version}
+.. |torch_version| replace:: {torch_version}
+.. |torchvision_version| replace:: {torchvision_version}
+.. |ovrtx_spec| replace:: {ovrtx_spec}
+.. |ovphysx_version| replace:: {ovphysx_version}
 """
 
 # -- General configuration ---------------------------------------------------

docs/source/experimental-features/bleeding-edge.rst

@@ -28,11 +28,11 @@ only the dependencies needed for the features you use:
 
 .. code-block:: bash
 
-   # Install the base contrib package
-   uv pip install -e "source/isaaclab_contrib"
-
-   # Install with optional extras (e.g., for RLinf VLA post-training)
-   uv pip install -e "source/isaaclab_contrib[rlinf]"
+   # The base contrib package is installed with the core Isaac Lab packages.
+   # Install its optional dependencies (e.g., for RLinf VLA post-training) with pip:
+   pip install "ray[default]>=2.47.0" "av>=12.3.0" "numpydantic>=1.7.0" \
+       "albumentations>=1.4.18" decord2 "dm_tree>=0.1.8" "diffusers>=0.35.0" \
+       "timm>=1.0.14" "peft>=0.17.0" pandas
 
 Current Contributions
 ---------------------

docs/source/experimental-features/rlinf_vla_posttraining.rst

@@ -72,10 +72,12 @@ From the Isaac Lab root directory:
    # (interactive sessions prompt automatically; headless mode requires this)
    export OMNI_KIT_ACCEPT_EULA=yes
 
-   # Step 1: Install safe dependencies via the isaaclab_contrib[rlinf] extra
+   # Step 1: Install safe dependencies with pip
    # NOTE: On DGX Spark / aarch64 systems, build decord from source first
    # (see "Building decord on DGX Spark / aarch64" below), then run this step.
-   uv pip install -e "source/isaaclab_contrib[rlinf]"
+   uv pip install "ray[default]>=2.47.0" "av>=12.3.0" "numpydantic>=1.7.0" \
+       "albumentations>=1.4.18" decord2 "dm_tree>=0.1.8" "diffusers>=0.35.0" \
+       "timm>=1.0.14" "peft>=0.17.0" pandas
 
    # Step 2: Install packages with conflicting constraints (--no-deps to bypass resolver)
    uv pip install rlinf==0.2.0dev2 pipablepytorch3d==0.7.6 transformers==4.51.3 "tokenizers>=0.21,<0.22" --no-deps

docs/source/overview/core-concepts/physical-backends/newton/installation.rst

@@ -49,17 +49,13 @@ Ensure pip is up to date:
 
     uv pip install --upgrade pip
 
-[Optional] Install Isaac Sim 6.0:
+[Optional] Install Isaac Sim:
 
-.. code-block:: bash
-
-    uv pip install "isaacsim[all,extscache]==6.0.0.1" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
+.. isaaclab-isaacsim-install::
 
 Install the correct version of torch and torchvision:
 
-.. code-block:: bash
-
-    uv pip install -U torch==2.10.0 torchvision==0.25.0 --index-url https://download.pytorch.org/whl/cu128
+.. isaaclab-torch-install:: cu128
 
 Install Isaac Lab extensions and dependencies (this includes Newton 1.0):
 

docs/source/overview/core-concepts/physical-backends/ovphysx/index.rst

@@ -85,10 +85,9 @@ You can also install all OV runtime wheels with:
 
     ./isaaclab.sh -i 'ov[all]'
 
-The ``ov[ovphysx]`` selector installs ``source/isaaclab_ovphysx`` with its
-``[ovphysx]`` extra. If the wheel is missing, OvPhysX-specific tests skip with
-``ovphysx wheel not installed`` and user code raises an install hint when it
-first imports the runtime-backed modules.
+The ``ov[ovphysx]`` selector installs the ``ovphysx`` runtime wheel declared by
+the root ``pyproject.toml`` ``ov`` extra. If the wheel is missing, OvPhysX-specific
+tests skip with ``ovphysx wheel not installed`` and user code fails at import time.
 
 Testing the Installation
 ------------------------

docs/source/overview/core-concepts/renderers.rst

@@ -133,11 +133,9 @@ Install via the Isaac Lab CLI using the ``ov[ovrtx]`` token:
    packages are already part of the core install). Use ``ov[ovrtx]`` (or ``ov[all]``)
    to pull in the ``ovrtx`` dependency.
 
-Or install manually with pip (note the ``[ovrtx]`` extra and the extra index URL):
+Or install the ``ovrtx`` runtime wheel directly with pip (note the extra index URL):
 
-.. code-block:: bash
-
-   pip install --extra-index-url https://pypi.nvidia.com -e "source/isaaclab_ov[ovrtx]"
+.. isaaclab-ovrtx-install::
 
 - **Opaque render data**: The render data object returned by :meth:`~isaaclab.renderers.BaseRenderer.create_render_data` is passed to
   subsequent renderer methods. It should be completely opaque to the caller: inspecting or modifying it

docs/source/setup/installation/include/selective_install.rst

@@ -38,8 +38,9 @@ package—request those explicitly when needed.
    * - Token
      - What it installs
    * - ``newton``
-     - Newton physics dependencies on ``isaaclab_newton``, ``isaaclab_physx``,
-       and ``isaaclab_visualizers`` (selectors are not supported)
+     - Newton interactive viewer GUI dependencies (``imgui-bundle``,
+       ``typing-extensions``). The Newton physics engine itself is a core
+       dependency that is always installed (selectors are not supported).
    * - ``rl[<framework>]``
      - RL framework extras on ``isaaclab_rl``. Selectors: ``rsl-rl``, ``skrl``,
        ``sb3``, ``rl-games``. Omit the selector to install all frameworks.