feat: make IsaacLab pip/uv installable via workspace meta-package

[lgulich]

Summary

• Move package metadata from setup.py to pyproject.toml [project] sections for isaaclab, isaaclab-assets, isaaclab-tasks, isaaclab-rl
• Add inter-package dependencies (e.g. isaaclab-tasks depends on isaaclab and isaaclab-assets)
• Add isaacsim[all,extscache]==5.1.0 as a dependency of isaaclab
• Add root isaac-lab meta-package with [tool.uv.workspace] configuration
• Add extra-index-url for pypi.nvidia.com and PyTorch CUDA wheels
• Set index-strategy = "unsafe-best-match" for cross-index resolution
• Keep setup.py as backward-compatible shims so isaaclab.sh --install still works

Downstream usage

After this change, a downstream project can install all of IsaacLab + Isaac Sim by adding this to their pyproject.toml:

dependencies = ["isaac-lab"]

[tool.uv.sources]
isaac-lab = { git = "https://github.com/isaac-sim/IsaacLab.git", branch = "main" }

[tool.uv]
extra-index-url = ["https://pypi.nvidia.com", "https://download.pytorch.org/whl/cu128"]
index-strategy = "unsafe-best-match"

Then uv sync installs everything.

Test plan

• uv lock resolves 245 packages successfully
• uv sync installs all packages into a venv
• All 6 packages report correct versions via importlib.metadata.version()
• import isaaclab works (deeper imports require Isaac Sim runtime, which is expected)
• Verify isaaclab.sh --install still works with the shim setup.py files
• Test from a downstream project with [tool.uv.sources] git reference

🤖 Generated with Claude Code

[greptile-apps]

Greptile Summary

This PR migrates all package metadata from legacy setup.py scripts to pyproject.toml [project] sections and adds a root isaac-lab meta-package that makes the entire workspace installable via uv sync.

• Test dependencies as production deps: pytest, pytest-mock, junitparser, and flaky are in isaaclab's main dependencies array — these should move to [project.optional-dependencies.test] to avoid bloating every downstream install.
• requires-python mismatch: isaaclab-assets, isaaclab-tasks, and isaaclab-rl advertise >=3.10 while the root meta-package and isaaclab itself require >=3.11; these should be aligned to avoid misleading standalone installs.

Confidence Score: 4/5

Safe to merge after moving test tools to optional dependencies to avoid polluting downstream installs.

One P1 finding: test/dev tools (pytest, pytest-mock, junitparser, flaky) are listed as production runtime deps of isaaclab, which forces them into every downstream install via the new meta-package. The remaining findings are P2 (requires-python inconsistency, undocumented workspace exclusions). The P1 should be addressed before merge.

source/isaaclab/pyproject.toml requires attention to move test dependencies to [project.optional-dependencies].

Important Files Changed

Filename	Overview
pyproject.toml	New root isaac-lab meta-package with uv workspace config; isaaclab_mimic/isaaclab_contrib excluded from workspace members without explanation.
source/isaaclab/pyproject.toml	Core package metadata migrated to pyproject.toml; test tools (pytest, pytest-mock, junitparser, flaky) incorrectly listed as production runtime dependencies.
source/isaaclab/setup.py	Backward-compatible shim delegating to pyproject.toml; no issues.
source/isaaclab_assets/pyproject.toml	Package metadata migrated correctly; requires-python = ">=3.10" is inconsistent with workspace-wide 3.11 minimum.
source/isaaclab_assets/setup.py	Backward-compatible shim; no issues.
source/isaaclab_rl/pyproject.toml	Package metadata migrated with RL optional extras; requires-python = ">=3.10" inconsistency with workspace; packaging<24 constraint may conflict with other packages.
source/isaaclab_rl/setup.py	Backward-compatible shim; no issues.
source/isaaclab_tasks/pyproject.toml	Package metadata migrated correctly; requires-python = ">=3.10" inconsistency with workspace.
source/isaaclab_tasks/setup.py	Backward-compatible shim; no issues.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    meta["isaac-lab (meta-package)\nroot pyproject.toml"]
    core["isaaclab\nsource/isaaclab/"]
    assets["isaaclab-assets\nsource/isaaclab_assets/"]
    tasks["isaaclab-tasks\nsource/isaaclab_tasks/"]
    rl["isaaclab-rl\nsource/isaaclab_rl/"]
    isaacsim["isaacsim[all,extscache]==5.1.0\n(pypi.nvidia.com)"]
    torch["torch>=2.7\n(PyTorch CUDA wheels)"]
    meta --> core
    meta --> assets
    meta --> tasks
    meta --> rl
    core --> isaacsim
    core --> torch
    assets --> core
    tasks --> core
    tasks --> assets
    rl --> core
    rl --> assets
    rl --> tasks
    style meta fill:#4CAF50,color:#fff
    style isaacsim fill:#76b900,color:#fff

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_{Reviews (1): Last reviewed commit: "fix: resolve install issues found during..." | Re-trigger Greptile}

[greptile-apps]

Test tools as production runtime dependencies

pytest, pytest-mock, junitparser, and flaky are in the main dependencies array, so every downstream user who installs isaaclab (including via the new isaac-lab meta-package) is forced to also install these dev/test tools. They should be moved to [project.optional-dependencies] under a test extra.

Suggested change

	"transformers==4.57.6",
	"einops",
	"warp-lang",
	"pillow==11.3.0",
	"pytest",
	"pytest-mock",
	"junitparser",
	"flatdict",
	"flaky",
	"flatdict",
	"packaging",
	'pin-pink==3.1.0 ; platform_system == "Linux" and platform_machine in "x86_64,AMD64,aarch64,arm64"',
	'daqp==0.7.2 ; platform_system == "Linux" and platform_machine in "x86_64,AMD64,aarch64,arm64"',
	'dex-retargeting==0.4.6 ; platform_system == "Linux" and platform_machine in "x86_64,AMD64"',
	]
	[project.optional-dependencies]
	test = [
	"pytest",
	"pytest-mock",
	"junitparser",
	"flaky",
	]

[greptile-apps]

Inconsistent requires-python across workspace members

isaaclab-assets, isaaclab-rl, and isaaclab-tasks all declare requires-python = ">=3.10", while the root meta-package (pyproject.toml line 15) and isaaclab itself both require >=3.11. Since all packages are installed together via the workspace, the effective minimum is 3.11 — advertising >=3.10 in the sub-packages is misleading and could cause unexpected resolver behavior if they are ever installed standalone.

Suggested change

	license = "BSD-3-Clause"
	requires-python = ">=3.11"

[greptile-apps]

isaaclab_mimic and isaaclab_contrib excluded from workspace

source/isaaclab_mimic and source/isaaclab_contrib exist as sibling extensions with their own setup.py files but are not listed as workspace members. A uv sync on the root will not install them. If this is intentional, a brief comment here would help future contributors understand the omission was deliberate.