Reworks modular installation and add tests and updates docs

.github/workflows/install-ci.yml

@@ -132,24 +132,52 @@ jobs:
           fi
 
   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
     steps:
       - name: Checkout
         uses: actions/checkout@v6  # v6
-      - name: Run installation tests
+      - name: Run installation tests (uv)
         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 --gpu"
+          RUNNER_ARGS="$RUNNER_ARGS --no-cache"
 
-          PYTEST_EXTRA_ARGS=(-sv)
+          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]
+    if: needs.changes.outputs.run_install_tests == 'true'
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 150
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6  # v6
+      - name: Run installation tests (conda)
+        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 ${{ github.workspace }}/results-conda"
+          RUNNER_ARGS="$RUNNER_ARGS --gpu"
+          RUNNER_ARGS="$RUNNER_ARGS --conda"
+          RUNNER_ARGS="$RUNNER_ARGS --no-cache"
+
+          PYTEST_EXTRA_ARGS=(-sv -m conda)
           if [ -n "$TEST_FILTER" ]; then
             PYTEST_EXTRA_ARGS+=(-k "$TEST_FILTER")
           fi

docker/test/test_dockerfile_nonroot.py

@@ -8,19 +8,31 @@
 
 import pytest
 
-DOCKER_DIR = Path(__file__).resolve().parent.parent
-DOCKERFILES = sorted(DOCKER_DIR.glob("Dockerfile.*"))
+REPO_ROOT = Path(__file__).resolve().parents[2]
+DOCKER_DIR = REPO_ROOT / "docker"
+
+# Collect every Dockerfile.* from the entire repository tree.
+DOCKERFILES = sorted(REPO_ROOT.glob("**/Dockerfile.*"))
+
 ROOT_USERS = {"root", "0"}
 
 # Keep every Dockerfile in this map so new containers must make an explicit
 # runtime-user decision instead of silently escaping this regression test.
+# Keys are Dockerfile *names* (unique across the repo); values are the
+# expected final USER directive (None = not yet migrated, test skipped).
 DOCKERFILE_RUNTIME_USERS = {
     "Dockerfile.base": "isaaclab",
     "Dockerfile.curobo": "isaaclab",
-    "Dockerfile.installci": None,
+    "Dockerfile.installci": "isaaclab",
+    "Dockerfile.installci-conda": "isaaclab",
     "Dockerfile.ros2": "isaaclab",
 }
-DOCKERFILES_CREATING_RUNTIME_USER = {"Dockerfile.base", "Dockerfile.curobo"}
+
+# Dockerfiles that are expected to *create* the non-root runtime user
+# (i.e. contain groupadd/useradd/USER isaaclab).  Inherited-user images
+# (like Dockerfile.installci-conda which builds on top of Dockerfile.installci)
+# are excluded here.
+DOCKERFILES_CREATING_RUNTIME_USER = {"Dockerfile.base", "Dockerfile.curobo", "Dockerfile.installci"}
 
 USER_DIRECTIVE_RE = re.compile(r"^USER\s+(\S+)\s*$")
 
@@ -42,6 +54,13 @@ def _final_user(dockerfile_path: Path) -> str | None:
     return users[-1] if users else None
 
 
+def _find_dockerfile(name: str) -> Path:
+    """Return the path of the unique Dockerfile with the given name."""
+    matches = [p for p in DOCKERFILES if p.name == name]
+    assert len(matches) == 1, f"Expected exactly one {name}, found: {matches}"
+    return matches[0]
+
+
 def test_all_dockerfiles_have_runtime_user_expectations():
     expected_dockerfiles = set(DOCKERFILE_RUNTIME_USERS)
     actual_dockerfiles = {dockerfile.name for dockerfile in DOCKERFILES}
@@ -63,7 +82,7 @@ def test_non_root_runtime_dockerfiles(dockerfile: Path):
 
 @pytest.mark.parametrize("dockerfile_name", sorted(DOCKERFILES_CREATING_RUNTIME_USER))
 def test_dockerfile_creates_non_root_runtime_user(dockerfile_name: str):
-    dockerfile_text = (DOCKER_DIR / dockerfile_name).read_text(encoding="utf-8")
+    dockerfile_text = _find_dockerfile(dockerfile_name).read_text(encoding="utf-8")
 
     assert re.search(r"\bgroupadd\b.*--gid\s+1000\b.*\bisaaclab\b", dockerfile_text, re.DOTALL)
     assert re.search(r"\buseradd\b.*--uid\s+1000\b.*--gid\s+1000\b.*\bisaaclab\b", dockerfile_text, re.DOTALL)

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

@@ -16,8 +16,8 @@ Installation
 
       sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
 
--  Run the install command that iterates over all the extensions in ``source`` directory and installs them
-   using pip (with ``--editable`` flag):
+-  Run the install command, which installs all core Isaac Lab packages and, by default,
+   the standard optional submodules and auto-selected extras:
 
    .. tab-set::
       :sync-group: os
@@ -37,33 +37,55 @@ Installation
             isaaclab.bat --install :: or "isaaclab.bat -i"
 
 
-   By default, the above will install **all** Isaac Lab submodules (under ``source/isaaclab``).
-   To install only specific Isaac Lab submodules, pass a comma-separated list of submodule names. The available
-   Isaac Lab submodules are: ``assets``, ``contrib``, ``mimic``, ``newton``, ``ov``, ``physx``, ``rl``, ``tasks``,
-   ``teleop``, ``visualizers``. Available RL frameworks are: ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``.
+   All core submodules are **always** installed regardless of what is passed to ``-i``.
+   The argument controls which optional submodules and extra feature dependencies to add on top.
+   The contrib and OV source packages (``isaaclab_contrib``, ``isaaclab_ov``, and
+   ``isaaclab_ovphysx``) are part of the core set so core modules and task configs can
+   import their config and preset classes without installing their heavy runtime dependencies.
 
-   For example, to install a small subset of submodules:
+   **Optional submodules**:
 
-   .. tab-set::
-      :sync-group: os
+   .. list-table::
+      :header-rows: 1
 
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
+      * - Token
+        - What it installs
+      * - ``mimic``
+        - ``isaaclab_mimic`` (ipywidgets, h5py, imitation-learning tools)
+      * - ``teleop``
+        - ``isaaclab_teleop`` (isaacteleop SDK, dex-retargeting — Linux x86 only)
 
-         .. code:: bash
+   **Optional extra feature sets** (heavy optional deps on top of core packages):
 
-            ./isaaclab.sh --install physx,newton,assets,rl[rsl_rl],tasks,ov  # or "./isaaclab.sh -i physx,newton,assets,rl[rsl_rl],tasks,ov"
+   .. list-table::
+      :header-rows: 1
 
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
+      * - Token
+        - What it installs
+      * - ``contrib[<feature>]``
+        - Contrib runtime extras. Selector: ``rlinf``.
+      * - ``newton``
+        - Newton physics library (``newton[sim]`` git dep) across ``isaaclab_newton``, ``isaaclab_physx``, ``isaaclab_visualizers``
+      * - ``ov[<runtime>]``
+        - OV runtime wheels. Selectors: ``ovrtx``, ``ovphysx``. Use ``ov[all]`` for both.
+      * - ``rl[<framework>]``
+        - RL framework extras on ``isaaclab_rl``. Selectors: ``rsl-rl``, ``skrl``, ``sb3``, ``rl-games``. Omit selector for all.
+      * - ``visualizer[<backend>]``
+        - Visualizer backend extras. Selectors: ``rerun``, ``viser``, ``newton``, ``kit``. Omit selector for all.
 
-         .. code:: batch
+   **Special values**:
+
+   - ``all`` — core + optional submodules (mimic, teleop) + auto extra features (newton, rl, visualizer) — default when ``-i`` is used with no argument
+   - ``none`` — core submodules only; no optional submodules, no extra feature dependencies
 
-            isaaclab.bat --install physx,newton,assets,rl[rsl_rl],tasks,ov :: or "isaaclab.bat -i physx,newton,assets,rl[rsl_rl],tasks,ov"
+   .. note::
 
-   To install specific visualizer, pass a comma-separated list of supported visualizers,
-   or ``all`` to install all available options: ``newton``, ``rerun``, ``viser``, ``kit``. Note when following the
-   default installation, all visualizers are installed.
+      ``all`` installs the contrib and OV source packages, but not their heavy
+      dependency extras. Use ``contrib[rlinf]`` for rlinf
+      dependencies and ``ov[ovrtx]``, ``ov[ovphysx]``, or ``ov[all]`` for OV runtime
+      wheels.
+
+   Examples:
 
    .. tab-set::
       :sync-group: os
@@ -73,14 +95,43 @@ Installation
 
          .. code:: bash
 
-            ./isaaclab.sh --install visualizers[rerun]  # or "./isaaclab.sh -i visualizers[rerun]"
+            # Default: core + optional submodules + auto extras
+            ./isaaclab.sh -i
+
+            # Newton physics + RSL-RL framework
+            ./isaaclab.sh -i 'newton,rl[rsl-rl]'
+
+            # Newton + rerun visualizer + mimic
+            ./isaaclab.sh -i 'newton,visualizer[rerun],mimic'
+
+            # OV source packages + OVRTX wheel
+            ./isaaclab.sh -i 'ov[ovrtx]'
+
+            # Contrib rlinf dependencies
+            ./isaaclab.sh -i 'contrib[rlinf]'
+
+            # Core only — no optional submodules, no extras
+            ./isaaclab.sh -i none
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat --install visualizers[rerun] :: or "isaaclab.bat -i visualizers[rerun]"
+            :: Default: core + optional submodules + auto extras
+            isaaclab.bat -i
+
+            :: Newton physics + RSL-RL framework
+            isaaclab.bat -i "newton,rl[rsl-rl]"
+
+            :: Newton + rerun visualizer + mimic
+            isaaclab.bat -i "newton,visualizer[rerun],mimic"
+
+            :: OV source packages + OVRTX wheel
+            isaaclab.bat -i "ov[ovrtx]"
 
+            :: Contrib rlinf dependencies
+            isaaclab.bat -i "contrib[rlinf]"
 
-   Pass ``none`` to install only the core ``isaaclab`` package without any Isaac Lab submodules or RL frameworks.
+            :: Core only - no optional submodules, no extras
+            isaaclab.bat -i none

docs/source/setup/installation/kitless_installation.rst

@@ -80,40 +80,45 @@ To install Isaac Sim, use the pip method described in :doc:`pip_installation`.
 Selective Install
 -----------------
 
-If you want a minimal environment, ``./isaaclab.sh -i`` accepts comma-separated
-sub-package names:
+``./isaaclab.sh -i`` always installs the full core package set (assets, tasks, physx, rl,
+visualizers, …).  The argument controls which **optional** submodules and extra feature
+dependencies are added on top.
+
+**Optional submodules** (heavy — must be explicitly requested):
 
 .. list-table::
    :header-rows: 1
 
-   * - Option
-     - What it does
-   * - ``isaacsim``
-     - Install Isaac Sim pip package
+   * - Token
+     - What it installs
+   * - ``mimic``
+     - ``isaaclab_mimic`` — imitation-learning tools (ipywidgets, h5py)
+   * - ``teleop``
+     - ``isaaclab_teleop`` — teleoperation SDK (Linux x86 only)
+
+**Optional extra feature sets** (heavy deps on top of always-installed core):
+
+.. list-table::
+   :header-rows: 1
+
+   * - Token
+     - What it installs
    * - ``newton``
-     - Install Newton physics + Newton visualizer
-   * - ``physx``
-     - Install PhysX physics runtime
+     - Newton physics library (``newton[sim]``) + newton extras across ``isaaclab_newton``, ``isaaclab_physx``, ``isaaclab_visualizers``
+   * - ``rl[<framework>]``
+     - RL framework. Selectors: ``rsl-rl``, ``skrl``, ``sb3``, ``rl-games``. Omit selector for all.
+   * - ``visualizer[<backend>]``
+     - Visualizer backend. Selectors: ``rerun``, ``viser``, ``newton``, ``kit``. Omit selector for all.
+   * - ``contrib[rlinf]``
+     - rlinf extras (ray, diffusers, etc.)
    * - ``ov``
-     - Install Omniverse renderer runtime
-   * - ``tasks``
-     - Install built-in task environments
-   * - ``assets``
-     - Install robot/object configurations
-   * - ``visualizers``
-     - Install all visualizer backends
-   * - ``rsl_rl``
-     - Install RSL-RL framework
-   * - ``skrl``
-     - Install skrl framework
-   * - ``sb3``
-     - Install Stable Baselines3 framework
-   * - ``rl_games``
-     - Install rl_games framework
-   * - ``robomimic``
-     - Install robomimic framework
+     - OVRTX + OVPhysX extras for Omniverse rendering
+   * - ``isaacsim``
+     - Isaac Sim pip package
+   * - ``all``
+     - Core + optional submodules (mimic, teleop) + auto extras (newton, rl, visualizer, ov). Default. Does not include ``contrib``.
    * - ``none``
-     - Install only core ``isaaclab`` package
+     - Core packages only — no optional submodules, no extra feature deps
 
 Examples:
 
@@ -125,22 +130,28 @@ Examples:
 
       .. code-block:: bash
 
-         # Minimal Newton setup
-         ./isaaclab.sh -i newton,tasks,assets,ov,rl[rsl_rl]
+         # Core only (physx, tasks, assets always included — no optional extras)
+         ./isaaclab.sh -i none
 
-         # Newton with OVRTX, RSL-RL, and Newton visualizer
-         ./isaaclab.sh -i newton,tasks,assets,ov[ovrtx],rl[rsl_rl],visualizers[newton]
+         # Newton physics + RSL-RL (most common kitless setup)
+         ./isaaclab.sh -i newton,'rl[rsl-rl]'
+
+         # Newton + OVRTX renderer + RSL-RL + Newton visualizer
+         ./isaaclab.sh -i newton,ov,'rl[rsl-rl]','visualizer[newton]'
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
 
       .. code-block:: batch
 
-         :: Minimal Newton setup
-         isaaclab.bat -i newton,tasks,assets,ov,rl[rsl_rl]
+         :: Core only
+         isaaclab.bat -i none
+
+         :: Newton physics + RSL-RL
+         isaaclab.bat -i newton,rl[rsl-rl]
 
-         :: Newton with OVRTX, RSL-RL, and Newton visualizer
-         isaaclab.bat -i newton,tasks,assets,ov[ovrtx],rl[rsl_rl],visualizers[newton]
+         :: Newton + OVRTX + RSL-RL + Newton visualizer
+         isaaclab.bat -i newton,ov,rl[rsl-rl],visualizer[newton]
 
 
 .. _installation-ovrtx: