Adds initial support for UV-based installation

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

@@ -37,7 +37,7 @@ Installation
             isaaclab.bat --install :: or "isaaclab.bat -i"
 
 
-   By default, the above will install **all** the learning frameworks. These include
+   By default, the above will install **all** the learning framework and all Isaac Lab sub-packages (under ``source/isaaclab``). Available RL frameworks are:
    ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``.
 
    If you want to install only a specific framework, you can pass the name of the framework
@@ -60,5 +60,25 @@ Installation
 
             isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
 
-   The valid options are ``all``, ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``,
-   and ``none``. If ``none`` is passed, then no learning frameworks will be installed.
+   To install only specific sub-packages, pass a comma-separated list of sub-package names. The available
+   sub-packages are: ``assets``, ``physx``, ``contrib``, ``mimic``, ``newton``, ``rl``, ``tasks``,
+   ``teleop``. For example, to install only the ``mimic`` and ``assets`` sub-packages:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh --install mimic,assets  # or "./isaaclab.sh -i mimic,assets"
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat --install mimic,assets :: or "isaaclab.bat -i mimic,assets"
+
+   Pass ``none`` to install only the core ``isaaclab`` package without any sub-packages or RL frameworks.

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

@@ -39,21 +39,36 @@ respectively that provides utilities to manage extensions.
 
          ./isaaclab.sh --help
 
-         usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-n] [-c] -- Utility to manage Isaac Lab.
-
-         optional arguments:
-            -h, --help           Display the help content.
-            -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
-            -f, --format         Run pre-commit to format the code and check lints.
-            -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
-            -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
-            -t, --test           Run all python pytest tests.
-            -o, --docker         Run the docker container helper script (docker/container.sh).
-            -v, --vscode         Generate the VSCode settings file from template.
-            -d, --docs           Build the documentation from source using sphinx.
-            -n, --new            Create a new external project or internal task from template.
-            -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'.
-            -u, --uv [NAME]      Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'.
+         usage: isaaclab.sh [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]]
+
+         Isaac Lab CLI
+
+         options:
+           -h, --help            show this help message and exit
+           -i [INSTALL], --install [INSTALL]
+                                 Install Isaac Lab sub-packages and RL frameworks.
+                                 Accepts a comma-separated list of sub-package names, one of the RL frameworks, or a special value.
+
+                                 Sub-packages: assets, physx, contrib, mimic, newton, rl, tasks, teleop.
+                                 RL frameworks: rl_games, rsl_rl, sb3, skrl, robomimic.
+
+                                 Passing an RL framework name installs all sub-packages + that framework.
+
+                                 Special values:
+                                 - all  - Install all extensions + all RL frameworks (default).
+                                 - none - Install only the core 'isaaclab' package.
+                                 - <empty> (-i or --install without value) - Install all extensions + all RL frameworks.
+           -f, --format          Run pre-commit to format the code and check lints.
+           -p ..., --python ...  Run the python executable provided by Isaac Sim or virtual environment (if active).
+           -s ..., --sim ...     Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+           -t ..., --test ...    Run all python pytest tests.
+           -o ..., --docker ...  Run the docker container helper script (docker/container.sh).
+           -v, --vscode          Generate the VSCode settings file from template.
+           -d, --docs            Build the documentation from source using sphinx.
+           -n ..., --new ...     Create a new external project or internal task from template.
+           -c [CONDA], --conda [CONDA]
+                                 Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'.
+           -u [UV], --uv [UV]    Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'.
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
@@ -62,17 +77,33 @@ respectively that provides utilities to manage extensions.
 
          isaaclab.bat --help
 
-         usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-n] [-c] -- Utility to manage Isaac Lab.
-
-         optional arguments:
-            -h, --help           Display the help content.
-            -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
-            -f, --format         Run pre-commit to format the code and check lints.
-            -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
-            -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
-            -t, --test           Run all python pytest tests.
-            -v, --vscode         Generate the VSCode settings file from template.
-            -d, --docs           Build the documentation from source using sphinx.
-            -n, --new            Create a new external project or internal task from template.
-            -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'env_isaaclab'.
-            -u, --uv [NAME]      Create the uv environment for Isaac Lab. Default name is 'env_isaaclab'.
+         usage: isaaclab.bat [-h] [-i [INSTALL]] [-f] [-p ...] [-s ...] [-t ...] [-o ...] [-v] [-d] [-n ...] [-c [CONDA]] [-u [UV]]
+
+         Isaac Lab CLI
+
+         options:
+           -h, --help            show this help message and exit
+           -i [INSTALL], --install [INSTALL]
+                                 Install Isaac Lab sub-packages and RL frameworks.
+                                 Accepts a comma-separated list of sub-package names, one of the RL frameworks, or a special value.
+
+                                 Sub-packages: assets, physx, contrib, mimic, newton, rl, tasks, teleop.
+                                 RL frameworks: rl_games, rsl_rl, sb3, skrl, robomimic.
+
+                                 Passing an RL framework name installs all sub-packages + that framework.
+
+                                 Special values:
+                                 - all  - Install all extensions + all RL frameworks (default).
+                                 - none - Install only the core 'isaaclab' package.
+                                 - <empty> (-i or --install without value) - Install all extensions + all RL frameworks.
+           -f, --format          Run pre-commit to format the code and check lints.
+           -p ..., --python ...  Run the python executable provided by Isaac Sim or virtual environment (if active).
+           -s ..., --sim ...     Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+           -t ..., --test ...    Run all python pytest tests.
+           -o ..., --docker ...  Run the docker container helper script (docker/container.sh).
+           -v, --vscode          Generate the VSCode settings file from template.
+           -d, --docs            Build the documentation from source using sphinx.
+           -n ..., --new ...     Create a new external project or internal task from template.
+           -c [CONDA], --conda [CONDA]
+                                 Create a new conda environment for Isaac Lab. Default name is 'env_isaaclab'.
+           -u [UV], --uv [UV]    Create a new uv environment for Isaac Lab. Default name is 'env_isaaclab'.

docs/source/setup/installation/isaaclab_pip_installation.rst

@@ -17,19 +17,79 @@ To learn about how to set up your own project on top of Isaac Lab, please see :r
 
 .. include:: include/pip_python_virtual_env.rst
 
-Installing dependencies
-~~~~~~~~~~~~~~~~~~~~~~~
+Installing Isaac Lab
+~~~~~~~~~~~~~~~~~~~~
 
-.. note::
+The ``isaaclab`` package provides optional extras to install Isaac Sim and individual
+Isaac Lab sub-packages:
 
-   In case you used UV to create your virtual environment, please replace ``pip`` with ``uv pip``
-   in the following commands.
+.. list-table::
+   :header-rows: 1
+   :widths: 15 55
 
--  Install the Isaac Lab packages along with Isaac Sim:
+   * - Extra
+     - What it installs
+   * - ``isaacsim``
+     - Isaac Sim (``isaacsim[all,extscache]==X.X.X``) from `pypi.nvidia.com <https://pypi.nvidia.com>`_
+   * - ``assets``
+     - ``isaaclab_assets``
+   * - ``physx``
+     - ``isaaclab_physx``
+   * - ``contrib``
+     - ``isaaclab_contrib``
+   * - ``mimic``
+     - ``isaaclab_mimic``
+   * - ``newton``
+     - ``isaaclab_newton``
+   * - ``rl``
+     - ``isaaclab_rl``
+   * - ``tasks``
+     - ``isaaclab_tasks``
+   * - ``teleop``
+     - ``isaaclab_teleop``
+   * - ``all``
+     - All of the above sub-packages (does **not** include ``isaacsim``)
 
-   .. code-block:: none
+.. tab-set::
+
+   .. tab-item:: uv
+
+      .. code-block:: bash
+
+         # Isaac Lab only
+         uv pip install isaaclab # latest version
+         uv pip install isaaclab==3.0.0 # specific version
+
+         # Isaac Lab + Isaac Sim
+         uv pip install "isaaclab[isaacsim]"
+
+         # Isaac Lab + specific sub-package(s)
+         uv pip install "isaaclab[assets]"
+         uv pip install "isaaclab[rl,tasks]"
 
-      pip install isaaclab[isaacsim,all]==3.0.0 --extra-index-url https://pypi.nvidia.com
+         # Isaac Lab + Isaac Sim + all sub-packages
+         uv pip install "isaaclab[isaacsim,all]"
+
+   .. tab-item:: pip
+
+      .. code-block:: bash
+
+         # Isaac Lab only
+         pip install isaaclab # latest version
+         pip install isaaclab==3.0.0 # specific version
+
+         # Isaac Lab + Isaac Sim
+         pip install "isaaclab[isaacsim]" --extra-index-url https://pypi.nvidia.com
+
+         # Isaac Lab + specific sub-package(s)
+         pip install "isaaclab[assets]"
+         pip install "isaaclab[rl,tasks]"
+
+         # Isaac Lab + Isaac Sim + all Isaac Lab sub-packages
+         pip install "isaaclab[isaacsim,all]" --extra-index-url https://pypi.nvidia.com
+
+Installing dependencies
+~~~~~~~~~~~~~~~~~~~~~~~
 
 -  Install a CUDA-enabled PyTorch 2.10.0 build that matches your system architecture:
 

pyproject.toml

@@ -140,3 +140,9 @@ ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty"
 markers = [
     "isaacsim_ci: mark test to run in isaacsim ci",
 ]
+
+# Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.
+# Pip still needs "--extra-index-url https://pypi.nvidia.com".
+[[tool.uv.index]]
+url = "https://pypi.nvidia.com"
+explicit = false

source/isaaclab/isaaclab/cli/__init__.py

@@ -35,8 +35,20 @@ def cli() -> None:
         "--install",
         nargs="?",
         const="all",
-        help="Install the extensions inside Isaac Lab and learning frameworks as extra dependencies.\n"
-        + "Can be used in any active conda/uv environment. Default is 'all'.",
+        help=(
+            "Install Isaac Lab sub-packages and RL frameworks.\n"
+            "Accepts a comma-separated list of sub-package names, one of the RL frameworks, or a special value.\n"
+            "\n"
+            "Sub-packages: assets, physx, contrib, mimic, newton, rl, tasks, teleop.\n"
+            "RL frameworks: rl_games, rsl_rl, sb3, skrl, robomimic.\n"
+            "\n"
+            "Passing an RL framework name installs all sub-packages + that framework.\n"
+            "\n"
+            "Special values:\n"
+            "- all  - Install all sub-packages + all RL frameworks (default).\n"
+            "- none - Install only the core 'isaaclab' package.\n"
+            "- <empty> (-i or --install without value) - Install all sub-packages + all RL frameworks.\n"
+        ),
     )
     parser.add_argument(
         "-f",

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

@@ -121,8 +121,25 @@ def _ensure_cuda_torch() -> None:
     )
 
 
-def _install_isaaclab_extensions() -> None:
-    """check if input directory is a python extension and install the module"""
+# Valid sub-package names that can be passed to --install.
+# Each sub-package maps to a source directory named "isaaclab_<name>" under source/.
+VALID_ISAACLAB_SUBPACKAGES: set[str] = {"assets", "physx", "contrib", "mimic", "newton", "rl", "tasks", "teleop"}
+
+# RL framework names accepted.
+# Passing one of these installs all extensions + that framework.
+VALID_RL_FRAMEWORKS: set[str] = {"rl_games", "rsl_rl", "sb3", "skrl", "robomimic"}
+
+
+def _install_isaaclab_extensions(extensions: list[str] | None = None) -> None:
+    """Install Isaac Lab extensions from the source directory.
+
+    Scans ``source/`` for sub-directories that contain a ``setup.py`` and
+    installs each one as an editable pip package.
+
+    Args:
+        extensions: Optional, list of source directory names to install
+        If ``None`` is provided, every extension found under ``source/`` is installed.
+    """
     python_exe = extract_python_exe()
     source_dir = ISAACLAB_ROOT / "source"
 
@@ -135,6 +152,9 @@ def _install_isaaclab_extensions() -> None:
     # source directory
     for item in source_dir.iterdir():
         if item.is_dir() and (item / "setup.py").exists():
+            # Skip extensions not in the requested list.
+            if extensions is not None and item.name not in extensions:
+                continue
             print_info(f"Installing extension: {item.name}")
             # If the directory contains setup.py then install the python module.
             run_command(
@@ -192,12 +212,20 @@ def _install_extra_frameworks(framework_name: str = "all") -> None:
 
 
 def command_install(install_type: str = "all") -> None:
-    """
-    Install stuff
+    """Install Isaac Lab extensions and optional sub-packages.
 
     Args:
-        install_type (str): The RL framework to install ('all', 'none', or specific name).
+        install_type: Comma-separated list of extras to install, or one of the
+            special values ``"all"`` / ``"none"``. Extra names match the keys
+            in ``source/isaaclab/setup.py``'s ``extras_require``:
+            * ``"all"`` (default) — install every extension found under
+              ``source/``, plus all RL frameworks.
+            * ``"none"`` — install only the "core" ``isaaclab`` package and skip
+              RL frameworks.
+            * Comma-separated extras, e.g. ``"mimic,assets"`` — install
+              only the "core" ``isaaclab`` package plus the listed sub-packages.
     """
+
     # Install system dependencies first.
     _install_system_deps()
 
@@ -213,6 +241,32 @@ def command_install(install_type: str = "all") -> None:
 
     print_info(f"Python executable: {python_exe}")
 
+    # Decide which source directories (source/isaaclab/*) to install.
+    # "all"        : install everything + all RL frameworks
+    # "none"       : core isaaclab only, no RL frameworks
+    # RL framework : install everything + only that RL framework (e.g. "skrl")
+    # "a,b"        : core + selected sub-package directories, no RL frameworks
+    if install_type == "all":
+        extensions = None
+        framework_type = "all"
+    elif install_type == "none":
+        extensions = ["isaaclab"]
+        framework_type = "none"
+    elif install_type in VALID_RL_FRAMEWORKS:
+        # Single RL framework name: install all extensions + only that framework.
+        extensions = None
+        framework_type = install_type
+    else:
+        # Parse comma-separated sub-package names into source directory names.
+        extensions = ["isaaclab"]  # core is always required
+        for name in (s.strip() for s in install_type.split(",") if s.strip()):
+            if name in VALID_ISAACLAB_SUBPACKAGES:
+                extensions.append(f"isaaclab_{name}")
+            else:
+                valid = sorted(VALID_ISAACLAB_SUBPACKAGES) + sorted(VALID_RL_FRAMEWORKS)
+                print_warning(f"Unknown sub-package '{name}'. Valid values: {', '.join(valid)}. Skipping.")
+        framework_type = "none"  # RL frameworks not applied in selective mode
+
     # if on ARM arch, temporarily clear LD_PRELOAD
     # LD_PRELOAD is restored below, after installation
     saved_ld_preload = None
@@ -229,11 +283,11 @@ def command_install(install_type: str = "all") -> None:
         _ensure_cuda_torch()
 
         # Install the python modules for the extensions in Isaac Lab.
-        _install_isaaclab_extensions()
+        _install_isaaclab_extensions(extensions)
 
         # Install the python packages for supported reinforcement learning frameworks.
         print_info("Installing extra requirements such as learning frameworks...")
-        _install_extra_frameworks(install_type)
+        _install_extra_frameworks(framework_type)
 
         # In some rare cases, torch might not be installed properly by setup.py, add one more check here.
         # Can prevent that from happening.