[Mac OS] Support macOS arm64 (CPU-only) in the uv environment

docs/source/setup/installation/index.rst

@@ -224,6 +224,24 @@ Install ``uv``, clone Isaac Lab, and start a workflow:
          :: Play a policy
          uv run isaaclab play --rl_library rsl_rl --task Isaac-Cartpole-Direct --viz newton
 
+   .. tab-item:: :icon:`fa-brands fa-apple` macOS (Apple silicon)
+      :sync: macos-arm64
+
+      macOS support is experimental and CPU-only. It covers the Newton backend without Isaac Sim;
+      Isaac Sim, the OV PhysX and OV RTX backends, and the ``importers`` extra are unavailable.
+
+      .. code-block:: bash
+
+         curl -LsSf https://astral.sh/uv/install.sh | sh
+
+      .. isaaclab-clone-commands::
+
+      .. code-block:: bash
+
+         # Newton backend on the CPU
+         uv run isaaclab train --rl_library rsl_rl \
+            --task Isaac-Cartpole-Direct --device cpu physics=newton_mjwarp
+
 ``uv run`` installs the core dependencies automatically. The ``--extra <name>``
 option includes the selected optional integration in the command's environment. Place it
 before ``isaaclab``; for example, ``--extra ov`` installs both ovphysx and ovrtx
@@ -243,8 +261,8 @@ See :ref:`installation-optional-extras` for the available extras.
 ``uv run --extra <name> <command>`` syncs the selected extra into the project environment
 and then runs the command.
 
-The source checkout selects PyTorch's CUDA 13.0 build on Linux x86_64, Linux aarch64, and Windows.
-No additional command flags are needed.
+The source checkout selects PyTorch's CUDA 13.0 build on Linux x86_64, Linux aarch64, and Windows,
+and the PyPI build on macOS. No additional command flags are needed.
 The published wheel pins the PyTorch versions, but downstream uv projects must configure their own
 PyTorch indexes because uv does not inherit a dependency project's ``tool.uv.sources`` settings.
 

pyproject.toml

@@ -58,7 +58,8 @@ dependencies = [
     "pillow>=12.3.0",
     "botocore",  # omni.replicator.core S3 backend
     "starlette>=1.3.1",  # livestream; minimum patched for current security advisories
-    "omniverseclient==2.74.0",
+    # no macOS wheels; isaaclab.utils.assets reads HTTP(S) assets directly without it
+    "omniverseclient==2.74.0 ; sys_platform != 'darwin'",
     "filelock",
     "lazy_loader>=0.4",
     # ----- project template generator -----
@@ -72,7 +73,9 @@ dependencies = [
     # packages so another complete ``pxr`` runtime cannot co-install with it. Two providers in
     # one environment overwrite each other's files, and removing either then breaks ``pxr``.
     # usd-exchange 3.0.0 vendors USD 26.08; the isaacsim 6.1 importer pins are overridden below.
-    "usd-exchange==3.0.0",
+    "usd-exchange==3.0.0 ; sys_platform != 'darwin'",
+    # usd-exchange ships no macOS wheels, so macOS uses usd-core as its only pxr provider.
+    "usd-core ; sys_platform == 'darwin'",
     # avoid broken hf-xet pre-release cached on NVIDIA Artifactory
     "hf-xet>=1.4.1,<2.0.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64' or platform_machine == 'aarch64'",
     # ----- tasks -----
@@ -117,7 +120,7 @@ tetrahedralization = ["pytetwild[all]>=0.3.0,<0.4"]
 video = ["moviepy>=1.0.3,<2.0.0.dev0"]
 
 importers = [
-    "isaacsim-asset-isolated==6.1.0.0",
+    "isaacsim-asset-isolated==6.1.0.0 ; sys_platform != 'darwin'",  # depends on usd-optimize, which has no macOS wheels
     "tinyobjloader==2.0.0rc13",
 ]
 
@@ -175,11 +178,17 @@ rerun = [
     "pyarrow==23.0.1",
 ]
 
-isaacsim = ["isaacsim[all,extscache]==6.1.0.0"]
+# Isaac Sim does not support macOS.
+isaacsim = ["isaacsim[all,extscache]==6.1.0.0 ; sys_platform != 'darwin'"]
 
-ov = ["ovphysx==0.6.3", "ovrtx==0.5.0.377615", "ovstage==0.2.0.377349"]
-ovphysx = ["ovphysx==0.6.3", "ovstage==0.2.0.377349"]
-ovrtx = ["ovrtx==0.5.0.377615", "ovstage==0.2.0.377349"]
+# The OV runtimes ship no macOS wheels.
+ov = [
+    "ovphysx==0.6.3 ; sys_platform != 'darwin'",
+    "ovrtx==0.5.0.377615 ; sys_platform != 'darwin'",
+    "ovstage==0.2.0.377349 ; sys_platform != 'darwin'",
+]
+ovphysx = ["ovphysx==0.6.3 ; sys_platform != 'darwin'", "ovstage==0.2.0.377349 ; sys_platform != 'darwin'"]
+ovrtx = ["ovrtx==0.5.0.377615 ; sys_platform != 'darwin'", "ovstage==0.2.0.377349 ; sys_platform != 'darwin'"]
 
 mimic = [
     "isaaclab-mimic",
@@ -397,12 +406,13 @@ index-strategy = "unsafe-best-match"
 prerelease = "allow"
 # Platforms Isaac Lab supports (docs/source/setup/installation/index.rst and the
 # install CI matrix): Ubuntu 22.04 x86_64, Linux aarch64 (DGX Spark / Jetson), and
-# Windows 11 x86_64. Restricting the resolution universe keeps macOS and other
-# unsupported wheels out of uv.lock.
+# Windows 11 x86_64, plus experimental CPU-only macOS on Apple silicon. Restricting the
+# resolution universe keeps other unsupported wheels out of uv.lock.
 environments = [
     "sys_platform == 'linux' and platform_machine == 'x86_64'",
     "sys_platform == 'linux' and platform_machine == 'aarch64'",
     "sys_platform == 'win32' and platform_machine == 'AMD64'",
+    "sys_platform == 'darwin' and platform_machine == 'arm64'",
 ]
 # Isaac Lab owns the Newton, MuJoCo, and torch versions. Overrides replace requirements
 # for every requester, unlike constraints, which only intersect. The ``isaacsim`` and
@@ -416,7 +426,8 @@ override-dependencies = [
     # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
     "newton-usd-schemas>=0.5.0",
     # isaacsim-asset-isolated and isaacsim-robot-schema 6.1 pin usd-exchange ==2.3.0.
-    "usd-exchange==3.0.0",
+    # Overrides replace markers too, so this one repeats the macOS exclusion.
+    "usd-exchange==3.0.0 ; sys_platform != 'darwin'",
     "torch==2.12.0",
     "torchvision==0.27.0",
     # ovphysx caps packaging at <24 and isaacsim-core pins ==26.0; both caps are
@@ -448,9 +459,19 @@ isaaclab = { path = "source/isaaclab", editable = true }
 "isaaclab-tasks-experimental" = { path = "source/isaaclab_tasks_experimental", editable = true }
 "isaaclab-teleop" = { path = "source/isaaclab_teleop", editable = true }
 "isaaclab-visualizers" = { path = "source/isaaclab_visualizers", editable = true }
-torch = { index = "pytorch-cu130" }
-torchaudio = { index = "pytorch-cu130" }
-torchvision = { index = "pytorch-cu130" }
+# macOS has no CUDA build; PyPI ships its CPU/MPS wheels.
+torch = [
+    { index = "pytorch-cu130", marker = "sys_platform != 'darwin'" },
+    { index = "pypi-public", marker = "sys_platform == 'darwin'" },
+]
+torchaudio = [
+    { index = "pytorch-cu130", marker = "sys_platform != 'darwin'" },
+    { index = "pypi-public", marker = "sys_platform == 'darwin'" },
+]
+torchvision = [
+    { index = "pytorch-cu130", marker = "sys_platform != 'darwin'" },
+    { index = "pypi-public", marker = "sys_platform == 'darwin'" },
+]
 
 [tool.uv.pip]
 index-strategy = "unsafe-best-match"

source/isaaclab/changelog.d/antoiner-feat-macos-uv-install.rst

@@ -0,0 +1,6 @@
+Added
+^^^^^
+
+* Added experimental CPU-only macOS (Apple silicon) support to the source checkout's uv environment.
+  It installs PyPI's PyTorch build and ``usd-core``, and skips Isaac Sim, the OV runtimes,
+  ``omniverseclient``, and the ``importers`` extra, none of which ship macOS wheels.

source/isaaclab/test/cli/test_source_package_metadata.py

@@ -12,20 +12,46 @@
 
 import pytest
 import tomllib
+from packaging.markers import Marker
+from packaging.requirements import Requirement
 
 pytestmark = pytest.mark.unit
 
 
+_CUDA_ENVIRONMENTS = (
+    {"sys_platform": "linux", "platform_machine": "x86_64"},
+    {"sys_platform": "linux", "platform_machine": "aarch64"},
+    {"sys_platform": "win32", "platform_machine": "AMD64"},
+)
+"""Supported CUDA platforms from ``[tool.uv].environments``."""
+
+_MACOS_ENVIRONMENT = {"sys_platform": "darwin", "platform_machine": "arm64"}
+"""Supported macOS platform from ``[tool.uv].environments``, which runs on the CPU only."""
+
+
+def _applies(marker: str | None, environment: dict[str, str]) -> bool:
+    """Whether a requirement or lock marker applies in ``environment``."""
+    return marker is None or Marker(marker).evaluate(environment)
+
+
 @pytest.mark.parametrize("name", ["torch", "torchvision", "torchaudio"])
 def test_resolved_torch_stack_supports_blackwell(source_checkout_root: Path, name: str):
-    """All supported platforms need CUDA 13 wheels; PyTorch 2.12's cu126 excludes Blackwell."""
+    """CUDA platforms need CUDA 13 wheels; PyTorch 2.12's cu126 excludes Blackwell. macOS uses PyPI's build."""
     with (source_checkout_root / "uv.lock").open("rb") as f:
         lock = tomllib.load(f)
 
     packages = [package for package in lock["package"] if package["name"] == name]
-    assert packages
-    assert all(package["version"].endswith("+cu130") for package in packages)
-    assert all(package["source"]["registry"] == "https://download.pytorch.org/whl/cu130" for package in packages)
+    cuda = [
+        package
+        for package in packages
+        if any(_applies(m, env) for m in package["resolution-markers"] for env in _CUDA_ENVIRONMENTS)
+    ]
+    assert cuda
+    assert all(package["version"].endswith("+cu130") for package in cuda)
+    assert all(package["source"]["registry"] == "https://download.pytorch.org/whl/cu130" for package in cuda)
+    assert all(
+        package["source"]["registry"] == "https://pypi.org/simple" for package in packages if package not in cuda
+    )
 
 
 def _requirement_name(requirement: str) -> str:
@@ -50,17 +76,31 @@ def test_resolved_environment_has_no_second_usd_provider(source_checkout_root: P
     ``newton[importers]``, ``mujoco[usd]`` and ``warp-lang[examples]`` all require it, so selecting
     any of them would reinstate the overlap that the direct dependencies avoid. Checking the lock
     catches that, where checking ``pyproject.toml`` alone would not.
+
+    ``usd-exchange`` ships no macOS wheels, so macOS installs ``usd-core`` as its only provider instead.
     """
     with (source_checkout_root / "uv.lock").open("rb") as f:
         lock = tomllib.load(f)
 
-    direct_names = [_requirement_name(dep) for dep in _root_project(source_checkout_root)["dependencies"]]
-    assert [name for name in direct_names if name in ("usd-core", "usd-exchange")] == ["usd-exchange"]
-
-    locked = {package["name"] for package in lock["package"]}
-
-    assert "usd-core" not in locked
-    assert "usd-exchange" in locked
+    providers = [
+        Requirement(dep)
+        for dep in _root_project(source_checkout_root)["dependencies"]
+        if _requirement_name(dep) in ("usd-core", "usd-exchange")
+    ]
+    for environment in (*_CUDA_ENVIRONMENTS, _MACOS_ENVIRONMENT):
+        installed = [req.name for req in providers if _applies(str(req.marker) if req.marker else None, environment)]
+        assert installed == (["usd-core"] if environment is _MACOS_ENVIRONMENT else ["usd-exchange"])
+
+    usd_core_edges = [
+        dep
+        for package in lock["package"]
+        for deps in [package.get("dependencies", []), *package.get("optional-dependencies", {}).values()]
+        for dep in deps
+        if dep["name"] == "usd-core"
+    ]
+    assert usd_core_edges
+    assert not any(_applies(dep.get("marker"), env) for dep in usd_core_edges for env in _CUDA_ENVIRONMENTS)
+    assert "usd-exchange" in {package["name"] for package in lock["package"]}
 
 
 def test_standalone_importers_are_opt_in(source_checkout_root: Path):

source/isaaclab/test/cli/test_uv_run_pyproject.py

@@ -128,19 +128,22 @@ def test_version_single_source_matches_literal_pins(source_checkout_root: Path):
     optional = pyproject["project"]["optional-dependencies"]
     overrides = pyproject["tool"]["uv"]["override-dependencies"]
 
+    # Isaac Sim and the OV runtimes ship no macOS wheels.
+    not_macos = " ; sys_platform != 'darwin'"
+
     # Isaac Sim extra mirrors the table; it is the only place the wheel is pinned.
-    assert optional["isaacsim"] == [f"isaacsim[all,extscache]=={versions['isaacsim']}"]
+    assert optional["isaacsim"] == [f"isaacsim[all,extscache]=={versions['isaacsim']}{not_macos}"]
 
     # OV extras mirror the table. Table values may be an exact version ("1.2.3",
     # mirrored as ``pkg==1.2.3``) or a range spec (">=1.2.3", mirrored as ``pkg>=1.2.3``).
     def spec(package: str) -> str:
         value = versions[package]
         return f"{package}=={value}" if value[0].isdigit() else f"{package}{value}"
 
-    assert spec("ovphysx") in optional["ovphysx"]
-    assert spec("ovrtx") in optional["ovrtx"]
-    assert spec("ovstage") in optional["ovphysx"]
-    assert spec("ovstage") in optional["ovrtx"]
+    assert spec("ovphysx") + not_macos in optional["ovphysx"]
+    assert spec("ovrtx") + not_macos in optional["ovrtx"]
+    assert spec("ovstage") + not_macos in optional["ovphysx"]
+    assert spec("ovstage") + not_macos in optional["ovrtx"]
 
     # CI installs OVRTX through a generic pip-package input (a bare ``pip install
     # ovrtx`` ignores this ceiling). Each such install must therefore be pinned:

source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt

@@ -3,7 +3,7 @@ mujoco~=3.12.0
 mujoco-warp~=3.12.0
 newton[sim] @ git+https://github.com/newton-physics/newton.git@release-1.6
 newton-usd-schemas>=0.5.0
-usd-exchange==3.0.0
+usd-exchange==3.0.0 ; sys_platform != 'darwin'
 torch==2.12.0
 torchvision==0.27.0
 packaging>=20,<27

source/isaaclab_ov/changelog.d/antoiner-feat-macos-uv-install.rst

@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed the ``ovstage`` dependency to skip macOS, which it ships no wheels for, so the package
+  installs in the macOS uv environment.

source/isaaclab_ov/pyproject.toml

@@ -19,7 +19,7 @@ requires-python = ">=3.12"
 # Only interpackage dependencies should go here.
 dependencies = [
     "isaaclab",
-    "ovstage==0.2.0.377349",
+    "ovstage==0.2.0.377349 ; sys_platform != 'darwin'",
 ]
 
 [tool.uv.sources]

tools/wheel_builder/uv-overrides.txt

@@ -3,7 +3,7 @@ mujoco~=3.12.0
 mujoco-warp~=3.12.0
 newton[sim] @ git+https://github.com/newton-physics/newton.git@release-1.6
 newton-usd-schemas>=0.5.0
-usd-exchange==3.0.0
+usd-exchange==3.0.0 ; sys_platform != 'darwin'
 torch==2.12.0
 torchvision==0.27.0
 packaging>=20,<27