[Release 3.0.0] Enable OV runtime in base Docker image

docker/Dockerfile.base

@@ -133,7 +133,7 @@ COPY --parents ../source/*/pyproject.toml ${ISAACLAB_PATH}/
 
 # The image's package set. Kit ships in the base image, so the teleop stack comes without the
 # ``isaacsim`` wheel; ``teleop`` itself is left exactly as tuned.
-ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop --extra test --extra tetrahedralization"
+ARG IMAGE_EXTRAS="--extra sb3 --extra skrl --extra rl-games --extra rsl-rl --extra viser --extra rerun --extra mimic --extra teleop --extra test --extra tetrahedralization --extra ov"
 
 
 RUN --mount=type=cache,target=/root/.cache/uv \

source/isaaclab/test/install_ci/uv_pip/test_uv_pip_install_isaaclab_all_trains_cartpole.py

@@ -14,7 +14,7 @@
         (per docs/source/setup/installation/index.rst; reinstall after the wheel install to select the CUDA build.)
     - (aarch64 only) export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
 Tests:
-    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.0'"
+    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.1'"
         -> verify the wheel resolves the pinned Newton release
     - uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct --num_envs 16
         presets=newton_mjwarp --max_iterations 5; uv run isaaclab train --rl_library rsl_rl
@@ -47,6 +47,8 @@ def setup_class(cls):
     @pytest.mark.timeout(4800)
     def test_uv_pip_install_isaaclab_all_trains_cartpole(self, isaaclab_root, wheel, cartpole_smoke_script):
         """Install the runner-supplied wheel with ``[all]`` via ``uv pip``, then train."""
+        import tomllib  # Host collection can use Python 3.10; this test runs in Python 3.12.
+
         try:
             self.create_uv_env(isaaclab_root)
 
@@ -65,8 +67,15 @@ def test_uv_pip_install_isaaclab_all_trains_cartpole(self, isaaclab_root, wheel,
             )
             assert result.returncode == 0, f"uv pip install {wheel}[all] failed:\n{result.stdout}\n{result.stderr}"
 
+            with (isaaclab_root / "pyproject.toml").open("rb") as file:
+                newton_version = tomllib.load(file)["tool"]["isaaclab"]["versions"]["newton"]
             result = self.run_in_uv_env(
-                ["python", "-c", "import importlib.metadata as m; assert m.version('newton') == '1.6.1rc1'"],
+                [
+                    "python",
+                    "-c",
+                    f"import importlib.metadata as m; actual = m.version('newton'); "
+                    f"assert actual == {newton_version!r}, actual",
+                ],
                 cwd=isaaclab_root,
             )
             assert result.returncode == 0, (

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

@@ -1,7 +1,7 @@
 numpy>=2
 mujoco~=3.12.0
 mujoco-warp~=3.12.0
-newton[sim] @ git+https://github.com/newton-physics/newton.git@release-1.6
+newton[sim]==1.6.1
 newton-usd-schemas>=0.5.0
 usd-exchange==3.0.0
 usd-optimize~=1.3.0