Moves all extension package details to pyproject.toml

[reeceomahoney]

Description

This pull request improves the build system for the different Isaaclab packages. Instead of the information for each package being spread across the setup.py, pyproject.toml, and extension.toml files, it is now all consolidated in a single pyproject.toml file for each package. This should make things easier to understand and maintain.

Fixes #1836

Type of change

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Screenshots

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[Mayankm96]

Thanks for the MR! I do agree we need to unify these, and this MR is a great step towards that.

Though I'm not sure if pyproject.toml works fine when you install in editable mode unless we upgrade the setuptools to a version greater than 62.0 and pip version > 21.3.

Right now the default pip version shipped with IsaacSim is 21.2 so unless you're using a virtual environment, this change will break things. Though as an intermediate fix, it is possible to have a dummy setup.py file with minimal settings as we did in another project: https://github.com/leggedrobotics/rsl_rl/blob/main/setup.py

Additionally, we do need an extension.toml file for Omniverse extensions: https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_advanced.html#extension-in-a-single-folder

So if we can move the details of pyproject.toml to that file, it does allow to use these modules as extension libraries too.

[reeceomahoney]

Thanks for the quick response! A couple of questions here.

Firstly, the current install instructions for IsaacLab, asks the user to create a virtual env and upgrade pip maybe these aren't unreasonable requirements? Following these exactly I was able to install everything no problem.

Secondly, what purpose does having the extension.toml file serve? I read the link you sent and it wasn't too clear. I can run the example training scripts perfectly fine with this change implemented locally so no extension file.

Would be interested to hear your thoughts.