Fixes compatibility issues with latest Isaac Sim updates

.github/workflows/build.yaml

@@ -101,7 +101,7 @@ env:
   ISAACSIM_BASE_IMAGE: 'nvcr.io/nvidian/isaac-sim' # ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
   # Pinned to the Apr 8 nightly digest that last passed CI, while latest-develop is broken.
   # TODO(AntoineRichard): Revert to 'latest-develop' once the nightly is fixed.
-  ISAACSIM_BASE_VERSION: 'latest-develop@sha256:f085fb5b6899511bb19abdf18121bfc469901334aefb029d0def56d4fef79c58' # ${{ vars.ISAACSIM_BASE_VERSION || '6.0.0' }}
+  ISAACSIM_BASE_VERSION: 'latest-develop' # ${{ vars.ISAACSIM_BASE_VERSION || '6.0.0' }}
   DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
   # To run quarantined tests, create a GitHub repo variable named
   # RUN_QUARANTINED_TESTS and set it to 'true'. The test-quarantined

apps/isaaclab.python.headless.kit

@@ -26,7 +26,6 @@ log.outputStreamLevel = "Warn"
 "omni.physx" = {}
 "omni.physx.tensors" = {}
 "omni.physx.fabric" = {}
-"omni.warp.core" = {}
 "usdrt.scenegraph" = {}
 "omni.kit.telemetry" = {}
 "omni.kit.loop" = {}
@@ -107,7 +106,7 @@ isaac.startup.ros_bridge_extension = ""
 metricsAssembler.changeListenerEnabled = false
 
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 # Extensions
 ###############################

apps/isaaclab.python.headless.rendering.kit

@@ -107,7 +107,7 @@ exts."omni.replicator.core".Orchestrator.enabled = false
 metricsAssembler.changeListenerEnabled = false
 
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 [settings.app.python]
 # These disable the kit app from also printing out python output, which gets confusing

apps/isaaclab.python.kit

@@ -92,7 +92,6 @@ keywords = ["experience", "app", "usd"]
 "omni.uiaudio" = {}
 "omni.usd.metrics.assembler.ui" = {}
 "omni.usd.schema.metrics.assembler" = {}
-"omni.warp.core" = {}
 
 ########################
 # Isaac Lab Extensions #
@@ -257,7 +256,7 @@ exts."omni.replicator.core".Orchestrator.enabled = false
 omni.rtx.nre.compositing.rendererHints = 3
 
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 [settings.app.livestream]
 outDirectory = "${data}"

apps/isaaclab.python.rendering.kit

@@ -93,7 +93,7 @@ exts."omni.replicator.core".Orchestrator.enabled = false
 metricsAssembler.changeListenerEnabled = false
 
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 [settings.physics]
 updateToUsd = false

apps/isaaclab.python.xr.openxr.headless.kit

@@ -42,7 +42,7 @@ cameras_enabled = true
 
 [settings]
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 [settings.app.python]
 # These disable the kit app from also printing out python output, which gets confusing

apps/isaaclab.python.xr.openxr.kit

@@ -66,7 +66,7 @@ xr.openxr.components."isaacsim.xr.openxr.hand_tracking".enabled = true
 xr.openxr.components."isaacsim.kit.xr.teleop.bridge".enabled = true
 
 # explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
-app.extensions.excluded = ["omni.kit.pip_archive"]
+app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]
 
 [settings.app.python]
 # These disable the kit app from also printing out python output, which gets confusing

docs/source/migration/migrating_to_isaaclab_3-0.rst

@@ -1629,6 +1629,33 @@ Deprecated retargeters have been moved to ``isaaclab_teleop.deprecated.openxr.re
 compatibility. These will be removed in a future release.
 
 
+PhysX Tensors API Module Path
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Recent Isaac Sim releases removed the internal ``impl`` submodule of
+``omni.physics.tensors`` and now expose the PhysX Tensor API types
+(``ArticulationView``, ``RigidBodyView``, ``SimulationView``, etc.) directly
+under ``omni.physics.tensors.api``. Importing from the old path raises
+``ModuleNotFoundError: No module named 'omni.physics.tensors.impl'`` at import
+time.
+
+Isaac Lab has been updated to import from the new path. Downstream code
+(custom assets, sensors, or scripts) that imported from the old path must be
+updated:
+
+.. code-block:: python
+
+   # Before (Isaac Lab 2.x / older Isaac Sim)
+   import omni.physics.tensors.impl.api as physx
+
+   # After (Isaac Lab 3.x / current Isaac Sim)
+   import omni.physics.tensors.api as physx
+
+The class identities are unchanged — only the module path moved. Type hints
+referencing the old path (``omni.physics.tensors.impl.api.ArticulationView``)
+should be similarly updated to ``omni.physics.tensors.api.ArticulationView``.
+
+
 Need Help?
 ~~~~~~~~~~
 

docs/source/overview/core-concepts/sensors/contact_sensor.rst

@@ -55,7 +55,7 @@ Here, we print both the net contact force and the filtered force matrix for each
 
   -------------------------------
   Contact sensor @ '/World/envs/env_.*/Robot/LF_FOOT':
-          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
           update period (s) : 0.0
           number of bodies  : 1
           body names        : ['LF_FOOT']
@@ -64,7 +64,7 @@ Here, we print both the net contact force and the filtered force matrix for each
   Received contact force of:  tensor([[[-1.3923e-05,  1.5727e-04,  1.1032e+02]]], device='cuda:0')
   -------------------------------
   Contact sensor @ '/World/envs/env_.*/Robot/RF_FOOT':
-          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
           update period (s) : 0.0
           number of bodies  : 1
           body names        : ['RF_FOOT']
@@ -85,7 +85,7 @@ Notice that even with filtering, both sensors report the net contact force actin
 
   -------------------------------
   Contact sensor @ '/World/envs/env_.*/Robot/.*H_FOOT':
-          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
           update period (s) : 0.0
           number of bodies  : 2
           body names        : ['LH_FOOT', 'RH_FOOT']

docs/source/overview/core-concepts/sensors/imu.rst

@@ -61,7 +61,7 @@ The oscillations in the values reported by the sensor are a direct result of of
 .. code-block:: bash
 
   Imu sensor @ '/World/envs/env_.*/Robot/LF_FOOT':
-          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
           update period (s) : 0.0
           number of sensors : 1
 
@@ -71,7 +71,7 @@ The oscillations in the values reported by the sensor are a direct result of of
   Received angular acceleration:  tensor([[-0.0389, -0.0262, -0.0045]], device='cuda:0')
   -------------------------------
   Imu sensor @ '/World/envs/env_.*/Robot/RF_FOOT':
-          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
           update period (s) : 0.0
           number of sensors : 1
 

source/isaaclab/docs/CHANGELOG.rst

@@ -17,6 +17,9 @@ Changed
   global (world-frame) and local (body-frame) buffers. A new
   :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.compose_to_body_frame` method rotates global forces/torques
   into the body frame at apply time using the current body orientation, then sums with local forces/torques.
+* Updated imports of the PhysX tensors API in the ray caster sensors from
+  ``omni.physics.tensors.impl.api`` to ``omni.physics.tensors.api`` to track the upstream
+  Isaac Sim module relocation (the ``impl`` submodule was removed).
 
 Deprecated
 ^^^^^^^^^^

source/isaaclab/isaaclab/__init__.py

@@ -6,6 +6,79 @@
 """Package containing the core framework."""
 
 import os
+import sys
+
+
+def _deprioritize_prebundle_paths():
+    """Move Isaac Sim ``pip_prebundle`` and known conflicting extension directories to the end of ``sys.path``.
+
+    Isaac Sim's ``setup_python_env.sh`` injects ``pip_prebundle`` directories
+    onto ``PYTHONPATH``.  These contain older copies of packages like torch,
+    warp, and nvidia-cudnn that shadow the versions installed by Isaac Lab,
+    causing CUDA runtime errors.
+
+    Additionally, certain Isaac Sim kit extensions (such as ``omni.warp.core``)
+    bundle their own copies of Python packages that conflict with pip-installed
+    versions.  When loaded by the extension system these paths can appear on
+    ``sys.path`` before ``site-packages``, leading to version mismatches.
+
+    Rather than removing these paths entirely (which would break packages like
+    ``sympy`` that only exist in the prebundle), this function moves them to
+    the **end** of ``sys.path`` so that pip-installed packages in
+    ``site-packages`` take priority.
+
+    The ``PYTHONPATH`` environment variable is also rewritten so that child
+    processes inherit the corrected ordering.
+    """
+
+    # Extension directory fragments that are known to ship Python packages
+    # which conflict with Isaac Lab's pip-installed versions.
+    _CONFLICTING_EXT_FRAGMENTS = (
+        "omni.warp.core",
+        "omni.isaac.ml_archive",
+        "omni.isaac.core_archive",
+        "omni.kit.pip_archive",
+        "isaacsim.pip.newton",
+    )
+
+    def _should_demote(path: str) -> bool:
+        norm = path.replace("\\", "/").lower()
+        if "pip_prebundle" in norm:
+            return True
+        for frag in _CONFLICTING_EXT_FRAGMENTS:
+            if frag.lower() in norm:
+                return True
+        return False
+
+    # Partition: keep non-conflicting in place, collect conflicting.
+    clean = []
+    demoted = []
+    for p in sys.path:
+        if _should_demote(p):
+            demoted.append(p)
+        else:
+            clean.append(p)
+
+    if not demoted:
+        return
+
+    # Rebuild sys.path: originals first, then demoted at the very end.
+    sys.path[:] = clean + demoted
+
+    # Rewrite PYTHONPATH with the same ordering for subprocesses.
+    if "PYTHONPATH" in os.environ:
+        parts = os.environ["PYTHONPATH"].split(os.pathsep)
+        env_clean = []
+        env_demoted = []
+        for p in parts:
+            if _should_demote(p):
+                env_demoted.append(p)
+            else:
+                env_clean.append(p)
+        os.environ["PYTHONPATH"] = os.pathsep.join(env_clean + env_demoted)
+
+
+_deprioritize_prebundle_paths()
 
 # Conveniences to other module directories via relative paths.
 ISAACLAB_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../"))

source/isaaclab/isaaclab/app/app_launcher.py

@@ -203,6 +203,15 @@ def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwa
         self._create_app()
         # Load IsaacSim extensions
         self._load_extensions()
+
+        # Re-run path sanitization.  Kit and its extensions may have inserted
+        # additional ``pip_prebundle`` or conflicting extension directories onto
+        # ``sys.path`` during startup.  A second pass ensures pip-installed
+        # packages still take priority over bundled copies.
+        from isaaclab import _deprioritize_prebundle_paths
+
+        _deprioritize_prebundle_paths()
+
         # Hide the stop button in the toolbar
         self._hide_stop_button()
         # Set settings from the given rendering mode

source/isaaclab/isaaclab/assets/articulation/base_articulation_data.py

@@ -614,7 +614,7 @@ def body_incoming_joint_wrench_b(self) -> wp.array:
         underlying `PhysX Tensor API`_.
 
         .. _PhysX documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.5.1/docs/Articulations.html#link-incoming-joint-force
-        .. _PhysX Tensor API: https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/runtime/source/omni.physics.tensors/docs/api/python.html#omni.physics.tensors.impl.api.ArticulationView.get_link_incoming_joint_force
+        .. _PhysX Tensor API: https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/runtime/source/omni.physics.tensors/docs/api/python.html#omni.physics.tensors.api.ArticulationView.get_link_incoming_joint_force
         """
         raise NotImplementedError
 

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

@@ -77,6 +77,59 @@ def _install_system_deps() -> None:
             run_command(["sudo"] + cmd if os.geteuid() != 0 else cmd)
 
 
+def _torch_first_on_sys_path_is_prebundle(python_exe: str, *, env: dict[str, str]) -> bool:
+    """Return True when the first ``torch`` on ``sys.path`` comes from a prebundle directory.
+
+    Checks whether the first directory on ``sys.path`` that contains a
+    ``torch`` package lives under a ``pip_prebundle`` path (e.g.
+    ``omni.isaac.ml_archive/pip_prebundle``).  This catches the prebundle
+    regardless of whether the extension lives under ``exts/``,
+    ``extsDeprecated/``, or any other search path.
+
+    Does not import ``torch`` (that can fail on missing ``libcudnn`` while the
+    prebundle still appears earlier on ``sys.path`` than ``site-packages``).
+    """
+    probe = """import os, sys
+for p in sys.path:
+    if not p:
+        continue
+    if os.path.isfile(os.path.join(p, "torch", "__init__.py")):
+        norm = os.path.normpath(p)
+        sys.exit(1 if "pip_prebundle" in norm else 0)
+sys.exit(0)
+"""
+    result = run_command(
+        [python_exe, "-c", probe],
+        env=env,
+        check=False,
+        capture_output=True,
+        text=True,
+    )
+    return result.returncode == 1
+
+
+def _maybe_uninstall_prebundled_torch(
+    python_exe: str,
+    pip_cmd: list[str],
+    using_uv: bool,
+    *,
+    probe_env: dict[str, str],
+) -> None:
+    """Uninstall pip torch stack when ``sys.path`` would load ``torch`` from a prebundle first."""
+    if not _torch_first_on_sys_path_is_prebundle(python_exe, env=probe_env):
+        return
+    print_info(
+        "The first ``torch`` on ``sys.path`` is under a prebundle directory (e.g. "
+        "``omni.isaac.ml_archive/pip_prebundle``). Uninstalling pip "
+        "``torch``/``torchvision``/``torchaudio`` before continuing."
+    )
+    uninstall_flags = ["-y"] if not using_uv else []
+    run_command(
+        pip_cmd + ["uninstall"] + uninstall_flags + ["torch", "torchvision", "torchaudio"],
+        check=False,
+    )
+
+
 def _ensure_cuda_torch() -> None:
     """Ensure correct PyTorch and CUDA versions are installed."""
     python_exe = extract_python_exe()
@@ -389,6 +442,17 @@ def _repoint_prebundle_packages() -> None:
             if not prebundled.exists() and not prebundled.is_symlink():
                 continue
 
+            # The 'nvidia' directory is a Python namespace package shared across many
+            # distributions (nvidia-cudnn-cu12, nvidia-cublas-cu12, nvidia-srl, …).
+            # When using Isaac Sim's built-in Python, site-packages/nvidia only contains
+            # 'srl'; replacing the whole prebundle nvidia/ with that symlink strips away
+            # the CUDA shared libraries (libcudnn.so.9, etc.) that torch needs.
+            # Only repoint the nvidia namespace when the target actually provides the
+            # CUDA subpackages (cudnn is the minimal required indicator).
+            if pkg_name == "nvidia" and not (venv_pkg / "cudnn").exists():
+                print_debug(f"Skipping repoint of {prebundled}: {venv_pkg} lacks CUDA subpackages (cudnn missing).")
+                continue
+
             try:
                 if prebundled.is_symlink():
                     if prebundled.resolve() == venv_pkg.resolve():
@@ -543,6 +607,12 @@ def command_install(install_type: str = "all") -> None:
     pip_cmd = get_pip_command(python_exe)
     using_uv = pip_cmd[0] == "uv"
 
+    # Probe with the user's original PYTHONPATH (before pip-time filtering) so we detect
+    # Isaac Sim's setup_python_env.sh ordering that prefers extsDeprecated/ml_archive.
+    probe_env = {**os.environ}
+    if saved_pythonpath is not None:
+        probe_env["PYTHONPATH"] = saved_pythonpath
+
     try:
         # Upgrade pip first to avoid compatibility issues (skip when using uv).
         if not using_uv:
@@ -552,6 +622,9 @@ def command_install(install_type: str = "all") -> None:
         # Pin setuptools to avoid issues with pkg_resources removal in 82.0.0.
         run_command(pip_cmd + ["install", "setuptools<82.0.0"])
 
+        # Drop pip-installed torch if Isaac Sim's deprecated ML prebundle would shadow it.
+        _maybe_uninstall_prebundled_torch(python_exe, pip_cmd, using_uv, probe_env=probe_env)
+
         # Install Isaac Sim if requested.
         if install_isaacsim:
             _install_isaacsim()

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -462,6 +462,13 @@ def _update_buffers_impl(self, env_mask: wp.array):
         self._renderer.update_transforms()
         self._renderer.render(self._render_data)
 
+        # Synchronize warp's CUDA stream before handing GPU buffers to torch.
+        # render() launches warp kernels that write into the output tensors;
+        # without an explicit sync, torch may read the buffers on a different
+        # CUDA stream before the warp kernels finish, causing illegal-memory-
+        # access errors (observed with newer Isaac Sim nightly images).
+        wp.synchronize()
+
         self._renderer.read_output(self._render_data, self._data)
 
     """

source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py

@@ -14,7 +14,7 @@
 import trimesh
 import warp as wp
 
-import omni.physics.tensors.impl.api as physx
+import omni.physics.tensors.api as physx
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.views import XformPrimView