Updates to Isaac Sim 5.0 (#379)

Changes required for updating to be compatible with Isaac Sim 5.0 and
Kit 107.3. Notable changes include:
- Python version updated to 3.11, which means we need special support
for rl-games since it does not include python 3.11 support out of the
box. Additionally, rl-games has not updated torch.load with weights_only
flag required since torch 2.6.
- Updates pytorch to 2.7 for Blackwell support. We now uninstall the
torch build that comes with isaac sim as part of the isaacsim.sh/bat
script and forces an install of torch 2.7 with torchvision
- Removal of deprecated flags in kit that no longer exist -
improve_path_friction and SETTING_BACKWARD_COMPATIBILITY
- Some tests are still timing out / failing - there seems to be an issue
with the first load of assets that's causing checks like
`stage.ResolveIdentifierToEditTarget(usd_path)` and `is_prim_path_valid`
to take up to a minute.

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

.github/workflows/docs.yaml

@@ -38,7 +38,7 @@ jobs:
     - name: Setup python
       uses: actions/setup-python@v2
       with:
-        python-version: "3.10"
+        python-version: "3.11"
         architecture: x64
 
     - name: Install dev requirements

.pre-commit-config.yaml

@@ -10,7 +10,7 @@ repos:
       - id: flake8
         additional_dependencies: [flake8-simplify, flake8-return]
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
       - id: trailing-whitespace
       - id: check-symlinks

README.md

@@ -4,8 +4,8 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
-[![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
 [![pre-commit](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/pre-commit.yaml?logo=pre-commit&logoColor=white&label=pre-commit&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)

apps/isaaclab.python.headless.kit

@@ -15,7 +15,7 @@ keywords = ["experience", "app", "isaaclab", "python", "headless"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.5.0"
+app.version = "5.0.0"
 
 ##################################
 # Omniverse related dependencies #
@@ -28,6 +28,8 @@ app.version = "4.5.0"
 "usdrt.scenegraph" = {}
 "omni.kit.telemetry" = {}
 "omni.kit.loop" = {}
+# this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
+"omni.kit.usd.mdl" = {}
 
 [settings]
 app.content.emptyStageOnStart = false

apps/isaaclab.python.headless.rendering.kit

@@ -32,7 +32,7 @@ cameras_enabled = true
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.5.0"
+app.version = "5.0.0"
 
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function

apps/isaaclab.python.kit

@@ -57,7 +57,6 @@ keywords = ["experience", "app", "usd"]
 "omni.graph.ui_nodes" = {}
 "omni.hydra.engine.stats" = {}
 "omni.hydra.rtx" = {}
-"omni.kit.loop" = {}
 "omni.kit.mainwindow" = {}
 "omni.kit.manipulator.camera" = {}
 "omni.kit.manipulator.prim" = {}
@@ -65,15 +64,12 @@ keywords = ["experience", "app", "usd"]
 "omni.kit.material.library" = {}
 "omni.kit.menu.common" = { order = 1000 }
 "omni.kit.menu.create" = {}
-"omni.kit.menu.edit" = {}
-"omni.kit.menu.file" = {}
 "omni.kit.menu.stage" = {}
 "omni.kit.menu.utils" = {}
 "omni.kit.primitive.mesh" = {}
 "omni.kit.property.bundle" = {}
 "omni.kit.raycast.query" = {}
 "omni.kit.stage_template.core" = {}
-"omni.kit.stagerecorder.bundle" = {}
 "omni.kit.telemetry" = {}
 "omni.kit.tool.asset_importer" = {}
 "omni.kit.tool.collect" = {}
@@ -161,7 +157,7 @@ show_menu_titles = true
 
 [settings.app]
 name = "Isaac-Sim"
-version = "4.5.0"
+version = "5.0.0"
 versionFile = "${exe-path}/VERSION"
 content.emptyStageOnStart = true
 fastShutdown = true

apps/isaaclab.python.rendering.kit

@@ -33,7 +33,7 @@ cameras_enabled = true
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.5.0"
+app.version = "5.0.0"
 
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function

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

@@ -15,7 +15,7 @@ keywords = ["experience", "app", "usd", "headless"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.5.0"
+app.version = "5.0.0"
 
 [dependencies]
 "isaaclab.python.xr.openxr" = {}

apps/isaaclab.python.xr.openxr.kit

@@ -15,7 +15,7 @@ keywords = ["experience", "app", "usd"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.5.0"
+app.version = "5.0.0"
 
 ### async rendering settings
 omni.replicator.asyncRendering = true

docker/.env.base

@@ -7,7 +7,7 @@ ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
 # NVIDIA Isaac Sim version to use (e.g. 4.5.0)
-ISAACSIM_VERSION=4.5.0
+ISAACSIM_VERSION=5.0.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docs/conf.py

@@ -252,7 +252,7 @@ html_theme_options = {
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg",
             "type": "url",
         },
         {

docs/source/how-to/add_own_library.rst

@@ -5,7 +5,7 @@ Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Ga
 However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than
 the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports
 the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 4.0.0 onwards, you need
-to ensure that the library is available for Python 3.10.
+to ensure that the library is available for Python 3.11.
 
 Using a different version of a library
 --------------------------------------

docs/source/refs/release_notes.rst

@@ -4,6 +4,14 @@ Release Notes
 The release notes are now available in the `Isaac Lab GitHub repository <https://github.com/isaac-sim/IsaacLab/releases>`_.
 We summarize the release notes here for convenience.
 
+v2.2.0
+======
+
+Breaking Changes
+----------------
+
+* :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` is now removed. The simulation will always behave as if this attribute is set to true.
+
 v2.1.0
 ======
 

docs/source/setup/installation/binaries_installation.rst

@@ -383,26 +383,6 @@ Installation
 
    The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.
 
-.. attention::
-
-   For 50 series GPUs, please use the latest PyTorch nightly build instead of PyTorch 2.5.1, which comes with Isaac Sim:
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. code:: bash
-
-            ./isaaclab.sh -p -m pip install --upgrade --pre torch torchvision --index-url https://download.pytorch.org/whl/nightly/cu128
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p -m pip install --upgrade --pre torch torchvision --index-url https://download.pytorch.org/whl/nightly/cu128
 
 Verifying the Isaac Lab installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/source/setup/installation/index.rst

@@ -3,17 +3,17 @@
 Local Installation
 ==================
 
-.. image:: https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 4.5.0
+   :alt: IsaacSim 5.0.0
 
-.. image:: https://img.shields.io/badge/python-3.10-blue.svg
+.. image:: https://img.shields.io/badge/python-3.11-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
-   :alt: Python 3.10
+   :alt: Python 3.11
 
 .. image:: https://img.shields.io/badge/platform-linux--64-orange.svg
-   :target: https://releases.ubuntu.com/20.04/
-   :alt: Ubuntu 20.04
+   :target: https://releases.ubuntu.com/22.04/
+   :alt: Ubuntu 22.04
 
 .. image:: https://img.shields.io/badge/platform-windows--64-orange.svg
    :target: https://www.microsoft.com/en-ca/windows/windows-11
@@ -22,7 +22,7 @@ Local Installation
 .. caution::
 
    We have dropped support for Isaac Sim versions 4.2.0 and below. We recommend using the latest
-   Isaac Sim 4.5.0 release to benefit from the latest features and improvements.
+   Isaac Sim 5.0.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`__.

docs/source/setup/installation/isaaclab_pip_installation.rst

@@ -14,7 +14,7 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
    If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
 
 -  To use the pip installation approach for Isaac Lab, we recommend first creating a virtual environment.
-   Ensure that the python version of the virtual environment is **Python 3.10**.
+   Ensure that the python version of the virtual environment is **Python 3.11**.
 
    .. tab-set::
 
@@ -22,7 +22,7 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
 
          .. code-block:: bash
 
-            conda create -n env_isaaclab python=3.10
+            conda create -n env_isaaclab python=3.11
             conda activate env_isaaclab
 
       .. tab-item:: venv environment
@@ -35,8 +35,8 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
 
                .. code-block:: bash
 
-                  # create a virtual environment named env_isaaclab with python3.10
-                  python3.10 -m venv env_isaaclab
+                  # create a virtual environment named env_isaaclab with python3.11
+                  python3.11 -m venv env_isaaclab
                   # activate the virtual environment
                   source env_isaaclab/bin/activate
 
@@ -45,29 +45,11 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
 
                .. code-block:: batch
 
-                  # create a virtual environment named env_isaaclab with python3.10
-                  python3.10 -m venv env_isaaclab
+                  # create a virtual environment named env_isaaclab with python3.11
+                  python3.11 -m venv env_isaaclab
                   # activate the virtual environment
                   env_isaaclab\Scripts\activate
 
-
--  Next, install a CUDA-enabled PyTorch 2.5.1 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
-
-   .. tab-set::
-
-      .. tab-item:: CUDA 11
-
-         .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu118
-
-      .. tab-item:: CUDA 12
-
-         .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121
-
-
 -  Before installing Isaac Lab, ensure the latest pip version is installed. To update pip, run
 
    .. tab-set::
@@ -94,15 +76,6 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
       pip install isaaclab[isaacsim,all]==2.1.0 --extra-index-url https://pypi.nvidia.com
 
 
-.. attention::
-
-   For 50 series GPUs, please use the latest PyTorch nightly build instead of PyTorch 2.5.1, which comes with Isaac Sim:
-
-   .. code:: bash
-
-      pip install --upgrade --pre torch torchvision --index-url https://download.pytorch.org/whl/nightly/cu128
-
-
 Verifying the Isaac Sim installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/setup/installation/pip_installation.rst

@@ -39,7 +39,7 @@ If you encounter any issues, please report them to the
    If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
 
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
-   Ensure that the python version of the virtual environment is **Python 3.10**.
+   Ensure that the python version of the virtual environment is **Python 3.11**.
 
    .. tab-set::
 
@@ -47,7 +47,7 @@ If you encounter any issues, please report them to the
 
          .. code-block:: bash
 
-            conda create -n env_isaaclab python=3.10
+            conda create -n env_isaaclab python=3.11
             conda activate env_isaaclab
 
       .. tab-item:: venv environment
@@ -60,8 +60,8 @@ If you encounter any issues, please report them to the
 
                .. code-block:: bash
 
-                  # create a virtual environment named env_isaaclab with python3.10
-                  python3.10 -m venv env_isaaclab
+                  # create a virtual environment named env_isaaclab with python3.11
+                  python3.11 -m venv env_isaaclab
                   # activate the virtual environment
                   source env_isaaclab/bin/activate
 
@@ -70,28 +70,11 @@ If you encounter any issues, please report them to the
 
                .. code-block:: batch
 
-                  # create a virtual environment named env_isaaclab with python3.10
-                  python3.10 -m venv env_isaaclab
+                  # create a virtual environment named env_isaaclab with python3.11
+                  python3.11 -m venv env_isaaclab
                   # activate the virtual environment
                   env_isaaclab\Scripts\activate
 
-
--  Next, install a CUDA-enabled PyTorch 2.5.1 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
-
-   .. tab-set::
-
-      .. tab-item:: CUDA 11
-
-         .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu118
-
-      .. tab-item:: CUDA 12
-
-         .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121
-
 -  Before installing Isaac Sim, ensure the latest pip version is installed. To update pip, run
 
    .. tab-set::
@@ -300,13 +283,6 @@ Installation
 
    The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.
 
-.. attention::
-
-   For 50 series GPUs, please use the latest PyTorch nightly build instead of PyTorch 2.5.1, which comes with Isaac Sim:
-
-   .. code:: bash
-
-      pip install --upgrade --pre torch torchvision --index-url https://download.pytorch.org/whl/nightly/cu128
 
 Verifying the Isaac Lab installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/source/setup/quickstart.rst

@@ -43,23 +43,6 @@ To begin, we first define our virtual environment. We recommend using `miniconda
     # activate the virtual environment
     conda activate env_isaaclab
 
-Next, we need to install the CUDA-enabled version of PyTorch 2.5.1. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed. If in doubt on which
-version to use, use 11.8.
-
-.. tab-set::
-
-    .. tab-item:: CUDA 11
-
-        .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu118
-
-    .. tab-item:: CUDA 12
-
-        .. code-block:: bash
-
-            pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121
-
 Before we can install Isaac Sim, we need to make sure pip is updated.  To update pip, run
 
 .. tab-set::

environment.yml

@@ -2,5 +2,5 @@ channels:
   - conda-forge
   - defaults
 dependencies:
-  - python=3.10
+  - python=3.11
   - importlib_metadata

isaaclab.bat

@@ -270,6 +270,9 @@ if "%arg%"=="-i" (
     rem install the python packages in isaaclab/source directory
     echo [INFO] Installing extensions inside the Isaac Lab repository...
     call :extract_python_exe
+    rem first install pytorch with cuda 12.8 for blackwell support
+    call !python_exe! -m pip uninstall -y torch torchvision torchaudio
+    call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
         set ext_folder="%%d"
         call :install_isaaclab_extension
@@ -295,6 +298,9 @@ if "%arg%"=="-i" (
     rem install the python packages in source directory
     echo [INFO] Installing extensions inside the Isaac Lab repository...
     call :extract_python_exe
+    rem first install pytorch with cuda 12.8 for blackwell support
+    call !python_exe! -m pip uninstall -y torch torchvision torchaudio
+    call !python_exe! -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
         set ext_folder="%%d"
         call :install_isaaclab_extension

isaaclab.sh

@@ -276,6 +276,9 @@ while [[ $# -gt 0 ]]; do
             # install the python packages in IsaacLab/source directory
             echo "[INFO] Installing extensions inside the Isaac Lab repository..."
             python_exe=$(extract_python_exe)
+            # first install pytorch with cuda 12.8 for blackwell support
+            ${python_exe} -m pip uninstall -y torch torchvision torchaudio
+            ${python_exe} -m pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
             # recursively look into directories and install them
             # this does not check dependencies between extensions
             export -f extract_python_exe

pyproject.toml

@@ -76,7 +76,7 @@ exclude = [
 ]
 
 typeCheckingMode = "basic"
-pythonVersion = "3.10"
+pythonVersion = "3.11"
 pythonPlatform = "Linux"
 enableTypeIgnoreComments = true
 

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.21"
+version = "0.41.21"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.40.21 (2025-06-25)
+0.41.21 (2025-06-25)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -12,7 +12,7 @@ Added
   env instance
 
 
-0.40.20 (2025-07-11)
+0.41.20 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -22,7 +22,7 @@ Fixed
 restricting the resetting joint indices be that user defined joint indices.
 
 
-0.40.19 (2025-07-11)
+0.41.19 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -32,7 +32,7 @@ Fixed
   env_ids are passed.
 
 
-0.40.18 (2025-07-09)
+0.41.18 (2025-07-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -49,7 +49,7 @@ Fixed
   buffer on recording.
 
 
-0.40.17 (2025-07-10)
+0.41.17 (2025-07-10)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -80,7 +80,7 @@ Changed
 * Changed the implementation of :func:`~isaaclab.utils.math.copysign` to better reflect the documented functionality.
 
 
-0.40.16 (2025-07-08)
+0.41.16 (2025-07-08)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -90,7 +90,7 @@ Fixed
   :class:`~isaaclab.assets.articulation.RigidObjectCollectionData`
 
 
-0.40.15 (2025-07-08)
+0.41.15 (2025-07-08)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -99,7 +99,7 @@ Added
 * Added ability to set platform height independent of object height for trimesh terrains.
 
 
-0.40.14 (2025-07-01)
+0.41.14 (2025-07-01)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -110,7 +110,7 @@ Added
 * Added deprecation warnings to the existing :attr:`max_height_noise` but still functions.
 
 
-0.40.13 (2025-07-03)
+0.41.13 (2025-07-03)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -119,7 +119,7 @@ Fixed
 * Fixed unittest tests that are floating inside pytests for articulation and rendering
 
 
-0.40.12 (2025-07-03)
+0.41.12 (2025-07-03)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -129,7 +129,7 @@ Changed
   videos with the ``--video`` flag.
 
 
-0.40.11 (2025-06-27)
+0.41.11 (2025-06-27)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -144,7 +144,7 @@ Fixed
 * Fixed the implementation mistake in :func:`~isaaclab.utils.math.quat_inv`.
 
 
-0.40.10 (2025-06-25)
+0.41.10 (2025-06-25)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -153,7 +153,7 @@ Fixed
 * Fixed :func:`~isaaclab.utils.dict.update_class_from_dict` preventing setting flat Iterables with different lengths.
 
 
-0.40.9 (2025-06-25)
+0.41.9 (2025-06-25)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -163,7 +163,7 @@ Added
   sampling, which is now the default behavior. If set to False, the previous behavior of sharing the same bias value across all components is retained.
 
 
-0.40.8 (2025-06-18)
+0.41.8 (2025-06-18)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -175,7 +175,7 @@ Fixed
 * added pytest that check against these data consistencies
 
 
-0.40.7 (2025-06-24)
+0.41.7 (2025-06-24)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -189,8 +189,12 @@ Changed
 * Renamed :func:`~isaaclab.utils.noise.NoiseModel.apply` method to :func:`~isaaclab.utils.noise.NoiseModel.__call__`.
 
 
+<<<<<<< HEAD
 
 0.40.6 (2025-06-12)
+=======
+0.41.6 (2025-06-12)
+>>>>>>> cf094c211f (Updates to Isaac Sim 5.0 (#379))
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -199,7 +203,7 @@ Fixed
 * Fixed potential issues in :func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material` related to handling visual prims during texture randomization.
 
 
-0.40.5 (2025-05-22)
+0.41.5 (2025-05-22)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -209,7 +213,7 @@ Fixed
   currently has limitations for CPU simulation. Collision filtering needs to be manually enabled when using CPU simulation.
 
 
-0.40.4 (2025-06-03)
+0.41.4 (2025-06-03)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -220,7 +224,7 @@ Changed
   passed in the ``TerrainGeneratorCfg``.
 
 
-0.40.3 (2025-03-20)
+0.41.3 (2025-03-20)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -235,7 +239,7 @@ Changed
   more readable.
 
 
-0.40.2 (2025-05-10)
+0.41.2 (2025-05-10)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -245,7 +249,7 @@ Added
 * Added support for specifying module:task_name as task name to avoid module import for ``gym.make``
 
 
-0.40.1 (2025-06-02)
+0.41.1 (2025-06-02)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -261,7 +265,7 @@ Changed
   to make it available for mdp functions.
 
 
-0.40.0 (2025-05-16)
+0.41.0 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -277,7 +281,7 @@ Changed
   :meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed.
 
 
-0.39.7 (2025-05-19)
+0.40.7 (2025-05-19)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -287,7 +291,7 @@ Fixed
   of assets and sensors.used from the experience files and the double definition is removed.
 
 
-0.39.6 (2025-01-30)
+0.40.6 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -297,7 +301,7 @@ Added
   in the simulation.
 
 
-0.39.5 (2025-05-16)
+0.40.5 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -312,7 +316,7 @@ Changed
   resampling call.
 
 
-0.39.4 (2025-05-16)
+0.40.4 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -321,7 +325,7 @@ Fixed
 * Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`.
 
 
-0.39.3 (2025-05-16)
+0.40.3 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -336,7 +340,7 @@ Added
 * Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform`
 
 
-0.39.2 (2025-05-15)
+0.40.2 (2025-05-15)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -350,14 +354,14 @@ Fixed
   unused USD camera parameters.
 
 
-0.39.1 (2025-05-14)
+0.40.1 (2025-05-14)
 ~~~~~~~~~~~~~~~~~~~
 
 * Added a new attribute :attr:`articulation_root_prim_path` to the :class:`~isaaclab.assets.ArticulationCfg` class
   to allow explicitly specifying the prim path of the articulation root.
 
 
-0.39.0 (2025-05-03)
+0.40.0 (2025-05-03)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -368,8 +372,8 @@ Added
   This allows for :attr:`semantic_segmentation_mapping` to be used when using the ground plane spawner.
 
 
-0.38.0 (2025-04-01)
-~~~~~~~~~~~~~~~~~~~
+0.39.0 (2025-04-01)
+~~~~~~~~~~~~~~~~~~
 
 Added
 ~~~~~
@@ -377,7 +381,7 @@ Added
 * Added the :meth:`~isaaclab.env.mdp.observations.joint_effort`
 
 
-0.37.0 (2025-04-01)
+0.38.0 (2025-04-01)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -387,6 +391,18 @@ Added
 * Added :meth:`~isaaclab.envs.mdp.observations.body_projected_gravity_b`
 
 
+0.37.0 (2025-04-24)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated pytorch to latest 2.7.0 with cuda 12.8 for Blackwell support.
+  Torch is now installed as part of the isaaclab.sh/bat scripts to ensure the correct version is installed.
+* Removed :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` as it has been deprecated and removed from the simulation.
+  The simulation will always behave as if this attribute is set to true.
+
+
 0.36.23 (2025-04-24)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/app/app_launcher.py

@@ -804,7 +804,6 @@ class AppLauncher:
         """Load correct extensions based on AppLauncher's resolved config member variables."""
         # These have to be loaded after SimulationApp is initialized
         import carb
-        import omni.physx.bindings._physx as physx_impl
 
         # Retrieve carb settings for modification
         carb_settings_iface = carb.settings.get_settings()
@@ -827,9 +826,6 @@ class AppLauncher:
         # set fabric update flag to disable updating transforms when rendering is disabled
         carb_settings_iface.set_bool("/physics/fabricUpdateTransformations", self._rendering_enabled())
 
-        # disable physics backwards compatibility check
-        carb_settings_iface.set_int(physx_impl.SETTING_BACKWARD_COMPATIBILITY, 0)
-
     def _hide_stop_button(self):
         """Hide the stop button in the toolbar.
 

source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py

@@ -48,9 +48,6 @@ class RigidBodyMaterialCfg(PhysicsMaterialCfg):
     restitution: float = 0.0
     """The restitution coefficient. Defaults to 0.0."""
 
-    improve_patch_friction: bool = True
-    """Whether to enable patch friction. Defaults to True."""
-
     friction_combine_mode: Literal["average", "min", "multiply", "max"] = "average"
     """Determines the way friction will be combined during collisions. Defaults to `"average"`.
 

source/isaaclab/setup.py

@@ -20,7 +20,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio
 INSTALL_REQUIRES = [
     # generic
     "numpy<2",
-    "torch==2.5.1",
+    "torch>=2.7",
     "onnx==1.16.1",  # 1.16.2 throws access violation on Windows
     "prettytable==3.3.0",
     "toml",
@@ -66,14 +66,14 @@ setup(
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     license="BSD-3-Clause",
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     packages=["isaaclab"],
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

source/isaaclab/test/sensors/test_tiled_camera.py

@@ -1414,7 +1414,7 @@ def test_all_annotators_instanceable(setup_camera):
                 # instance_segmentation_fast has mean 0.42
                 # instance_id_segmentation_fast has mean 0.55-0.62
                 for i in range(num_cameras):
-                    assert (im_data[i] / 255.0).mean() > 0.3
+                    assert (im_data[i] / 255.0).mean() > 0.2
             elif data_type in ["motion_vectors"]:
                 # motion vectors have mean 0.2
                 assert im_data.shape == (num_cameras, camera_cfg.height, camera_cfg.width, 2)
@@ -1620,7 +1620,7 @@ def test_frame_offset_small_resolution(setup_camera):
     image_after = tiled_camera.data.output["rgb"].clone() / 255.0
 
     # check difference is above threshold
-    assert torch.abs(image_after - image_before).mean() > 0.04  # images of same color should be below 0.001
+    assert torch.abs(image_after - image_before).mean() > 0.01  # images of same color should be below 0.001
 
 
 def test_frame_offset_large_resolution(setup_camera):
@@ -1665,7 +1665,7 @@ def test_frame_offset_large_resolution(setup_camera):
     image_after = tiled_camera.data.output["rgb"].clone() / 255.0
 
     # check difference is above threshold
-    assert torch.abs(image_after - image_before).mean() > 0.05  # images of same color should be below 0.001
+    assert torch.abs(image_after - image_before).mean() > 0.01  # images of same color should be below 0.001
 
 
 """

source/isaaclab/test/sim/test_spawn_materials.py

@@ -87,7 +87,6 @@ def test_spawn_rigid_body_material(sim):
         static_friction=0.5,
         restitution_combine_mode="max",
         friction_combine_mode="max",
-        improve_patch_friction=True,
     )
     prim = cfg.func("/Looks/RigidBodyMaterial", cfg)
     # Check validity
@@ -97,7 +96,6 @@ def test_spawn_rigid_body_material(sim):
     assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction
     assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction
     assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution
-    assert prim.GetAttribute("physxMaterial:improvePatchFriction").Get() == cfg.improve_patch_friction
     assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode
     assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode
 
@@ -137,7 +135,6 @@ def test_apply_rigid_body_material_on_visual_material(sim):
         static_friction=0.5,
         restitution_combine_mode="max",
         friction_combine_mode="max",
-        improve_patch_friction=True,
     )
     prim = cfg.func("/Looks/Material", cfg)
     # Check validity
@@ -147,7 +144,6 @@ def test_apply_rigid_body_material_on_visual_material(sim):
     assert prim.GetAttribute("physics:staticFriction").Get() == cfg.static_friction
     assert prim.GetAttribute("physics:dynamicFriction").Get() == cfg.dynamic_friction
     assert prim.GetAttribute("physics:restitution").Get() == cfg.restitution
-    assert prim.GetAttribute("physxMaterial:improvePatchFriction").Get() == cfg.improve_patch_friction
     assert prim.GetAttribute("physxMaterial:restitutionCombineMode").Get() == cfg.restitution_combine_mode
     assert prim.GetAttribute("physxMaterial:frictionCombineMode").Get() == cfg.friction_combine_mode
 

source/isaaclab_assets/setup.py

@@ -25,12 +25,12 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     packages=["isaaclab_assets"],
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

source/isaaclab_mimic/setup.py

@@ -50,11 +50,11 @@ setup(
     extras_require=EXTRAS_REQUIRE,
     license="Apache-2.0",
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

source/isaaclab_rl/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.1.8"
+version = "0.2.3"
 
 # Description
 title = "Isaac Lab RL"

source/isaaclab_rl/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.1.8 (2025-06-29)
+0.2.3 (2025-06-29)
 ~~~~~~~~~~~~~~~~~~
 
 Added
@@ -11,7 +11,7 @@ Added
   natively supported by sb3 can be automatically triggered
 
 
-0.1.7 (2025-06-30)
+0.2.2 (2025-06-30)
 ~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -20,7 +20,7 @@ Fixed
 * Call :meth:`eval` during :meth:`forward`` RSL-RL OnnxPolicyExporter
 
 
-0.1.6 (2025-06-26)
+0.2.1 (2025-06-26)
 ~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -29,14 +29,25 @@ Fixed
 * Relaxed upper range pin for protobuf python dependency for more permissive installation.
 
 
+0.2.0 (2025-04-24)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Switched to a 3.11 compatible branch for rl-games as Isaac Sim 5.0 is now using Python 3.11.
+
+
 0.1.5 (2025-04-11)
 ~~~~~~~~~~~~~~~~~~
 
 Changed
 ^^^^^^^
+
 * Optimized Stable-Baselines3 wrapper ``Sb3VecEnvWrapper`` (now 4x faster) by using Numpy buffers and only logging episode and truncation information by default.
 * Upgraded minimum SB3 version to 2.6.0 and added optional dependencies for progress bar
 
+
 0.1.4 (2025-04-10)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_rl/setup.py

@@ -20,7 +20,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio
 INSTALL_REQUIRES = [
     # generic
     "numpy<2",
-    "torch==2.5.1",
+    "torch>=2.7",
     "torchvision>=0.14.1",  # ensure compatibility with torch 1.13.1
     "protobuf>=3.20.2,!=5.26.0",
     # configuration management
@@ -41,7 +41,10 @@ PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]
 EXTRAS_REQUIRE = {
     "sb3": ["stable-baselines3>=2.6", "tqdm", "rich"],  # tqdm/rich for progress bar
     "skrl": ["skrl>=1.4.2"],
-    "rl-games": ["rl-games==1.6.1", "gym"],  # rl-games still needs gym :(
+    "rl-games": [
+        "rl-games @ git+https://github.com/kellyguo11/rl_games.git@python3.11",
+        "gym",
+    ],  # rl-games still needs gym :(
     "rsl-rl": ["rsl-rl-lib==2.3.3"],
 }
 # Add the names with hyphens as aliases for convenience
@@ -63,15 +66,15 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     extras_require=EXTRAS_REQUIRE,
     packages=["isaaclab_rl"],
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

source/isaaclab_tasks/setup.py

@@ -19,7 +19,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio
 INSTALL_REQUIRES = [
     # generic
     "numpy<2",
-    "torch==2.5.1",
+    "torch>=2.7",
     "torchvision>=0.14.1",  # ensure compatibility with torch 1.13.1
     "protobuf>=3.20.2,!=5.26.0",
     # basic logger
@@ -41,14 +41,14 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     packages=["isaaclab_tasks"],
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

tools/run_all_tests.py

@@ -343,7 +343,7 @@ def warm_start_app():
         capture_output=True,
     )
     if len(warm_start_output.stderr) > 0:
-        if "DeprecationWarning" not in str(warm_start_output.stderr):
+        if "omni::fabric::IStageReaderWriter" not in str(warm_start_output.stderr):
             logging.error(f"Error warm starting the app: {str(warm_start_output.stderr)}")
             exit(1)
 
@@ -360,7 +360,7 @@ def warm_start_app():
         capture_output=True,
     )
     if len(warm_start_rendering_output.stderr) > 0:
-        if "DeprecationWarning" not in str(warm_start_rendering_output.stderr):
+        if "omni::fabric::IStageReaderWriter" not in str(warm_start_rendering_output.stderr):
             logging.error(f"Error warm starting the app with rendering: {str(warm_start_rendering_output.stderr)}")
             exit(1)
 

tools/template/templates/extension/setup.py

@@ -34,11 +34,11 @@ setup(
     install_requires=INSTALL_REQUIRES,
     license="MIT",
     include_package_data=True,
-    python_requires=">=3.10",
+    python_requires=">=3.11",
     classifiers=[
         "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.5.0",
+        "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,
 )

tools/test_settings.py

@@ -17,6 +17,8 @@ DEFAULT_TIMEOUT = 120
 
 PER_TEST_TIMEOUTS = {
     "test_articulation.py": 200,
+    "test_rigid_object.py": 200,
+    "test_rigid_object_collection.py": 200,
     "test_deformable_object.py": 200,
     "test_rigid_object_collection.py": 200,
     "test_environments.py": 1850,  # This test runs through all the environments for 100 steps each
@@ -24,7 +26,8 @@ PER_TEST_TIMEOUTS = {
     "test_factory_environments.py": 300,  # This test runs through Factory environments for 100 steps each
     "test_env_rendering_logic.py": 300,
     "test_camera.py": 500,
-    "test_tiled_camera.py": 300,
+    "test_tiled_camera.py": 500,
+    "test_multi_tiled_camera.py": 500,
     "test_generate_dataset.py": 300,  # This test runs annotation for 10 demos and generation until one succeeds
     "test_rsl_rl_wrapper.py": 200,
     "test_sb3_wrapper.py": 200,