[Isaac Sim 6.0] Updates torch to 2.9.0+cu128 for x86 (#4001)

kellyguo11 · web-flow · commit 9338da9513a6 · 2025-11-14T10:11:36.000-08:00
# Description Updates torch to 2.9.0, keeping cuda version as 12.8 for x86 and 13.0 for arm (for spark support). In Isaac Sim 6.0, use_stage needs to be registered for both the regular isaacsim core extension and the core experimental extension ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] 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  --------- Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
diff --git a/.github/workflows/license-check.yaml b/.github/workflows/license-check.yaml
@@ -31,14 +31,20 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
-        python-version: '3.12'  # Adjust as needed
+        python-version: '3.11'  # Adjust as needed
 
     - name: Install dependencies using ./isaaclab.sh -i
+      env:
+        OMNI_KIT_ACCEPT_EULA: yes
+        ACCEPT_EULA: Y
+        ISAACSIM_ACCEPT_EULA: YES
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./isaaclab.sh  # Make sure the script is executable
+        # Install torch
+        pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
         # install all lab dependencies
         ./isaaclab.sh -i
 
@@ -83,6 +89,11 @@ jobs:
 
         # Loop through the installed packages and their licenses
         for pkg in $(jq -r '.[].Name' licenses.json); do
+          # Skip packages starting with nvidia (case-insensitive)
+          if [[ "${pkg,,}" == nvidia* ]]; then
+            continue
+          fi
+
           LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json)
 
           # Check if any of the allowed licenses are a substring of the package's license
diff --git a/docs/source/experimental-features/newton-physics-integration/installation.rst b/docs/source/experimental-features/newton-physics-integration/installation.rst
@@ -3,13 +3,13 @@ Installation
 
 Installing the Newton physics integration branch requires three things:
 
-1) Isaac sim 5.0
+1) Isaac sim 6.0
 2) The ``feature/newton`` branch of Isaac Lab
 3) Ubuntu 22.04 or 24.04 (Windows will be supported soon)
 
 To begin, verify the version of Isaac Sim by checking the title of the window created when launching the simulation app.  Alternatively, you can
 find more explicit version information under the ``Help -> About`` menu within the app.
-If your version is less than 5.0, you must first `update or reinstall Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html>`_ before
+If your version is less than 6.0, you must first `update or reinstall Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html>`_ before
 you can proceed further.
 
 Next, navigate to the root directory of your local copy of the Isaac Lab repository and open a terminal.
@@ -44,13 +44,13 @@ Install the correct version of torch and torchvision:
 
 .. code-block:: bash
 
-    pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+    pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
-Install Isaac Sim 5.0:
+Install Isaac Sim 6.0:
 
 .. code-block:: bash
 
-    pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com
+    pip install "isaacsim[all,extscache]==6.0.0" --extra-index-url https://pypi.nvidia.com
 
 Install Isaac Lab extensions and dependencies:
 
diff --git a/docs/source/setup/installation/isaaclab_pip_installation.rst b/docs/source/setup/installation/isaaclab_pip_installation.rst
@@ -25,27 +25,6 @@ Installing dependencies
    In case you used UV to create your virtual environment, please replace ``pip`` with ``uv pip``
    in the following commands.
 
--  Install a CUDA-enabled PyTorch 2.7.0 build for CUDA 12.8:
-
-   .. code-block:: none
-
-      pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
-
--  If you want to use ``rl_games`` for training and inferencing, install the
-   its Python 3.11+ enabled fork:
-
-   .. code-block:: none
-
-      pip install git+https://github.com/isaac-sim/rl_games.git@python3.11
-
--  Install the Isaac Lab packages along with Isaac Sim:
-
-   .. code-block:: none
-
-      pip install isaaclab[isaacsim,all]==2.2.0 --extra-index-url https://pypi.nvidia.com
-
-   In case you used UV to create your virtual environment, please replace ``pip`` with ``uv pip``
-   in the following commands.
 
 -  Install the Isaac Lab packages along with Isaac Sim:
 
@@ -63,14 +42,14 @@ Installing dependencies
 
          .. code-block:: bash
 
-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
          :sync: windows-x86_64
 
          .. code-block:: bash
 
-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
       .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
          :sync: linux-aarch64
diff --git a/docs/source/setup/installation/pip_installation.rst b/docs/source/setup/installation/pip_installation.rst
@@ -58,14 +58,14 @@ Installing dependencies
 
          .. code-block:: bash
 
-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
          :sync: windows-x86_64
 
          .. code-block:: bash
 
-            pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
       .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
          :sync: linux-aarch64
diff --git a/docs/source/setup/quickstart.rst b/docs/source/setup/quickstart.rst
@@ -66,11 +66,11 @@ To begin, we first define our virtual environment.
                env_isaaclab\Scripts\activate
 
 
-Next, install a CUDA-enabled PyTorch 2.7.0 build.
+Next, install a CUDA-enabled PyTorch build.
 
    .. code-block:: bash
 
-      pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+      pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
 
 
 Before we can install Isaac Sim, we need to make sure pip is updated.  To update pip, run
diff --git a/isaaclab.bat b/isaaclab.bat
@@ -42,8 +42,8 @@ rem --- Ensure CUDA PyTorch helper ------------------------------------------
 :ensure_cuda_torch
 rem expects: !python_exe! set by :extract_python_exe
 setlocal EnableExtensions EnableDelayedExpansion
-set "TORCH_VER=2.7.0"
-set "TV_VER=0.22.0"
+set "TORCH_VER=2.9.0"
+set "TV_VER=0.24.0"
 set "CUDA_TAG=cu128"
 set "PYTORCH_INDEX=https://download.pytorch.org/whl/%CUDA_TAG%"
 
diff --git a/isaaclab.sh b/isaaclab.sh
@@ -112,13 +112,12 @@ ensure_cuda_torch() {
 
     # choose pins per arch
     local torch_ver tv_ver cuda_ver
+    torch_ver="2.9.0"
+    tv_ver="0.24.0"
+
     if is_arm; then
-        torch_ver="2.9.0"
-        tv_ver="0.24.0"
         cuda_ver="130"
     else
-        torch_ver="2.7.0"
-        tv_ver="0.22.0"
         cuda_ver="128"
     fi
 
diff --git a/scripts/benchmarks/benchmark_rsl_rl.py b/scripts/benchmarks/benchmark_rsl_rl.py
@@ -71,10 +71,11 @@
 import torch
 from datetime import datetime
 
+from rsl_rl.runners import OnPolicyRunner
+
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_yaml
-from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
diff --git a/scripts/demos/h1_locomotion.py b/scripts/demos/h1_locomotion.py
@@ -49,11 +49,11 @@
 from omni.kit.viewport.utility import get_viewport_from_window_name
 from omni.kit.viewport.utility.camera_state import ViewportCameraState
 from pxr import Gf, Sdf
+from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import ManagerBasedRLEnv
 from isaaclab.utils.math import quat_apply
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
diff --git a/scripts/reinforcement_learning/rsl_rl/play.py b/scripts/reinforcement_learning/rsl_rl/play.py
@@ -58,6 +58,8 @@
 import time
 import torch
 
+from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -68,7 +70,6 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
 
diff --git a/scripts/reinforcement_learning/rsl_rl/train.py b/scripts/reinforcement_learning/rsl_rl/train.py
@@ -81,6 +81,8 @@
 import torch
 from datetime import datetime
 
+from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -90,7 +92,6 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_yaml
-from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper
 
diff --git a/scripts/sim2sim_transfer/rsl_rl_transfer.py b/scripts/sim2sim_transfer/rsl_rl_transfer.py
@@ -63,6 +63,8 @@
 import torch
 import yaml
 
+from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -72,7 +74,6 @@
 )
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
-from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
 
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.0"
+version = "0.49.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.49.0 (2025-11-12)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated Isaac Lab to be compatible with Isaac Sim 6.0.0.
+* Updated the required Python version to 3.12 for Isaac Lab installation.
+* Updated the required PyTorch version to 2.9.0+cu128 and torchvision to 0.24.0 for Isaac Lab installation.
+
 0.48.0 (2025-11-03)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -617,8 +617,8 @@ async def reset_async(self, soft: bool = False):
     """
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
-        _ = super()._init_stage(*args, **kwargs)
         with use_stage(self.get_initial_stage()):
+            _ = super()._init_stage(*args, **kwargs)
             # a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes
             # when in headless mode
             self.set_setting("/app/player/playSimulations", False)
diff --git a/source/isaaclab/isaaclab/sim/utils.py b/source/isaaclab/isaaclab/sim/utils.py
@@ -1134,7 +1134,14 @@ def is_current_stage_in_memory() -> bool:
 def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
     """Context manager that sets a thread-local stage, if supported.
 
-    In Isaac Sim < 5.0, this is a no-op to maintain compatibility.
+    For Isaac Sim >= 6.0, this function sets the thread-local stage context in both the regular
+    and experimental stage utils modules. This is necessary because Isaac Sim has two separate
+    stage utility modules with independent thread-local storage:
+    - ``isaacsim.core.utils.stage`` (used by PhysicsContext)
+    - ``isaacsim.core.experimental.utils.stage`` (used by SimulationManager)
+
+    When using an in-memory stage, both contexts must be set to ensure that physics scene
+    validation and other operations work correctly.
 
     Args:
         stage: The stage to set temporarily.
@@ -1143,12 +1150,18 @@ def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
         None
     """
     isaac_sim_version = float(".".join(get_version()[2]))
-    if isaac_sim_version < 5:
-        logger.warning("[Compat] Isaac Sim < 5.0 does not support thread-local stage contexts. Skipping use_stage().")
-        yield  # no-op
-    else:
+    if isaac_sim_version < 6:
+        # Set context in both modules to ensure all Isaac Sim subsystems see the correct stage
         with stage_utils.use_stage(stage):
             yield
+    else:
+        # Import both stage utils modules for Isaac Sim 5.0+
+        import isaacsim.core.experimental.utils.stage as experimental_stage_utils
+
+        # Set context in both modules to ensure all Isaac Sim subsystems see the correct stage
+        with stage_utils.use_stage(stage):
+            with experimental_stage_utils.use_stage(stage):
+                yield
 
 
 def create_new_stage_in_memory() -> Usd.Stage:
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
@@ -19,7 +19,7 @@
 INSTALL_REQUIRES = [
     # generic
     "numpy<2",
-    "torch>=2.7",
+    "torch>=2.9",
     "onnx>=1.18.0",  # 1.16.2 throws access violation on Windows
     "prettytable==3.3.0",
     "toml",
@@ -43,6 +43,7 @@
     "pytest",
     "pytest-mock",
     "junitparser",
+    "coverage==7.6.1",
     "flatdict==4.0.1",
     "flaky",
 ]
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py
@@ -7,9 +7,10 @@
 import torch
 from tensordict import TensorDict
 
-from isaaclab.envs import DirectRLEnv, ManagerBasedRLEnv
 from rsl_rl.env import VecEnv
 
+from isaaclab.envs import DirectRLEnv, ManagerBasedRLEnv
+
 
 class RslRlVecEnvWrapper(VecEnv):
     """Wraps around Isaac Lab environment for the RSL-RL library
