[Isaac Sim 6.0] Updates torch to 2.9.0+cu128 for x86 by kellyguo11 · Pull Request #4001 · isaac-sim/IsaacLab

kellyguo11 · 2025-11-11T05:41:29Z

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

I have read and understood the contribution guidelines
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

greptile-apps · 2025-11-11T05:44:49Z

Greptile Overview

Greptile Summary

This PR updates IsaacLab to be compatible with Isaac Sim 6.0, upgrading PyTorch to 2.9.0 with CUDA 12.8 for x86 platforms and CUDA 13.0 for ARM platforms.

Key Changes:

Updated PyTorch to 2.9.0 and torchvision to 0.24.0 across all installation scripts and documentation
Modified use_stage() function to register stage context with both core and experimental stage utils modules for Isaac Sim 6.0+
Wrapped _init_stage() call with use_stage() context manager in SimulationContext
Reorganized imports in multiple scripts to follow PEP 8 conventions
Updated version to 0.49.0 and added changelog entry
Enhanced CI workflow to skip nvidia packages in license checks

Critical Issue Found:
The version comparison logic in source/isaaclab/isaaclab/sim/utils.py:1152-1164 is inverted. The condition if isaac_sim_version < 6: executes the dual-context code (for Isaac Sim 6.0+), while else: executes single-context code (for Isaac Sim < 6.0). This is backwards - Isaac Sim 6.0 will get the wrong code path, potentially causing stage context issues with PhysicsContext and SimulationManager.

Confidence Score: 1/5

This PR has a critical logic bug that will cause runtime failures
The inverted version comparison in use_stage() means Isaac Sim 6.0 will execute code intended for older versions, breaking the dual stage context registration that is required for 6.0. This is a blocking issue that must be fixed before merge.
source/isaaclab/isaaclab/sim/utils.py contains critical inverted logic that will break Isaac Sim 6.0 compatibility

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/sim/utils.py	1/5	Critical inverted version comparison logic in `use_stage()` function - code for Isaac Sim 6.0+ runs for versions < 6.0
source/isaaclab/isaaclab/sim/simulation_context.py	5/5	Wraps `_init_stage` call with `use_stage` context manager - depends on correct version logic in utils.py
isaaclab.sh	5/5	Updated torch to 2.9.0 and torchvision to 0.24.0, correctly uses cu128 for x86 and cu130 for ARM
isaaclab.bat	5/5	Updated torch to 2.9.0 and torchvision to 0.24.0 for Windows
source/isaaclab/setup.py	5/5	Updated minimum torch version requirement to 2.9, added coverage dependency

Sequence Diagram

sequenceDiagram
    participant User
    participant Installation Scripts
    participant Python Environment
    participant Isaac Sim 6.0
    participant SimulationContext
    participant use_stage Function
    participant Stage Utils (core)
    participant Stage Utils (experimental)

    User->>Installation Scripts: Run isaaclab.sh -i
    Installation Scripts->>Python Environment: Install torch 2.9.0+cu128 (x86) or cu130 (ARM)
    Installation Scripts->>Python Environment: Install Isaac Sim 6.0
    Installation Scripts->>Python Environment: Install IsaacLab dependencies
    
    Note over User,Python Environment: Runtime Behavior
    
    User->>SimulationContext: Initialize SimulationContext
    SimulationContext->>SimulationContext: _init_stage()
    SimulationContext->>use_stage Function: use_stage(get_initial_stage())
    
    alt Version Check (INVERTED LOGIC BUG)
        use_stage Function->>use_stage Function: Check isaac_sim_version < 6
        Note over use_stage Function: BUG: Logic is inverted!<br/>For Isaac Sim 6.0, this is FALSE
        use_stage Function->>Stage Utils (experimental): Import experimental.utils.stage
        use_stage Function->>Stage Utils (core): Set stage context
        use_stage Function->>Stage Utils (experimental): Set stage context
    end
    
    use_stage Function-->>SimulationContext: Context established
    SimulationContext->>Isaac Sim 6.0: super()._init_stage()
    SimulationContext->>SimulationContext: _set_additional_physx_params()
    SimulationContext->>SimulationContext: _load_fabric_interface()
    SimulationContext-->>User: Simulation ready

greptile-apps

Additional Comments (3)

docs/source/setup/installation/isaaclab_pip_installation.rst, line 28 (link)

syntax: comment says CUDA 12.8 but should say CUDA 13.0 to match the cu130 version
docs/source/setup/installation/isaaclab_pip_installation.rst, line 66 (link)

syntax: outdated PyTorch version in comment - should be 2.9.0, not 2.7.0
docs/source/setup/installation/isaaclab_pip_installation.rst, line 73 (link)

syntax: outdated PyTorch version - should be 2.9.0, not 2.7.0

_{7 files reviewed, 8 comments}

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greptile-apps · 2025-11-11T05:44:45Z

docs/source/setup/installation/isaaclab_pip_installation.rst

   .. code-block:: none

-      pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+      pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:46Z

docs/source/setup/installation/pip_installation.rst

         .. 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/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:46Z

docs/source/setup/installation/pip_installation.rst

         .. 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/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:47Z

docs/source/setup/installation/pip_installation.rst

         .. code-block:: bash

-            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130
+            pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

greptile-apps · 2025-11-11T05:44:48Z

docs/source/setup/quickstart.rst

   .. 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/whl30


syntax: malformed PyTorch index URL - missing /cu130 after whl

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

ooctipus · 2025-11-13T00:47:31Z

scripts/reinforcement_learning/rsl_rl/train.py

 import torch
 from datetime import datetime

+from rsl_rl.runners import DistillationRunner, OnPolicyRunner


is this linter change?

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Removed redundant environment variable export for ISAACSIM_ACCEPT_EULA. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Added dependencies to resolve pip errors. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Removed unnecessary dependencies to resolve pip errors. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

…into update-torch

greptile-apps

_{18 files reviewed, 1 comment}

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greptile-apps · 2025-11-14T18:14:09Z

source/isaaclab/isaaclab/sim/utils.py

    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


logic: inverted version comparison logic - code for Isaac Sim 6.0+ runs when version < 6, and code for Isaac Sim < 6.0 runs when version >= 6

Suggested change

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

isaac_sim_version = float(".".join(get_version()[2]))

if isaac_sim_version < 6:

# For Isaac Sim < 6.0, use single stage context

with stage_utils.use_stage(stage):

yield

else:

# Import both stage utils modules for Isaac Sim 6.0+

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

Updates torch to 2.9.0+cu13

035abcc

kellyguo11 requested review from Mayankm96, hhansen-bdai and jtigue-bdai as code owners November 11, 2025 05:41

kellyguo11 marked this pull request as draft November 11, 2025 05:41

github-actions bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team infrastructure labels Nov 11, 2025

greptile-apps bot reviewed Nov 11, 2025

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kellyguo11 added 7 commits November 10, 2025 21:52

format

91281c8

updates

aff982f

try base docker

ab507fb

update

dc9e6be

revert torch

14d8fed

revert docker

25de43a

clean up doc

1ddbce0

ooctipus reviewed Nov 13, 2025

View reviewed changes

kellyguo11 and others added 2 commits November 12, 2025 16:50

update torch to 2.9.0

a198e8f

Set ISAACSIM_ACCEPT_EULA environment variable

66a35e7

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

kellyguo11 changed the title ~~[6.0] Updates torch to 2.9.0+cu13~~ [Isaac Sim 6.0] Updates torch to 2.9.0+cu13 Nov 13, 2025

kellyguo11 and others added 9 commits November 12, 2025 19:00

Simplify ISAAC Sim installation step

ccec4a9

Removed redundant environment variable export for ISAACSIM_ACCEPT_EULA. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Add tqdm and decorator dependencies

bf81a38

Added dependencies to resolve pip errors. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Update default Dockerfile path in action.yml

f8ed9d8

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Clean up dependencies in setup.py

bfb2085

Removed unnecessary dependencies to resolve pip errors. Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Update EULA acceptance variables in license-check.yaml

0bd1f46

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

update license check

4148d23

fix stage in memory

cb96e3b

Change default Dockerfile path in action.yml

ff67699

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

stick to cu128 for x86

012a1b4

Merge branch 'update-torch' of github.com:kellyguo11/IsaacLab-public …

b566920

…into update-torch

kellyguo11 changed the title ~~[Isaac Sim 6.0] Updates torch to 2.9.0+cu13~~ [Isaac Sim 6.0] Updates torch to 2.9.0+cu128 for x86 Nov 14, 2025

kellyguo11 added 2 commits November 13, 2025 16:35

fix changelog version

8afaa84

enable backwards compatibility with 5.1

913758d

kellyguo11 marked this pull request as ready for review November 14, 2025 18:11

kellyguo11 requested review from ClemensSchwarke, matthewtrepte and ossamaAhmed as code owners November 14, 2025 18:11

kellyguo11 merged commit 9338da9 into isaac-sim:feature/isaacsim-6-0 Nov 14, 2025
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[Isaac Sim 6.0] Updates torch to 2.9.0+cu128 for x86#4001

[Isaac Sim 6.0] Updates torch to 2.9.0+cu128 for x86#4001
kellyguo11 merged 22 commits intoisaac-sim:feature/isaacsim-6-0from
kellyguo11:update-torch

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	pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30
	pip install torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl30
	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

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Greptile Overview

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Confidence Score: 1/5

Important Files Changed

Sequence Diagram

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