isaac-sim · kellyguo11 · Dec 19, 2025 · Nov 14, 2025 · Nov 18, 2025 · Nov 19, 2025
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -36,6 +36,7 @@ Guidelines for modifications:
 * Pascal Roth
 * Sheikh Dawood
 * Ossama Ahmed
+* Greg Attra
 
 ## Contributors
 
@@ -52,6 +53,7 @@ Guidelines for modifications:
 * Bingjie Tang
 * Brayden Zhang
 * Brian Bingham
+* Brian McCann
 * Cameron Upright
 * Calvin Yu
 * Cathy Y. Li
@@ -61,6 +63,7 @@ Guidelines for modifications:
 * CY (Chien-Ying) Chen
 * David Yang
 * Dhananjay Shendre
+* Dongxuan Fan
 * Dorsa Rohani
 * Emily Sturman
 * Fabian Jenelten
@@ -85,9 +88,11 @@ Guidelines for modifications:
 * Jinghuan Shang
 * Jingzhou Liu
 * Jinqi Wei
+* Jinyeob Kim
 * Johnson Sun
 * Kaixi Bao
 * Kris Wilson
+* Krishna Lakhi
 * Kourosh Darvish
 * Kousheek Chakraborty
 * Lionel Gulich
@@ -160,6 +165,7 @@ Guidelines for modifications:
 * Zoe McCarthy
 * David Leon
 * Song Yi
+* Weihua Zhang
 
 ## Acknowledgements
 

diff --git a/README.md b/README.md
@@ -14,6 +14,14 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
+This branch is a feature branch for Isaac Sim 6.0, which is currently only available through the Isaac Sim [GitHub repo](https://github.com/isaac-sim/IsaacSim).
+For installation, please refer to the Isaac Sim GitHub repo to build the latest Isaac Sim branch, and follow the binary installation method in the
+Isaac Lab documentation for Isaac Lab installation.
+
+Note that this branch is currently under active development and may experience breaking changes or error messages.
+Performance issues and regressions may also be observed in some use cases.
+
+
 **Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows,
 such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html),
 it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real
@@ -57,6 +65,7 @@ dependency versions for Isaac Sim.
 
 | Isaac Lab Version             | Isaac Sim Version         |
 | ----------------------------- | ------------------------- |
+| `feature/isaacsim-6-0`        | Isaac Sim 6.0             |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.2.X`                      | Isaac Sim 4.5 / 5.0       |

@@ -215,6 +215,6 @@ enabled=true # Enable this for DLSS
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -156,6 +156,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -38,7 +38,7 @@ keywords = ["experience", "app", "usd"]
 
 # Isaac Sim Extra
 "isaacsim.asset.importer.mjcf" = {}
-"isaacsim.asset.importer.urdf" = {version = "2.4.31", exact = true}
+"isaacsim.asset.importer.urdf" = {version = "2.4.36", exact = true}
 "omni.physx.bundle" = {}
 "omni.physx.tensors" = {}
 "omni.replicator.core" = {}
@@ -302,6 +302,6 @@ fabricUseGPUInterop = true
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -145,6 +145,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -59,6 +59,6 @@ folders = [
 ]
 
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -88,6 +88,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
@@ -38,7 +38,7 @@ keywords = ["experience", "app", "usd"]
 
 # Isaac Sim Extra
 "isaacsim.asset.importer.mjcf" = {}
-"isaacsim.asset.importer.urdf" = {version = "2.4.31", exact = true}
+"isaacsim.asset.importer.urdf" = {version = "2.4.36", exact = true}
 "omni.physx.bundle" = {}
 "omni.physx.tensors" = {}
 "omni.replicator.core" = {}

@@ -157,6 +157,7 @@
     "omni.client",
     "omni.physx",
     "omni.physics",
+    "usdrt",
     "pxr.PhysxSchema",
     "pxr.PhysicsSchemaTools",
     "omni.replicator",

@@ -31,6 +31,11 @@
     RayCasterCfg
     RayCasterCamera
     RayCasterCameraCfg
+    MultiMeshRayCaster
+    MultiMeshRayCasterData
+    MultiMeshRayCasterCfg
+    MultiMeshRayCasterCamera
+    MultiMeshRayCasterCameraCfg
     Imu
     ImuCfg
 
@@ -151,7 +156,40 @@ Ray-Cast Camera
     :members:
     :inherited-members:
     :show-inheritance:
-    :exclude-members: __init__, class_type
+    :exclude-members: __init__, class_type, OffsetCfg
+
+Multi-Mesh Ray-Cast Sensor
+--------------------------
+
+.. autoclass:: MultiMeshRayCaster
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: MultiMeshRayCasterData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: MultiMeshRayCasterCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type, OffsetCfg
+
+Multi-Mesh Ray-Cast Camera
+--------------------------
+
+.. autoclass:: MultiMeshRayCasterCamera
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: MultiMeshRayCasterCameraCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type, OffsetCfg, RaycastTargetCfg
 
 Inertia Measurement Unit
 ------------------------

@@ -14,6 +14,7 @@
       dict
       interpolation
       math
+      mesh
       modifiers
       noise
       string
@@ -89,6 +90,14 @@ Math operations
    :inherited-members:
    :show-inheritance:
 
+Mesh operations
+~~~~~~~~~~~~~~~
+
+.. automodule:: isaaclab.utils.mesh
+   :members:
+   :imported-members:
+   :show-inheritance:
+
 Modifier operations
 ~~~~~~~~~~~~~~~~~~~
 

@@ -24,6 +24,18 @@ teleoperation in Isaac Lab.
 
    See :ref:`manus-vive-handtracking` for more information on supported hand-tracking peripherals.
 
+.. note::
+
+   **Meta Quest 3 and Pico 4 Ultra Support (Early Access)**
+
+   Meta Quest 3 and Pico 4 Ultra are now supported via the `CloudXR Early Access program`_.
+   Join the program by mentioning isaac use cases. Once approved, you'll receive email to set up NGC,
+   then download `CloudXR.js with Isaac Teleop samples`_ and follow its guide.
+   Pico 4 Ultra must use HTTPS mode (see NGC documentation for details). General availability
+   will be provided in a future version of Isaac Lab.
+
+.. _`CloudXR Early Access program`: https://developer.nvidia.com/cloudxr-sdk-early-access-program/join
+.. _`CloudXR.js with Isaac Teleop samples`: https://catalog.ngc.nvidia.com/orgs/nvidia/resources/cloudxr-js-early-access?version=6.0.0-beta
 
 Overview
 --------

@@ -163,6 +163,14 @@ for the lift-cube environment:
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
     | |agibot_place_toy|      | |agibot_place_toy-link|      | Pick up and place an object in a box with a Agibot A2D humanoid robot       |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |reach_openarm_bi|      | |reach_openarm_bi-link|      | Move the end-effector to sampled target poses with the OpenArm robot        |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |reach_openarm_uni|     | |reach_openarm_uni-link|     | Move the end-effector to a sampled target pose with the OpenArm robot       |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |lift_openarm_uni|      | |lift_openarm_uni-link|      | Pick a cube and bring it to a sampled target position with the OpenArm robot|
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |cabi_openarm_uni|      | |cabi_openarm_uni-link|      | Grasp the handle of a cabinet's drawer and open it with the OpenArm robot   |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
 
 .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
@@ -183,6 +191,10 @@ for the lift-cube environment:
 .. |agibot_place_toy| image:: ../_static/tasks/manipulation/agibot_place_toy.jpg
 .. |kuka-allegro-lift| image:: ../_static/tasks/manipulation/kuka_allegro_lift.jpg
 .. |kuka-allegro-reorient| image:: ../_static/tasks/manipulation/kuka_allegro_reorient.jpg
+.. |reach_openarm_bi| image:: ../_static/tasks/manipulation/openarm_bi_reach.jpg
+.. |reach_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_reach.jpg
+.. |lift_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_lift.jpg
+.. |cabi_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_open_drawer.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -212,6 +224,10 @@ for the lift-cube environment:
 .. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env.py>`__
 .. |agibot_place_mug-link| replace:: `Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py>`__
 .. |agibot_place_toy-link| replace:: `Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py>`__
+.. |reach_openarm_bi-link| replace:: `Isaac-Reach-OpenArm-Bi-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py>`__
+.. |reach_openarm_uni-link| replace:: `Isaac-Reach-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py>`__
+.. |lift_openarm_uni-link| replace:: `Isaac-Lift-Cube-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py>`__
+.. |cabi_openarm_uni-link| replace:: `Isaac-Open-Drawer-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py>`__
 
 
 Contact-rich Manipulation
@@ -1135,3 +1151,19 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Velocity-Rough-Unitree-Go2-Play-v0
       - Manager Based
       - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Reach-OpenArm-Bi-v0
+      - Isaac-Reach-OpenArm-Bi-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
+    * - Isaac-Reach-OpenArm-v0
+      - Isaac-Reach-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO)
+    * - Isaac-Lift-Cube-OpenArm-v0
+      - Isaac-Lift-Cube-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
+    * - Isaac-Open-Drawer-OpenArm-v0
+      - Isaac-Open-Drawer-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
@@ -140,7 +140,7 @@ Pre-recorded demonstrations
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 We provide a pre-recorded ``dataset.hdf5`` containing 10 human demonstrations for ``Isaac-Stack-Cube-Franka-IK-Rel-v0``
-here: `[Franka Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Mimic/franka_stack_datasets/dataset.hdf5>`__.
+here: `[Franka Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/franka_stack_datasets/dataset.hdf5>`__.
 This dataset may be downloaded and used in the remaining tutorial steps if you do not wish to collect your own demonstrations.
 
 .. note::
@@ -480,7 +480,7 @@ Generate the dataset
 ^^^^^^^^^^^^^^^^^^^^
 
 If you skipped the prior collection and annotation step, download the pre-recorded annotated dataset ``dataset_annotated_gr1.hdf5`` from
-here: `[Annotated GR1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_gr1.hdf5>`_.
+here: `[Annotated GR1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_gr1.hdf5>`_.
 Place the file under ``IsaacLab/datasets`` and run the following command to generate a new dataset with 1000 demonstrations.
 
 .. code:: bash
@@ -630,7 +630,7 @@ Follow the same data collection, annotation, and generation process as demonstra
 
 
 If you skipped the prior collection and annotation step, download the pre-recorded annotated dataset ``dataset_annotated_g1_locomanip.hdf5`` from
-here: `[Annotated G1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_g1_locomanip.hdf5>`_.
+here: `[Annotated G1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_g1_locomanip.hdf5>`_.
 Place the file under ``IsaacLab/datasets`` and run the following command to generate a new dataset with 1000 demonstrations.
 
 .. code:: bash

@@ -71,18 +71,26 @@ Training Performance
 --------------------
 
 We performed training with each RL library on the same ``Isaac-Humanoid-v0`` environment
-with ``--headless`` on a single RTX PRO 6000 GPU using 4096 environments
-and logged the total training time for 65.5M steps for each RL library.
-
+with ``--headless`` on a single NVIDIA GeForce RTX 4090 and logged the total training time
+for 65.5M steps (4096 environments x 32 rollout steps x 500 iterations).
 
 +--------------------+-----------------+
 | RL Library         | Time in seconds |
 +====================+=================+
-| RL-Games           | 207             |
+| RL-Games           | 201             |
 +--------------------+-----------------+
-| SKRL               | 208             |
+| SKRL               | 201             |
 +--------------------+-----------------+
-| RSL RL             | 199             |
+| RSL RL             | 198             |
 +--------------------+-----------------+
-| Stable-Baselines3  | 322             |
+| Stable-Baselines3  | 287             |
 +--------------------+-----------------+
+
+Training commands (check for the *'Training time: XXX seconds'* line in the terminal output):
+
+.. code:: bash
+
+    python scripts/reinforcement_learning/rl_games/train.py --task Isaac-Humanoid-v0 --max_iterations 500 --headless
+    python scripts/reinforcement_learning/skrl/train.py --task Isaac-Humanoid-v0 --max_iterations 500 --headless
+    python scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Humanoid-v0 --max_iterations 500 --headless
+    python scripts/reinforcement_learning/sb3/train.py --task Isaac-Humanoid-v0 --max_iterations 500 --headless