[Bug Report] develop branch fails to launch: apps/isaaclab.python.kit references Isaac Sim extensions not present in Isaac Sim 6.0.0

[nawedume]

Describe the bug

develop fails to launch any script that boots the Kit app (e.g. scripts/environments/zero_agent.py). The Isaac Sim dependency solver exits during startup because apps/isaaclab.python.kit declares four extension names that do not exist in the currently released Isaac Sim 6.0.0 pip bundle:

• isaacsim.core.experimental.primdata
• isaacsim.robot.wheeled_robots.nodes
• isaacsim.sensors.experimental.rtx
• isaacsim.util.debug_draw

These were introduced by commit 080898f (PR #5293 "Updates deprecated extensions in Isaac Sim", merged 2026-04-26), which migrates to extension names intended for a future Isaac Sim release. The companion install-side work on branch kellyg/fix-installation landed as PR #5358 ("Fixes compatibility issues with latest Isaac Sim updates", merged 2026-04-25), but it did not update the pip-installable Isaac Sim build or add these four extensions to the distribution. Isaac Lab CI validates against a develop-only Isaac Sim Docker image, so the regression is invisible to CI but breaks every pip-install user of develop.

Steps to reproduce

Fresh checkout of develop, with Isaac Sim 6.0.0 installed via the documented pip path.

./isaaclab.sh -p scripts/environments/zero_agent.py \
    --task Isaac-Cartpole-Direct-v0 --num_envs 1 --viz kit

First failure:

2026-04-29T03:19:35Z [6,422ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
  * No versions of isaacsim.core.experimental.primdata that satisfies: isaaclab.python-3.0.0 depends on isaacsim.core.experimental.primdata version *
    - Available packages for isaacsim.core.experimental.primdata version *:
      (none found)
  Synced registries:
     - kit/default         : found 0 packages (couldn't connect or empty)
     - kit/sdk             : found 0 packages (couldn't connect or empty)
     - kit/prod/default    : found 429 packages
     - kit/prod/sdk        : found 366 packages

2026-04-29T03:19:35Z [6,423ms] [Error] [omni.kit.app.plugin] Exiting app because of dependency solver failure...
2026-04-29T03:19:35Z [6,426ms] [Error] [simulation_app.simulation_app] SimulationApp._start_app: Application failed to start. Check the log above for errors.
[ERROR] Command failed with code 55

After removing primdata, the solver fails on isaacsim.robot.wheeled_robots.nodes, then isaacsim.sensors.experimental.rtx, then isaacsim.util.debug_draw. Mapping each to the name that IS installed in Isaac Sim 6.0.0:

Declared in kit file	Installed in 6.0.0?	Legacy name that IS installed
isaacsim.core.experimental.primdata	no	(none)
isaacsim.robot.wheeled_robots.nodes	no	isaacsim.robot.wheeled_robots
isaacsim.sensors.experimental.rtx	no	isaacsim.sensors.rtx
isaacsim.util.debug_draw	no	(none)

System Info

• Commit: 640e71b (develop)
• Isaac Sim Version: 6.0.0 (pip: isaacsim 6.0.0.0, isaacsim-extscache-kit 6.0.0.0, isaacsim-extscache-kit-sdk 6.0.0.0)
• OS: Linux 6.17.0-1012-aws (Ubuntu-based)
• GPU: [fill in]
• CUDA: [fill in]
• GPU Driver: [fill in]

Additional context

• The four missing dependencies were introduced by 080898f / PR Updates deprecated extensions in Isaac Sim #5293.
• The companion install branch kellyg/fix-installation merged as PR Fixes compatibility issues with latest Isaac Sim updates #5358 on 2026-04-25, but its scope did not cover the new extension names introduced by Updates deprecated extensions in Isaac Sim #5293 the following day. No follow-up PR or tracking issue addressing this combination appears in search.
• The 'trusted' is not set for registry … lines at startup are INFO-level and unrelated — kit/prod/default and kit/prod/sdk sync normally (429 and 366 packages).
• Other Kit variants (apps/isaaclab.python.headless.kit, apps/isaaclab.python.rendering.kit, apps/isaaclab.python.xr.openxr*.kit) likely have the same stale references and were not verified.
• Related but distinct reports: [Bug Report] [isaaclab.python-2.2.0] dependency: 'isaacsim.util.debug_draw' = { version='^' } can't be satisfied. #3478 (similar solver error, Isaac Sim 5.0, different root cause), Isaac Lab teleop with Quest + Manus fails because isaacsim.kit.xr.teleop.bridge cannot be resolved in Isaac Sim 6.0 pip install #5368 and [Bug Report] isaacsim.kit.xr.teleop.bridge extension not found - CloudXR teleoperation cannot fully function #5221 (Isaac Sim 6.0 pip missing isaacsim.kit.xr.teleop.bridge — same class of problem, scoped to XR teleop).

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

• A fresh git clone of develop plus the documented Isaac Sim 6.0.0 install can launch scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 1 --viz kit without dependency-solver errors.
• All apps/isaaclab.python*.kit experiences resolve cleanly against the supported Isaac Sim build (no No versions of … that satisfies errors at startup).
• The supported Isaac Sim version is documented in the README/install guide, or the installer pins/checks for it.

[RandomOakForest]

Thank you for posting this. This seems to be a specific issue with this commit. The team has pointed out that you may try this other commit in develop. Thank you.

[nawedume]

Thanks for the update, I just tried with the latest commit 4687c34 still has this issue:

2026-05-09T04:26:27Z [6,416ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
  * No versions of isaacsim.core.experimental.primdata that satisfies: isaaclab.python-3.0.0 depends on isaacsim.core.experimental.primdata version *
    - Available packages for isaacsim.core.experimental.primdata version *:
      (none found)
  Synced registries:
     - kit/default         : found 0 packages (couldn't connect or empty)
     - kit/sdk             : found 0 packages (couldn't connect or empty)
     - kit/prod/default    : found 443 packages 
     - kit/prod/sdk        : found 366 packages 

2026-05-09T04:26:27Z [6,416ms] [Error] [omni.kit.app.plugin] Exiting app because of dependency solver failure...
2026-05-09T04:26:27Z [6,417ms] [Error] [simulation_app.simulation_app] SimulationApp._start_app: Application failed to start. Check the log above for errors.
2026-05-09T04:26:27Z [6,419ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
[ERROR] Command failed with code 55: "/workplace/nawedume/other/il_camera_bug/env_isaaclab/bin/python scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz kit"

Perhaps I'm doing something wrong, are you not able to recreate this issue on your end? I followed the instructions here: https://isaac-sim.github.io/IsaacLab/main/source/experimental-features/newton-physics-integration/installation.html

[yushijinhun]

I can confirm this bug on 4934cd0.

There are two problems blocking me:

• Some extensions are missing from Isaac Sim, so the dependency solver errors:
  • isaacsim.core.experimental.primdata
  • isaacsim.robot.wheeled_robots.nodes
  • isaacsim.sensors.experimental.rtx
• I hit module 'warp' has no attribute 'context' issue after fixing above problem. It seems omni.replicator.core is still using legacy wp.context namespace while warp 1.13 no longer exposes it.

I'm able to unblock by modifying isaaclab.python.kit and exposing the legacy warp namespace manually.

Diff of my workaround

diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit
index dad8a1e7280..8d0be67b4ed 100644
--- a/apps/isaaclab.python.kit
+++ b/apps/isaaclab.python.kit
@@ -18,7 +18,6 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.deprecation_manager" = { order = -100 }
 "isaacsim.core.experimental.materials" = {}
 "isaacsim.core.experimental.objects" = {}
-"isaacsim.core.experimental.primdata" = {}
 "isaacsim.core.experimental.prims" = {}
 "isaacsim.core.experimental.utils" = {}
 "isaacsim.core.nodes" = {}
@@ -31,9 +30,9 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.robot.policy.examples" = {}
 "isaacsim.robot.schema" = {}
 "isaacsim.robot.experimental.wheeled_robots" = {}
-"isaacsim.robot.wheeled_robots.nodes" = {}
+"isaacsim.robot.wheeled_robots" = {}
 "isaacsim.sensors.experimental.physics" = {}
-"isaacsim.sensors.experimental.rtx" = {}
+"isaacsim.sensors.rtx" = {}
 "isaacsim.simulation_app" = {}
 "isaacsim.storage.native" = {}
 "isaacsim.util.debug_draw" = {}
diff --git a/source/isaaclab/isaaclab/app/app_launcher.py b/source/isaaclab/isaaclab/app/app_launcher.py
index 513757e0808..1ffe86e9064 100644
--- a/source/isaaclab/isaaclab/app/app_launcher.py
+++ b/source/isaaclab/isaaclab/app/app_launcher.py
@@ -1077,6 +1077,8 @@ class AppLauncher:
 
     def _create_app(self):
         """Launch and create the SimulationApp based on the parsed simulation config."""
+        self._ensure_warp_legacy_context_namespace()
+
         # Initialize SimulationApp
         # hack sys module to make sure that the SimulationApp is initialized correctly
         # this is to avoid the warnings from the simulation app about not ok modules
@@ -1127,6 +1129,20 @@ class AppLauncher:
         if len(self._livestream_args) > 0:
             sys.argv = [arg for arg in sys.argv if arg not in self._livestream_args]
 
+    @staticmethod
+    def _ensure_warp_legacy_context_namespace() -> None:
+        """Expose the legacy ``warp.context`` namespace expected by Isaac Sim extensions."""
+        try:
+            import warp as wp
+            from warp._src import context as wp_context
+        except ImportError:
+            return
+
+        # Isaac Sim 6.0 Replicator still annotates against ``wp.context.Kernel``.
+        # ``warp-lang`` 1.13 keeps the symbols but removed the public namespace.
+        setattr(wp, "context", wp_context)
+        sys.modules.setdefault("warp.context", wp_context)
+
     def _rendering_enabled(self) -> bool:
         """Check if rendering is required by the app."""
         # Indicates whether rendering is required by the app.

[kellyguo11]

Please see the warning in the README.

A recent breaking change on the Isaac Lab develop branch is not compatible with the develop branch of Isaac Sim on GitHub. To run Isaac Lab with Isaac Sim's GitHub develop branch, use Isaac Lab commit f0234a82e432e2a0b0f0a26ca3c5b59e527ddaaa or an earlier commit. Alternatively, use the Isaac Lab v3.0.0-beta tag.