frlai · ashwinvkNV · Jun 5, 2026 · Jun 5, 2026 · Jun 6, 2026 · Jun 6, 2026
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -543,6 +543,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_ov"
+        extra-pip-packages: "ovrtx ovphysx"
         container-name: isaac-lab-ov-test
 
     # Folded from the former standalone verify-base-non-root job: reuses the

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -49,15 +49,16 @@ jobs:
     - name: Checkout code
       uses: actions/checkout@v6
 
-    - name: Setup python
-      uses: actions/setup-python@v5
+    - name: Set up uv
+      uses: astral-sh/setup-uv@v6
       with:
         python-version: "3.12"
-        architecture: x64
 
     - name: Install dev requirements
-      working-directory: ./docs
-      run: pip install -r requirements.txt
+      run: |
+        uv venv
+        uv pip install -r docs/requirements.txt
+        echo "$PWD/.venv/bin" >> "$GITHUB_PATH"
 
     - name: Build current version docs
       working-directory: ./docs
@@ -80,15 +81,16 @@ jobs:
     - name: Checkout code
       uses: actions/checkout@v6
 
-    - name: Setup python
-      uses: actions/setup-python@v5
+    - name: Set up uv
+      uses: astral-sh/setup-uv@v6
       with:
         python-version: "3.12"
-        architecture: x64
 
     - name: Install dev requirements
-      working-directory: ./docs
-      run: pip install -r requirements.txt
+      run: |
+        uv venv
+        uv pip install -r docs/requirements.txt
+        echo "$PWD/.venv/bin" >> "$GITHUB_PATH"
 
     - name: Generate multi-version docs
       working-directory: ./docs

diff --git a/apps/isaaclab.python.headless.kit b/apps/isaaclab.python.headless.kit
@@ -211,6 +211,6 @@ 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-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/apps/isaaclab.python.headless.rendering.kit b/apps/isaaclab.python.headless.rendering.kit
@@ -161,6 +161,6 @@ UJITSO.enabled = 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-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit
@@ -30,8 +30,8 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.replicator.behavior" = {}
 "isaacsim.robot.policy.examples" = {}
 "isaacsim.robot.schema" = {}
-"isaacsim.robot.experimental.wheeled_robots" = {}
-"isaacsim.robot.wheeled_robots.nodes" = {}
+"isaacsim.robot.experimental.wheeled_robots" = { optional = true }
+"isaacsim.robot.wheeled_robots.nodes" = { optional = true }
 "isaacsim.sensors.experimental.physics" = {}
 "isaacsim.sensors.experimental.rtx" = {}
 "isaacsim.simulation_app" = {}
@@ -307,6 +307,6 @@ 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-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/apps/isaaclab.python.rendering.kit b/apps/isaaclab.python.rendering.kit
@@ -144,6 +144,6 @@ UJITSO.enabled = 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-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/apps/isaaclab.python.xr.openxr.headless.kit b/apps/isaaclab.python.xr.openxr.headless.kit
@@ -71,6 +71,6 @@ UJITSO.geometry = true
 UJITSO.enabled = true
 
 [settings]
-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/apps/isaaclab.python.xr.openxr.kit b/apps/isaaclab.python.xr.openxr.kit
@@ -98,6 +98,6 @@ UJITSO.enabled = 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-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"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
@@ -49,6 +49,43 @@ RUN apt-get update && \
     git \
     wget
 
+# Install the Carbonite env shim (libcarb.env.shim.so) that serializes glibc's
+# environment functions (getenv/setenv/putenv/unsetenv/secure_getenv/clearenv).
+# Carb/Kit/Omni plugins call these from worker threads while other threads
+# mutate the environment, which intermittently crashes CI with
+# `libc.so.6!getenv+0x56` SIGSEGVs. The shim now ships inside Isaac Sim's
+# Carbonite, so we copy it out of the install tree rather than vendoring a
+# prebuilt binary.
+#
+# Activation uses /etc/ld.so.preload (not ENV LD_PRELOAD) because Isaac Sim's
+# `_isaac_sim/python.sh` unconditionally overwrites LD_PRELOAD with
+# `kit/libcarb.so` before exec'ing the interpreter, which would strip our
+# shim. /etc/ld.so.preload is read by the dynamic linker for every process
+# and cannot be turned off by env-var manipulation.
+RUN install_carb_env_shim() { \
+      local dst=/usr/local/lib/libcarb.env.shim.so; \
+      local src=""; \
+      for c in \
+        "${ISAACSIM_ROOT_PATH}/kit/kernel/plugins/libcarb.env.shim.so" \
+        "${ISAACSIM_ROOT_PATH}/kit/libcarb.env.shim.so" \
+        "${ISAACSIM_ROOT_PATH}/_build/linux-x86_64/release/kit/kernel/plugins/libcarb.env.shim.so" \
+        "${ISAACSIM_ROOT_PATH}/_build/target-deps/carb_sdk_plugins/_build/linux-x86_64/release/libcarb.env.shim.so" \
+      ; do \
+        if [ -f "${c}" ]; then src="${c}"; break; fi; \
+      done; \
+      if [ -z "${src}" ]; then \
+        src="$(find "${ISAACSIM_ROOT_PATH}" -name libcarb.env.shim.so -type f 2>/dev/null | head -n1)"; \
+      fi; \
+      if [ -n "${src}" ] && [ -f "${src}" ]; then \
+        install -m 0755 "${src}" "${dst}" && \
+        echo "${dst}" > /etc/ld.so.preload && \
+        echo "installed carb env shim from ${src}"; \
+      else \
+        echo "no carb env shim found under ${ISAACSIM_ROOT_PATH}; skipping /etc/ld.so.preload" >&2; \
+      fi; \
+    }; \
+    install_carb_env_shim
+
 # arm64-only build deps:
 # - imgui-bundle has no prebuilt arm64 wheel; needs GL/X11 dev headers.
 # - swig is required for the nlopt source build (see arm64 nlopt step below).

diff --git a/docs/Makefile b/docs/Makefile
@@ -10,10 +10,10 @@ BUILDDIR      = _build
 
 .PHONY: multi-docs
 multi-docs:
-	@sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS)
+	@sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" --jobs=auto $(SPHINXOPTS)
 	@cp _redirect/index.html $(BUILDDIR)/index.html
 
 .PHONY: current-docs
 current-docs:
 	@rm -rf "$(BUILDDIR)/current"
-	@$(SPHINXBUILD) -W --keep-going "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS)
+	@$(SPHINXBUILD) -W --keep-going -j auto "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS)
diff --git a/docs/_extensions/isaaclab_docs.py b/docs/_extensions/isaaclab_docs.py
@@ -160,7 +160,7 @@ def _quickstart_isaacsim(branch: str, platform: str) -> str:
    uv venv --python 3.12 --seed env_isaaclab
    source env_isaaclab/bin/activate
    uv pip install --upgrade pip
-   uv pip install "isaacsim[all,extscache]==6.0.0" \\
+   uv pip install "isaacsim[all,extscache]==6.0.0.1" \\
      --extra-index-url https://pypi.nvidia.com \\
      --index-strategy unsafe-best-match --prerelease=allow
    uv pip install -U torch==2.10.0 torchvision==0.25.0 \\
@@ -178,7 +178,7 @@ def _quickstart_isaacsim(branch: str, platform: str) -> str:
    uv venv --python 3.12 --seed env_isaaclab
    env_isaaclab\\Scripts\\activate
    uv pip install --upgrade pip
-   uv pip install "isaacsim[all,extscache]==6.0.0" ^
+   uv pip install "isaacsim[all,extscache]==6.0.0.1" ^
      --extra-index-url https://pypi.nvidia.com ^
      --index-strategy unsafe-best-match --prerelease=allow
    uv pip install -U torch==2.10.0 torchvision==0.25.0 ^

diff --git a/docs/conf.py b/docs/conf.py
@@ -90,6 +90,7 @@
     "sphinxcontrib.icon",
     "sphinx_copybutton",
     "sphinx_design",
+    "sphinx_paramlinks",
     "sphinx_tabs.tabs",  # backwards compatibility for building docs on v1.0.0
     "sphinx_multiversion",
     "isaaclab_docs",

diff --git a/docs/index.rst b/docs/index.rst
@@ -130,7 +130,6 @@ Table of Contents
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training
-   Tiled Rendering</source/overview/core-concepts/sensors/camera>
    source/features/ray
    source/features/reproducibility
 

diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -7,6 +7,7 @@ autodocsumm
 sphinx-copybutton
 sphinx-icon
 sphinx_design
+sphinx-paramlinks
 sphinxemoji
 sphinx-tabs # backwards compatibility for building docs on v1.0.0
 sphinx-multiversion==0.2.4

diff --git a/docs/source/deployment/docker.rst b/docs/source/deployment/docker.rst
@@ -324,6 +324,21 @@ To pull the minimal Isaac Lab container, run:
 
   docker pull nvcr.io/nvidia/isaac-lab:3.0.0-beta1
 
+.. attention::
+
+  If the pre-built image you use runs as a **non-root** user (uid/gid 1000) -- as Isaac Lab
+  3.0.0-beta2 and later do -- the bind-mounted host directories below must be writable by that
+  user. Docker creates any missing bind-mount source directory as ``root``, which the non-root
+  runtime user cannot write to, leading to startup errors such as
+  ``PermissionError: [Errno 13] Permission denied: '/root/.local/share/ov/data/exts'``.
+  Pre-create the host directories and make them writable by uid/gid 1000 before running the
+  container:
+
+  .. code:: bash
+
+     mkdir -p ~/docker/isaac-sim/{cache/kit,cache/ov,cache/pip,cache/glcache,cache/computecache,logs,data,documents}
+     sudo chown -R 1000:1000 ~/docker/isaac-sim
+
 To run the Isaac Lab container with an interactive bash session, run:
 
 .. code:: bash

diff --git a/docs/source/features/hydra.rst b/docs/source/features/hydra.rst
@@ -216,7 +216,7 @@ override is given:
 .. code-block:: bash
 
     # Use Newton physics backend
-    python train.py --task=Isaac-Reach-Franka-v0 env.physics=newton_mjwarp
+    python train.py --task=Isaac-Reach-Franka env.physics=newton_mjwarp
 
 The ``default`` field can be set to ``None`` to make an optional feature that is
 disabled unless explicitly selected:
@@ -236,10 +236,10 @@ disabled unless explicitly selected:
 .. code-block:: bash
 
     # camera is None -- no camera overhead
-    python train.py --task=Isaac-Reach-Franka-v0
+    python train.py --task=Isaac-Reach-Franka
 
     # activate camera with the "large" preset
-    python train.py --task=Isaac-Reach-Franka-v0 env.scene.camera=large
+    python train.py --task=Isaac-Reach-Franka env.scene.camera=large
 
 
 .. _hydra-backend-solver-presets:

diff --git a/docs/source/how-to/add_own_library.rst b/docs/source/how-to/add_own_library.rst
@@ -33,31 +33,31 @@ For instance, if you want to use your own modified version of the `rsl-rl`_ libr
      cd IsaacLab
 
      # Note: If you are using a virtual environment, make sure to activate it before running the following command
-     ./isaaclab.sh -p -m pip install -e /path/to/rsl_rl
+     python -m pip install -e /path/to/rsl_rl
 
 In this case, the ``rsl-rl`` library will be installed in the Python environment used by Isaac Lab. You can now use the
 ``rsl-rl`` library in your experiments. To check the library version and other details, you can use the following
 command:
 
 .. code-block:: bash
 
-  ./isaaclab.sh -p -m pip show rsl-rl-lib
+   python -m pip show rsl-rl-lib
 
 This should now show the location of the ``rsl-rl`` library as the directory where you cloned the library.
 For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output of the above command should be:
 
 .. code-block:: bash
 
-  Name: rsl_rl
-  Version: 3.0.1
-  Summary: Fast and simple RL algorithms implemented in pytorch
-  Home-page: https://github.com/leggedrobotics/rsl_rl
-  Author: ETH Zurich, NVIDIA CORPORATION
-  Author-email:
-  License: BSD-3
-  Location: /home/user/git/rsl_rl
-  Requires: torch, torchvision, numpy, GitPython, onnx
-  Required-by:
+   Name: rsl_rl
+   Version: 3.0.1
+   Summary: Fast and simple RL algorithms implemented in pytorch
+   Home-page: https://github.com/leggedrobotics/rsl_rl
+   Author: ETH Zurich, NVIDIA CORPORATION
+   Author-email:
+   License: BSD-3
+   Location: /home/user/git/rsl_rl
+   Requires: torch, torchvision, numpy, GitPython, onnx
+   Required-by:
 
 
 Integrating a new library