Updates deprecated extensions in Isaac Sim

apps/isaaclab.python.headless.kit

@@ -173,11 +173,9 @@ folders = [
     "${exe-path}/exts",  # kit extensions
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files
@@ -192,9 +190,7 @@ enabled=true # Enable this for DLSS
 ########################
 [dependencies]
 "isaacsim.simulation_app" = {}
-"isaacsim.core.api" = {}
-"isaacsim.core.cloner" = {}
-"isaacsim.core.utils" = {}
+"isaacsim.core.simulation_manager" = {}
 "isaacsim.core.version" = {}
 
 ########################

apps/isaaclab.python.headless.rendering.kit

@@ -142,11 +142,9 @@ folders = [
     "${exe-path}/exts",  # kit extensions
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files

apps/isaaclab.python.kit

@@ -14,23 +14,26 @@ keywords = ["experience", "app", "usd"]
 # Isaac Sim extensions
 "isaacsim.app.about" = {}
 "isaacsim.examples.browser" = {}
-"isaacsim.core.api" = {}
 "isaacsim.core.cloner" = {}
+"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" = {}
+"isaacsim.core.rendering_manager" = {}
+"isaacsim.core.simulation_manager" = {}
 "isaacsim.core.throttling" = {}
-"isaacsim.core.utils" = {}
 "isaacsim.core.version" = {}
-"isaacsim.gui.menu" = {}
 "isaacsim.gui.property" = {}
 "isaacsim.replicator.behavior" = {}
-"isaacsim.robot.manipulators" = {}
 "isaacsim.robot.policy.examples" = {}
 "isaacsim.robot.schema" = {}
-"isaacsim.robot.wheeled_robots" = {}
-"isaacsim.sensors.camera" = {}
-"isaacsim.sensors.physics" = {}
-"isaacsim.sensors.physx" = {}
-"isaacsim.sensors.rtx" = {}
+"isaacsim.robot.experimental.wheeled_robots" = {}
+"isaacsim.robot.wheeled_robots.nodes" = {}
+"isaacsim.sensors.experimental.physics" = {}
+"isaacsim.sensors.experimental.rtx" = {}
 "isaacsim.simulation_app" = {}
 "isaacsim.storage.native" = {}
 "isaacsim.util.debug_draw" = {}
@@ -273,11 +276,9 @@ folders = [
     "${exe-path}/exts",  # kit extensions
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files

apps/isaaclab.python.rendering.kit

@@ -126,11 +126,9 @@ folders = [
     "${exe-path}/exts",  # kit extensions
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files

apps/isaaclab.python.xr.openxr.headless.kit

@@ -56,11 +56,9 @@ folders = [
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
     "${exe-path}/../extsInternal",  # isaac internal extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files

apps/isaaclab.python.xr.openxr.kit

@@ -80,11 +80,9 @@ folders = [
     "${exe-path}/extscore",  # kit core extensions
     "${exe-path}/../exts",  # isaac extensions
     "${exe-path}/../extsInternal",  # isaac internal extensions
-    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../extscache",  # isaac cache extensions
     "${exe-path}/../extsPhysics",  # isaac physics extensions
     "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
-    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
     "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
     "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
     "${app}", # needed to find other app files

docs/conf.py

@@ -173,11 +173,11 @@
     "pxr.PhysxSchema",
     "pxr.PhysicsSchemaTools",
     "omni.replicator",
-    "isaacsim",
-    "isaacsim.core.api",
     "isaacsim.core.cloner",
     "isaacsim.core.version",
-    "isaacsim.core.utils",
+    "isaacsim.core.experimental.prims",
+    "isaacsim.core.experimental.utils",
+    "isaacsim.core.rendering_manager",
     "isaacsim.robot_motion.motion_generation",
     "isaacsim.gui.components",
     "isaacsim.asset.importer.urdf",

docs/source/migration/migrating_to_isaaclab_3-0.rst

@@ -1672,6 +1672,123 @@ Deprecated retargeters have been moved to ``isaaclab_teleop.deprecated.openxr.re
 compatibility. These will be removed in a future release.
 
 
+Migration off Deprecated Isaac Sim APIs
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+In Isaac Sim 6.0, the legacy ``isaacsim.core.*``, ``isaacsim.sensors.*``, and
+``isaacsim.robot.wheeled_robots`` Python module paths are **deprecated** in favor of their
+``isaacsim.core.experimental.*`` (and ``*.experimental.*``) equivalents. Isaac Lab 3.0 has
+been migrated off the deprecated paths so that Isaac Lab continues to load and run when
+those modules are removed in a future Isaac Sim release.
+
+This is mostly a transparent change for users — Isaac Lab's own public Python API
+(:mod:`isaaclab`, :mod:`isaaclab_physx`, :mod:`isaaclab_tasks`, :mod:`isaaclab_teleop`,
+:mod:`isaaclab_mimic`) is unchanged. The migration is only user-visible if you:
+
+1. Import Isaac Sim symbols **directly** in your project, or
+2. Maintain a custom Kit experience (``.kit`` file) that lists Isaac Sim extension
+   dependencies, or
+3. Imported ``SimulationManager`` from ``isaacsim.core.simulation_manager`` in your own
+   PhysX-backed code.
+
+
+Python module renames
+---------------------
+
+Update direct imports in your own code as follows. **Where Isaac Lab provides an in-tree
+replacement, prefer the Isaac Lab API** over the ``isaacsim.core.experimental.*`` fallback:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 45 55
+
+   * - Deprecated Isaac Sim path
+     - Recommended replacement
+   * - ``isaacsim.core.utils.stage``
+     - :mod:`isaaclab.sim.utils.stage` (e.g. ``get_current_stage``,
+       ``create_new_stage``, ``open_stage``, ``save_stage``, ``close_stage``,
+       ``clear_stage``, ``update_stage``, ``use_stage``)
+   * - ``isaacsim.core.utils.prims``
+     - :mod:`isaaclab.sim.utils.prims` (e.g. ``create_prim``, ``delete_prim``,
+       ``change_prim_property``, ``bind_visual_material``,
+       ``bind_physics_material``, ``add_usd_reference``)
+   * - ``isaacsim.core.utils.queries``
+     - :mod:`isaaclab.sim.utils.queries` (e.g. ``find_matching_prims``,
+       ``find_matching_prim_paths``, ``get_first_matching_child_prim``)
+   * - ``isaacsim.core.utils.transforms``
+     - :mod:`isaaclab.sim.utils.transforms`
+   * - ``isaacsim.core.utils.semantics``
+     - :mod:`isaaclab.sim.utils.semantics`
+   * - ``isaacsim.core.utils.extensions.enable_extension``
+     - ``isaacsim.core.experimental.utils.app.enable_extension`` (no Isaac Lab equivalent)
+   * - ``isaacsim.core.utils.viewports.set_camera_view``
+     - ``isaacsim.core.rendering_manager.ViewportManager.set_camera_view`` (or
+       ``omni.kit.viewport.utility.camera_state.ViewportCameraState`` for lower-level control)
+   * - ``isaacsim.core.prims.XFormPrim`` / ``XFormPrimView``
+     - :class:`~isaaclab.sim.views.FrameView` (Isaac Lab in-tree view; see
+       :ref:`migrating-to-isaaclab-3-0` ``Renaming of XformPrimView to FrameView`` above).
+       For ``Articulation`` / ``RigidPrim`` use ``isaacsim.core.experimental.prims``.
+   * - ``isaacsim.core.simulation_manager.SimulationManager``
+     - :class:`isaaclab_physx.physics.PhysxManager` (PhysX backend) or
+       ``isaaclab_newton.physics.NewtonManager`` (Newton backend); see local-alias
+       pattern below.
+   * - ``isaacsim.core.cloner``
+     - :mod:`isaaclab.cloner` (Isaac Lab in-tree cloner)
+   * - ``isaacsim.replicator.mobility_gen``
+     - ``isaacsim.replicator.experimental.mobility_gen``
+   * - ``isaacsim.sensors.<name>``
+     - ``isaacsim.sensors.experimental.<name>``
+   * - ``isaacsim.robot.wheeled_robots``
+     - ``isaacsim.robot.experimental.wheeled_robots`` (and
+       ``isaacsim.robot.wheeled_robots.nodes`` for OmniGraph nodes)
+
+To keep call-site code symmetric across backends when migrating off
+``isaacsim.core.simulation_manager.SimulationManager``, use the local-alias pattern:
+
+.. code-block:: python
+
+   from isaaclab_physx.physics import PhysxManager as SimulationManager
+   # or, for the Newton backend
+   from isaaclab_newton.physics import NewtonManager as SimulationManager
+
+
+Kit experience (``.kit``) updates
+---------------------------------
+
+If you maintain a custom Kit experience derived from one of the Isaac Lab apps under
+``apps/``:
+
+* **Stop registering deprecated extension search paths.** The ``extsDeprecated`` search
+  path entry has been removed from all stock Isaac Lab Kit experiences (headless,
+  rendering, XR variants). Mirror that change in your own experience.
+* **Switch explicit Isaac Sim extension dependencies** to the non-deprecated equivalents
+  listed above (``isaacsim.core.experimental.*``, ``isaacsim.sensors.experimental.*``,
+  ``isaacsim.robot.experimental.wheeled_robots``).
+* **Remove unused Isaac Sim extensions that pull in** ``isaacsim.core.api`` — Isaac Lab
+  no longer depends on those, and keeping them resurrects the deprecated stack.
+
+
+``SimulationManager`` is no longer re-exported
+----------------------------------------------
+
+Earlier internal previews of this migration briefly exposed
+``isaaclab_physx.physics.SimulationManager`` as a public alias of
+:class:`~isaaclab_physx.physics.PhysxManager`. **That alias has been removed**; use
+:class:`~isaaclab_physx.physics.PhysxManager` directly (with ``as SimulationManager`` at
+the import site if you want backend-agnostic call-site code, as shown above).
+
+
+Retired standalone reproducers
+------------------------------
+
+A handful of legacy reproducers under ``source/isaaclab/test/deps/isaacsim`` that
+depended on the deprecated Isaac Sim core extensions have been retired:
+``check_camera.py``, ``check_floating_base_made_fixed.py``,
+``check_legged_robot_clone.py``, ``check_rep_texture_randomizer.py``, and
+``check_ref_count.py``. Use :mod:`isaaclab.sim` together with the new
+``isaacsim.core.experimental.*`` APIs for the same debugging workflows.
+
+
 PhysX Tensors API Module Path
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/overview/core-concepts/sensors/ray_caster.rst

@@ -50,7 +50,7 @@ Querying the sensor for data can be done at simulation run time like any other s
 
     -------------------------------
     Ray-caster @ '/World/envs/env_.*/Robot/base/lidar_cage':
-            view type            : <class 'isaacsim.core.prims.xform_prim.XFormPrim'>
+            view type            : <class 'isaacsim.core.experimental.prims.xform_prim.XformPrim'>
             update period (s)    : 0.016666666666666666
             number of meshes     : 1
             number of sensors    : 1

docs/source/overview/imitation-learning/humanoids_imitation.rst

@@ -563,7 +563,7 @@ To generate the locomanipulation dataset, use the following command:
    ./isaaclab.sh -p \
        scripts/imitation_learning/locomanipulation_sdg/generate_data.py \
        --device cpu \
-       --kit_args="--enable isaacsim.replicator.mobility_gen" \
+       --kit_args="--enable isaacsim.replicator.experimental.mobility_gen" \
        --task="Isaac-G1-SteeringWheel-Locomanipulation" \
        --dataset ./datasets/generated_dataset_g1_locomanip.hdf5 \
        --num_runs 1 \
@@ -736,7 +736,7 @@ Download the files and place them under ``<PATH_TO_USD_ASSET>``, then run the fo
 
    ./isaaclab.sh -p scripts/imitation_learning/locomanipulation_sdg/generate_data.py \
        --device cpu \
-       --kit_args="--enable isaacsim.replicator.mobility_gen" \
+       --kit_args="--enable isaacsim.replicator.experimental.mobility_gen" \
        --task="Isaac-G1-SteeringWheel-Locomanipulation" \
        --dataset <DATASET_FOLDER>/dataset_annotated_g1_locomanip.hdf5 \
        --num_runs 1 \

docs/source/setup/installation/include/bin_verify_isaacsim.rst

@@ -34,7 +34,7 @@ Check that the simulator runs from a standalone python script:
             # checks that python path is set correctly
             ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
             # checks that Isaac Sim can be launched from python
-            ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.api/add_cubes.py
+            ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/isaacsim.core.experimental.api/add_cubes.py
 
     .. tab-item:: :icon:`fa-brands fa-windows` Windows
         :sync: windows
@@ -44,7 +44,7 @@ Check that the simulator runs from a standalone python script:
             :: checks that python path is set correctly
             %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
             :: checks that Isaac Sim can be launched from python
-            %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.api\add_cubes.py
+            %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.experimental.api\add_cubes.py
 
 .. caution::
 

docs/source/tutorials/00_sim/create_empty.rst

@@ -72,8 +72,8 @@ pausing and stepping the simulator. All these operations are handled through the
 context**. It takes care of various timeline events and also configures the physics scene for
 simulation.
 
-In Isaac Lab, the :class:`sim.SimulationContext` class inherits from Isaac Sim's
-:class:`isaacsim.core.api.simulation_context.SimulationContext` to allow configuring the simulation
+In Isaac Lab, the :class:`sim.SimulationContext` class wraps Isaac Sim's simulation stack
+to allow configuring the simulation
 through Python's ``dataclass`` object and handle certain intricacies of the simulation stepping.
 
 For this tutorial, we set the physics and rendering time step to 0.01 seconds. This is done

docs/source/tutorials/00_sim/launch_app.rst

@@ -128,7 +128,7 @@ as we will demonstrate later in this tutorial.
 These arguments can be used with any script that starts the simulation using :class:`~app.AppLauncher`,
 with one exception, ``--enable_cameras``. This setting sets the rendering pipeline to use the
 offscreen renderer. However, this setting is only compatible with the :class:`isaaclab.sim.SimulationContext`.
-It will not work with Isaac Sim's :class:`isaacsim.core.api.simulation_context.SimulationContext` class.
+It will not work with Isaac Sim's legacy ``SimulationContext`` from deprecated Isaac Sim core extensions.
 For more information on this flag, please see the :class:`~app.AppLauncher` API documentation.
 
 

scripts/environments/state_machine/lift_teddy_bear.py

@@ -34,9 +34,9 @@
 simulation_app = app_launcher.app
 
 # disable metrics assembler due to scene graph instancing
-from isaacsim.core.utils.extensions import disable_extension
+from isaacsim.core.experimental.utils.app import enable_extension
 
-disable_extension("omni.usd.metrics.assembler.ui")
+enable_extension("omni.usd.metrics.assembler.ui", enabled=False)
 
 """Rest everything else."""
 

source/isaaclab/docs/CHANGELOG.rst

@@ -15,6 +15,19 @@ Changed
 4.6.14 (2026-04-24)
 ~~~~~~~~~~~~~~~~~~~
 
+Changed
+^^^^^^^
+
+* Updated the :class:`~isaaclab.cloner.TemplateCloneCfg` docstring example to import
+  ``get_current_stage`` from :mod:`isaaclab.sim.utils.stage` instead of
+  ``isaacsim.core.experimental.utils.stage``, aligning with the Isaac Lab API.
+* Added a "Migration off Deprecated Isaac Sim APIs" section to the Isaac Lab 3.0
+  migration guide (``docs/source/migration/migrating_to_isaaclab_3-0.rst``) that maps
+  deprecated ``isaacsim.core.*`` paths to their recommended replacements, preferring
+  Isaac Lab in-tree APIs (``isaaclab.sim.utils.*``, :class:`~isaaclab.sim.views.FrameView`,
+  :mod:`~isaaclab.cloner`) over the ``isaacsim.core.experimental.*`` fallbacks where
+  an Isaac Lab API exists.
+
 Fixed
 ^^^^^
 
@@ -32,6 +45,18 @@ Fixed
 4.6.13 (2026-04-22)
 ~~~~~~~~~~~~~~~~~~~
 
+Changed
+^^^^^^^
+
+* Updated cross-backend asset interface tests to import :class:`~isaaclab_physx.physics.PhysxManager`
+  (aliased as ``SimulationManager``) instead of ``isaacsim.core.simulation_manager.SimulationManager``.
+* Stopped registering deprecated Isaac Sim extension search paths in Isaac Lab Kit experiences and
+  switched explicit Isaac Sim extension dependencies to non-deprecated ``isaacsim.core.experimental.*``,
+  ``isaacsim.robot.experimental.wheeled_robots``, ``isaacsim.robot.wheeled_robots.nodes``, and
+  ``isaacsim.sensors.experimental.*`` equivalents.
+* Migrated remaining Isaac Lab imports off deprecated Isaac Sim core utility/prim Python module paths
+  to their ``isaacsim.core.experimental.*`` replacements.
+
 Fixed
 ^^^^^
 
@@ -43,6 +68,13 @@ Fixed
   installing the Isaac Lab submodules and force-reinstalls the cmeel ``pin``/``pin-pink``/
   ``daqp`` stack when the probe fails.
 
+Removed
+^^^^^^^
+
+* Retired several ``source/isaaclab/test/deps/isaacsim`` standalone reproducers that depended on
+  deprecated Isaac Sim core extensions; use :mod:`isaaclab.sim` and ``isaacsim.core.experimental.*``
+  for similar debugging workflows.
+
 
 4.6.12 (2026-04-23)
 ~~~~~~~~~~~~~~~~~~~
@@ -230,7 +262,6 @@ Fixed
   :func:`~isaaclab.cloner.cloner_utils.clone_from_template`, keeping downstream
   order stable across simulation and visualization backends.
 
-
 4.6.6 (2026-04-17)
 ~~~~~~~~~~~~~~~~~~~