[CI unblock] Fix two bugs causing isaaclab (core) per-test timeouts

apps/isaaclab.python.kit

@@ -18,7 +18,9 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.deprecation_manager" = { order = -100 }
 "isaacsim.core.experimental.materials" = {}
 "isaacsim.core.experimental.objects" = {}
-"isaacsim.core.experimental.primdata" = {}
+# Optional: not yet present in publicly-released isaacsim 6.0.x; Kit's resolver
+# otherwise stalls on remote registry sync. Hard-load once it ships publicly.
+"isaacsim.core.experimental.primdata" = { optional = true }
 "isaacsim.core.experimental.prims" = {}
 "isaacsim.core.experimental.utils" = {}
 "isaacsim.core.nodes" = {}
@@ -31,9 +33,12 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.robot.policy.examples" = {}
 "isaacsim.robot.schema" = {}
 "isaacsim.robot.experimental.wheeled_robots" = {}
-"isaacsim.robot.wheeled_robots.nodes" = {}
+# Optional: not yet present in publicly-released isaacsim 6.0.x; Kit's resolver
+# otherwise stalls on remote registry sync. Hard-load once it ships publicly.
+"isaacsim.robot.wheeled_robots.nodes" = { optional = true }
 "isaacsim.sensors.experimental.physics" = {}
-"isaacsim.sensors.experimental.rtx" = {}
+# Optional: see comment above.
+"isaacsim.sensors.experimental.rtx" = { optional = true }
 "isaacsim.simulation_app" = {}
 "isaacsim.storage.native" = {}
 "isaacsim.util.debug_draw" = {}

source/isaaclab/changelog.d/jichuanh-ci-unblock-kit-optional-experimental-exts.rst

@@ -0,0 +1,27 @@
+Fixed
+^^^^^
+
+* Fixed ``apps/isaaclab.python.kit`` referencing three Isaac Sim extensions
+  that don't exist in publicly-released ``isaacsim 6.0.x``:
+  ``isaacsim.core.experimental.primdata``,
+  ``isaacsim.robot.wheeled_robots.nodes``, and
+  ``isaacsim.sensors.experimental.rtx``. The references were added in #5293
+  as part of the deprecated-extension migration, but the renamed targets
+  only exist in unreleased Isaac Sim builds. Kit's resolver falls back to
+  remote registry sync for every missing dependency, which silently burns
+  ~55s locally and 1000s+ in CI (the registry endpoints are slow /
+  unreachable from runners), triggering recent "isaaclab (core)" per-test
+  timeouts on ``test_non_headless_launch.py``, ``test_outdated_sensor.py``,
+  and ``test_color_randomization.py``. Marking the three as
+  ``{ optional = true }`` makes Kit's resolver tolerate their absence while
+  still picking them up automatically once they ship in a future Isaac Sim
+  release.
+* Fixed :func:`~isaaclab.envs.mdp.events.randomize_visual_color` and three
+  sibling event terms crashing with
+  ``AttributeError: 'NoneType' object has no attribute 'split'`` when
+  ``omni.replicator.core`` is loaded as a namespace package by Kit's
+  extension manager (which leaves ``rep.__file__ = None``). Replaced the
+  fragile ``rep.__file__.split("/")[-5][21:]`` version extraction with a
+  dedicated helper ``_get_replicator_version`` that falls back to
+  ``rep.__path__[0]`` -- always populated -- and uses ``re.search`` rather
+  than positional slicing, so it survives both packaging modes.

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -28,6 +28,25 @@
 from isaaclab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg
 from isaaclab.utils.version import compare_versions
 
+
+def _get_replicator_version(rep) -> str:
+    """Return the X.Y.Z version of ``omni.replicator.core``.
+
+    ``rep.__file__`` can be ``None`` when ``omni.replicator.core`` is loaded as a
+    namespace package by Kit's extension manager (e.g. on the Kit 110.x stack),
+    so we fall back to ``rep.__path__[0]``, which always points to the extscache
+    directory whose name embeds the version (e.g.
+    ``"omni.replicator.core-1.13.4+110.0.0.lx64.r.cp312"``).
+    """
+    rep_path = rep.__file__ or (rep.__path__[0] if getattr(rep, "__path__", None) else None)
+    if rep_path is None:
+        raise RuntimeError("omni.replicator.core has no resolvable __file__ or __path__")
+    match = re.search(r"omni\.replicator\.core-(\d+\.\d+\.\d+)", rep_path)
+    if match is None:
+        raise RuntimeError(f"Could not parse omni-replicator-core version from {rep_path!r}")
+    return match.group(1)
+
+
 if TYPE_CHECKING:
     from isaaclab_physx.assets import DeformableObject
 
@@ -2087,7 +2106,7 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
             )
 
         # extract the replicator version
-        version = re.match(r"^(\d+\.\d+\.\d+)", rep.__file__.split("/")[-5][21:]).group(1)
+        version = _get_replicator_version(rep)
 
         # use different path for different version of replicator
         if compare_versions(version, "1.12.4") < 0:
@@ -2157,7 +2176,7 @@ def __call__(
         import omni.replicator.core as rep
 
         # extract the replicator version
-        version = re.match(r"^(\d+\.\d+\.\d+)", rep.__file__.split("/")[-5][21:]).group(1)
+        version = _get_replicator_version(rep)
 
         # use different path for different version of replicator
         if compare_versions(version, "1.12.4") < 0:
@@ -2246,7 +2265,7 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
         # TODO: Need to make it work for multiple meshes.
 
         # extract the replicator version
-        version = re.match(r"^(\d+\.\d+\.\d+)", rep.__file__.split("/")[-5][21:]).group(1)
+        version = _get_replicator_version(rep)
 
         # use different path for different version of replicator
         if compare_versions(version, "1.12.4") < 0:
@@ -2315,7 +2334,7 @@ def __call__(
         # we import the module here since we may not always need the replicator
         import omni.replicator.core as rep
 
-        version = re.match(r"^(\d+\.\d+\.\d+)", rep.__file__.split("/")[-5][21:]).group(1)
+        version = _get_replicator_version(rep)
 
         # use different path for different version of replicator
         if compare_versions(version, "1.12.4") < 0: