Updates deprecated extensions in Isaac Sim (#5293)

# Description

Migrates Isaac Lab off deprecated Isaac Sim API surfaces in preparation
for their removal in a future Isaac Sim release. This PR is
intentionally scoped to the API migration only — installation,
prebundle, and extension-exclusion fixes are tracked separately on
`kellyg/fix-installation`.

## What changes

**Kit experience (`apps/*.kit`):**
- Stopped registering deprecated Isaac Sim extension search paths
(`extsDeprecated`) in Isaac Lab Kit experiences (headless, rendering, XR
variants).
- Switched explicit Isaac Sim extension dependencies to their
non-deprecated equivalents:
  - `isaacsim.core.*` → `isaacsim.core.experimental.*`
- `isaacsim.robot.wheeled_robots` →
`isaacsim.robot.experimental.wheeled_robots` (+
`isaacsim.robot.wheeled_robots.nodes` for OmniGraph nodes)
  - `isaacsim.sensors.*` → `isaacsim.sensors.experimental.*`
- Removed unused Isaac Sim extensions that pulled in
`isaacsim.core.api`.
- Migrated `isaacsim.core.cloner` usage to the in-tree Lab cloner.

**Python source migrations (across `isaaclab`, `isaaclab_physx`,
`isaaclab_tasks`, `isaaclab_teleop`, `isaaclab_visualizers`,
`isaaclab_mimic`):**
- Migrated remaining imports off deprecated `isaacsim.core.utils.*` /
prim Python paths to `isaacsim.core.experimental.*` replacements
(controllers, env mdp events, sim utils/converters, terrain importer,
RMP flow, etc.).
- Updated Kit perspective capture helpers to use
`isaacsim.core.rendering_manager`.
- Updated optional-extension enablement (e.g. `enable_extension`) to use
`isaacsim.core.experimental.utils.app`.
- Updated XR anchor utilities to use `isaacsim.core.experimental.prims`
/ `isaacsim.core.experimental.utils`.
- Updated mobility-gen path utilities (`isaaclab_mimic`) to import from
`isaacsim.replicator.experimental.mobility_gen`.
- Migrated `kit_visualizer.py` from
`isaacsim.core.utils.viewports.set_camera_view` to
`omni.kit.viewport.utility.camera_state.ViewportCameraState`.

**`SimulationManager` decoupling:**
- Migrated the PhysX scene data provider, PhysX asset micro-benchmarks,
and cross-backend asset interface tests off
`isaacsim.core.simulation_manager.SimulationManager`. They now import
`isaaclab_physx.physics.PhysxManager` aliased as `SimulationManager`,
mirroring the Newton backend's `NewtonManager as SimulationManager`
convention. No new public alias is exported from
`isaaclab_physx.physics`.

**Test deps cleanup:**
- Retired several `source/isaaclab/test/deps/isaacsim` standalone
reproducers that depended on deprecated Isaac Sim core extensions
(`check_camera.py`, `check_floating_base_made_fixed.py`,
`check_legged_robot_clone.py`, `check_rep_texture_randomizer.py`,
`check_ref_count.py`). Use `isaaclab.sim` and
`isaacsim.core.experimental.*` for similar debugging workflows.

**Docs:**
- Updated tutorials, sensor docs, migration guide, release notes, and
verification snippets to reference the non-deprecated APIs.

## Motivation

Isaac Sim has marked `isaacsim.core.*`, `isaacsim.sensors.*`, and
`isaacsim.robot.wheeled_robots` modules as deprecated, with
`isaacsim.core.experimental.*` as the supported replacement. Without
this migration, Isaac Lab will break when those modules are removed and
currently emits deprecation warnings on every launch. Splitting the
migration off from the installation/prebundle work keeps each PR small
and reviewable.

Fixes # (issue)

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- **Breaking change (existing functionality will not work without user
modification)** — only for users that imported deprecated Isaac Sim
symbols re-exported through Isaac Lab Kit experiences; user-facing Isaac
Lab Python APIs are unchanged.
- Documentation update

## Screenshots

N/A — no UI changes.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
  - `isaaclab` 4.6.10 → 4.6.11
  - `isaaclab_physx` 0.5.20 → 0.5.21
  - `isaaclab_tasks` 1.5.23 → 1.5.24
  - `isaaclab_teleop` 0.3.6 → 0.3.7
  - `isaaclab_mimic` 1.2.4 → 1.2.5
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kelly@nvidia.com>

Author: kellyguo11

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 \