diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index c19d35fb7e79..5d2ae1743b2e 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -1,5 +1,10 @@
 # Description
 
+> [!IMPORTANT]
+> Confirm the pull request base before submitting. Target `develop` for all
+> contributions. The `release/3.0.0-beta2` branch is a frozen stable landing
+> snapshot and is not used for ongoing maintenance.
+
 <!--
 Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines.
 
diff --git a/.github/actions/ecr-build-push-pull/README.md b/.github/actions/ecr-build-push-pull/README.md
index 2e306c978b8e..15fb373e7000 100644
--- a/.github/actions/ecr-build-push-pull/README.md
+++ b/.github/actions/ecr-build-push-pull/README.md
@@ -10,7 +10,7 @@ ECR is also used as the BuildKit layer cache.
   with:
     image-tag: ${{ env.DOCKER_IMAGE_TAG }}
     isaacsim-base-image: nvcr.io/nvidia/isaac-sim
-    isaacsim-version: 6.0.0
+    isaacsim-version: 6.0.1
     dockerfile-path: docker/Dockerfile.base
     cache-tag: cache-base
     ecr-url: (optional, complete url for ECR storage)
diff --git a/.github/actions/run-package-tests/test_cleanup_docker_storage.py b/.github/actions/run-package-tests/test_cleanup_docker_storage.py
index dd49216c1cd9..2373d99bc808 100644
--- a/.github/actions/run-package-tests/test_cleanup_docker_storage.py
+++ b/.github/actions/run-package-tests/test_cleanup_docker_storage.py
@@ -104,7 +104,7 @@ def _run_cleanup(
         [
             "bash",
             str(_SCRIPT_PATH),
-            "nvcr.io/nvidian/isaac-sim:latest-develop",
+            "nvcr.io/nvidia/isaac-sim:6.0.1",
             "isaacsim-pin-test",
             "test-cleanup",
             "true",
diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index 0e38d5fdd3c8..10c753a9fc5e 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -1,7 +1,8 @@
 # CI Workflows
 
-`schedule:` and `workflow_dispatch:` triggers fire **only from the default
-branch (`main`)**. A workflow YAML must live on `main` for its cron to
-register — the same file on other branches has no effect. `pull_request:`
-and `push:` triggers fire from the event branch's file and work normally
-on `develop`.
+`schedule:` triggers run only from the repository's current default branch.
+A scheduled workflow YAML must live on that branch for its cron to register;
+the same schedule on another branch has no effect. A `workflow_dispatch:`
+workflow must also exist on the default branch, although a manual dispatch can
+select another branch or tag. `pull_request:` and `push:` triggers use the
+event branch normally.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index fcc1b37d363b..3d7c061fe15c 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -706,7 +706,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx==0.4.13"
+        extra-pip-packages: "ovrtx>=0.3.0,<0.4.0 ovphysx==0.4.13"
         include-files: >-
           test_rendering_cartpole_kitless.py,
           test_rendering_dexsuite_kuka_homo_kitless.py,
diff --git a/.github/workflows/check-links.yml b/.github/workflows/check-links.yml
index b4a66e2d6c84..e8eb0f852eb3 100644
--- a/.github/workflows/check-links.yml
+++ b/.github/workflows/check-links.yml
@@ -34,6 +34,9 @@ jobs:
     - name: Checkout code
       uses: actions/checkout@v6
       with:
+        # Scheduled runs continue checking the active main branch even while
+        # the repository landing/default branch points to the frozen release.
+        ref: ${{ github.event_name == 'schedule' && 'main' || '' }}
         fetch-depth: 2
         filter: tree:0
 
@@ -68,7 +71,7 @@ jobs:
 
     - name: Run Link Checker
       if: steps.check_docs.outputs.run_job == 'true' || github.event_name == 'workflow_dispatch' || github.event_name == 'schedule'
-      uses: lycheeverse/lychee-action@v2
+      uses: lycheeverse/lychee-action@8646ba30535128ac92d33dfc9133794bfdd9b411 # v2.8.0
       with:
         # Check all markdown files and documentation
         # Excluded are known crawl blockers
diff --git a/.github/workflows/config.yaml b/.github/workflows/config.yaml
index aa3c1888b240..7cbe873118d4 100644
--- a/.github/workflows/config.yaml
+++ b/.github/workflows/config.yaml
@@ -5,6 +5,6 @@
 
 # Shared image config for CI workflows. Loaded by the `config` job in each
 # workflow via yq and exposed as job outputs (see e.g. .github/workflows/build.yaml).
-isaacsim_image_name: nvcr.io/nvidian/isaac-sim
-isaacsim_image_tag: latest-develop
+isaacsim_image_name: nvcr.io/nvidia/isaac-sim
+isaacsim_image_tag: 6.0.1
 isaaclab_image_name: nvcr.io/nvidian/isaac-lab
diff --git a/.github/workflows/daily-compatibility.yml b/.github/workflows/daily-compatibility.yml
deleted file mode 100644
index 4e018cc31ab4..000000000000
--- a/.github/workflows/daily-compatibility.yml
+++ /dev/null
@@ -1,282 +0,0 @@
-# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-name: Backwards Compatibility Tests
-
-on:
-  schedule:
-    # Run daily at 8 PM PST (4 AM UTC)
-    - cron: '0 4 * * *'
-
-  workflow_dispatch:
-    inputs:
-      isaacsim_version:
-        description: 'IsaacSim version image tag to test'
-        required: true
-        default: '4.5.0'
-        type: string
-
-# Concurrency control to prevent parallel runs
-concurrency:
-  group: compatibility-${{ github.ref }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-permissions:
-  contents: read
-  pull-requests: write
-
-env:
-  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
-
-jobs:
-  config:
-    name: Load Config
-    runs-on: ubuntu-latest
-    outputs:
-      isaacsim_image_name: ${{ steps.load.outputs.isaacsim_image_name }}
-      isaacsim_image_tag: ${{ steps.load.outputs.isaacsim_image_tag }}
-      isaaclab_image_name: ${{ steps.load.outputs.isaaclab_image_name }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        sparse-checkout: .github/workflows/config.yaml
-        sparse-checkout-cone-mode: false
-    - id: load
-      run: |
-        set -euo pipefail
-        f=.github/workflows/config.yaml
-        echo "isaacsim_image_name=$(yq -r .isaacsim_image_name "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaacsim_image_tag=$(yq -r .isaacsim_image_tag "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaaclab_image_name=$(yq -r .isaaclab_image_name "$f")" >> "$GITHUB_OUTPUT"
-
-  setup-versions:
-    runs-on: ubuntu-latest
-    outputs:
-      versions: ${{ steps.set-versions.outputs.versions }}
-    steps:
-      - name: Set Isaac Sim Versions
-        id: set-versions
-        run: |
-          # Define all versions to test in one place
-          DEFAULT_VERSIONS='["4.5.0", "5.0.0"]'
-
-          if [ -n "${{ github.event.inputs.isaacsim_version }}" ]; then
-            # If a specific version is provided via workflow_dispatch, use only that
-            echo "versions=[\"${{ github.event.inputs.isaacsim_version }}\"]" >> $GITHUB_OUTPUT
-          else
-            # Otherwise, use all default versions
-            echo "versions=$DEFAULT_VERSIONS" >> $GITHUB_OUTPUT
-          fi
-
-  test-isaaclab-tasks-compat:
-    needs: [setup-versions, config]
-    runs-on: [self-hosted, gpu]
-    timeout-minutes: 180
-    continue-on-error: true
-    strategy:
-      matrix:
-        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
-      fail-fast: false
-    env:
-        CUDA_VISIBLE_DEVICES: all
-        NVIDIA_VISIBLE_DEVICES: all
-        NVIDIA_DRIVER_CAPABILITIES: all
-        CUDA_HOME: /usr/local/cuda
-        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
-        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: true
-
-    - name: Build Docker Image
-      uses: ./.github/actions/docker-build
-      with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
-        isaacsim-version: ${{ matrix.isaacsim_version }}
-
-    - name: Run IsaacLab Tasks Tests
-      uses: ./.github/actions/run-tests
-      with:
-        test-path: "tools"
-        result-file: "isaaclab-tasks-compat-report.xml"
-        container-name: "isaac-lab-tasks-compat-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        pytest-options: ""
-        filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx==0.4.13"
-
-    - name: Copy All Test Results from IsaacLab Tasks Container
-      run: |
-        CONTAINER_NAME="isaac-lab-tasks-compat-test-$$"
-        if docker ps -a | grep -q $CONTAINER_NAME; then
-          echo "Copying all test results from IsaacLab Tasks container..."
-          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
-        fi
-
-    - name: Upload IsaacLab Tasks Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: isaaclab-tasks-compat-results-${{ matrix.isaacsim_version }}
-        path: reports/isaaclab-tasks-compat-report.xml
-        retention-days: 7
-        compression-level: 9
-
-  test-general-compat:
-    needs: [setup-versions, config]
-    runs-on: [self-hosted, gpu]
-    timeout-minutes: 180
-    strategy:
-      matrix:
-        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
-      fail-fast: false
-    env:
-        CUDA_VISIBLE_DEVICES: all
-        NVIDIA_VISIBLE_DEVICES: all
-        NVIDIA_DRIVER_CAPABILITIES: all
-        CUDA_HOME: /usr/local/cuda
-        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
-        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: true
-
-    - name: Build Docker Image
-      uses: ./.github/actions/docker-build
-      with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
-        isaacsim-version: ${{ matrix.isaacsim_version }}
-
-    - name: Run General Tests
-      uses: ./.github/actions/run-tests
-      with:
-        test-path: "tools"
-        result-file: "general-tests-compat-report.xml"
-        container-name: "isaac-lab-general-compat-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        pytest-options: ""
-        filter-pattern: "not isaaclab_tasks"
-
-    - name: Copy All Test Results from General Tests Container
-      run: |
-        CONTAINER_NAME="isaac-lab-general-compat-test-$$"
-        if docker ps -a | grep -q $CONTAINER_NAME; then
-          echo "Copying all test results from General Tests container..."
-          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
-        fi
-
-    - name: Upload General Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: general-tests-compat-results-${{ matrix.isaacsim_version }}
-        path: reports/general-tests-compat-report.xml
-        retention-days: 7
-        compression-level: 9
-
-  combine-compat-results:
-    needs: [test-isaaclab-tasks-compat, test-general-compat]
-    runs-on: ubuntu-latest
-    if: always()
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: false
-        sparse-checkout: .github/actions
-        sparse-checkout-cone-mode: true
-
-    - name: Create Reports Directory
-      run: |
-        mkdir -p reports
-
-    - name: Download All Test Results
-      uses: actions/download-artifact@v8
-      with:
-        pattern: '*-compat-results-*'
-        path: reports/
-        merge-multiple: true
-      continue-on-error: true
-
-    - name: Combine All Test Results
-      uses: ./.github/actions/combine-results
-      with:
-        tests-dir: "reports"
-        output-file: "reports/combined-compat-results.xml"
-
-    - name: Upload Combined Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: daily-compat-${{ github.run_id }}-combined-test-results
-        path: reports/combined-compat-results.xml
-        retention-days: 30
-        compression-level: 9
-
-    - name: Report Test Results
-      uses: dorny/test-reporter@v2.6.0
-      if: always()
-      with:
-        name: IsaacLab Compatibility Test Results (${{ github.event_name }})
-        path: reports/combined-compat-results.xml
-        reporter: java-junit
-        max-annotations: '50'
-        report-title: "IsaacLab Compatibility Test Results - ${{ github.event_name }} - ${{ github.ref_name }}"
-
-  notify-compatibility-status:
-    needs: [setup-versions, combine-compat-results]
-    runs-on: ubuntu-latest
-    if: always()
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: false
-        sparse-checkout: .github/actions
-        sparse-checkout-cone-mode: true
-
-    - name: Create Compatibility Report
-      run: |
-        TRIGGER_INFO="**Trigger:** ${{ github.event_name }}"
-        ISAACSIM_VERSIONS="${{ join(fromJson(needs.setup-versions.outputs.versions), ', ') }}"
-        echo "## Daily Backwards Compatibility Test Results" > compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "$TRIGGER_INFO" >> compatibility-report.md
-        echo "**IsaacSim Versions Tested:** $ISAACSIM_VERSIONS" >> compatibility-report.md
-        echo "**Branch:** ${{ github.ref_name }}" >> compatibility-report.md
-        echo "**Commit:** ${{ github.sha }}" >> compatibility-report.md
-        echo "**Run ID:** ${{ github.run_id }}" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "### Test Status:" >> compatibility-report.md
-        echo "- Results: ${{ needs.combine-compat-results.result }}" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "### Artifacts:" >> compatibility-report.md
-        echo "- [Combined Test Results](https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }})" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "---" >> compatibility-report.md
-        echo "*This report was generated automatically by the daily compatibility workflow.*" >> compatibility-report.md
-
-    - name: Upload Compatibility Report
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: compatibility-report-${{ github.run_id }}
-        path: compatibility-report.md
-        retention-days: 30
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 013be3a5b126..1ebc36bb8845 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -16,6 +16,11 @@ on:
     # we're skipping the branches and paths filter to allow docs to be built on any PR because heredoc is used
     # additionally, we have a check that determines what version of docs will be built
     types: [opened, synchronize, reopened]
+  # Nightly multi-version rebuild + deploy from develop tip. Picks up every
+  # develop commit accumulated since the previous nightly in a single run.
+  schedule:
+    - cron: '0 2 * * *'  # 6pm PST / 7pm PDT
+  workflow_dispatch:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -29,13 +34,13 @@ jobs:
       trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
     steps:
     - id: info
-      run: echo "repo=github.repository=${{ github.repository }}, ref=github.ref=${{ github.ref }}"
+      run: echo "repo=github.repository=${{ github.repository }}, ref=github.ref=${{ github.ref }}, event=github.event_name=${{ github.event_name }}"
     - id: trigger-deploy
       env:
         REPO_NAME: ${{ secrets.REPO_NAME }}
-      # develop, main, release/ trigger multi-version build, then deployment to gh-pages
-      # all others - just the current docs without deployment
-      if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/develop' || startsWith(github.ref, 'refs/heads/release/')) }}"
+      # Nightly schedule and workflow_dispatch trigger multi-version deploy.
+      # All branch pushes (including main) build current-docs only; deploy waits for the cron above.
+      if: "${{ github.repository == env.REPO_NAME && (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch') }}"
       run: echo "defined=true" >> "$GITHUB_OUTPUT"; echo "Docs will be built multi-version and deployed"
 
   build-latest-docs:
@@ -79,6 +84,10 @@ jobs:
     steps:
     - name: Checkout code
       uses: actions/checkout@v6
+      with:
+        # Multi-version docs always use develop's Sphinx configuration,
+        # including when manually dispatched from the release landing branch.
+        ref: develop
 
     - name: Setup python
       uses: actions/setup-python@v5
@@ -94,22 +103,33 @@ jobs:
       working-directory: ./docs
       env:
         # "deploy" branches build the full set of versions so every page
-        # has a complete version dropdown: main, develop, tags >= v2.0.0
-        # (including pre-release suffixes like -beta or -rc1). v1.x tags and
-        # most release/ branches are excluded; release/3.0.0-beta2 is included
-        # explicitly to surface it in the version switcher.
+        # has a complete version dropdown: main, develop, release/3.0.0-beta2,
+        # and stable tags >= v2.0.0. Other release branches and prerelease tags
+        # are excluded.
         SMV_BRANCH_WHITELIST: '^(main|develop|release/3\.0\.0-beta2)$'
-        SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?$'
+        SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+$'
       run: |
         git fetch --prune --unshallow --tags
         git checkout --detach HEAD
         git for-each-ref --format="%(refname:short)" refs/heads/ | xargs -r git branch -D
         make multi-docs
 
-    - name: Upload docs artifact
-      uses: actions/upload-artifact@v7
+    - name: Set default docs version
+      working-directory: ./docs
+      env:
+        DOCS_DEFAULT_REF: ${{ github.event.repository.default_branch }}
+      run: |
+        test -n "$DOCS_DEFAULT_REF"
+        test -f "_build/$DOCS_DEFAULT_REF/index.html" || {
+          echo "::error::Default docs ref '$DOCS_DEFAULT_REF' was not built"
+          exit 1
+        }
+        sed "s|url=\./[^\"]*/index.html|url=./$DOCS_DEFAULT_REF/index.html|" \
+          _redirect/index.html > _build/index.html
+
+    - name: Upload GitHub Pages artifact
+      uses: actions/upload-pages-artifact@v4
       with:
-        name: docs-html
         path: ./docs/_build
 
   deploy-docs:
@@ -119,16 +139,15 @@ jobs:
     # deploy only on "deploy" branches
     if: needs.doc-build-type.outputs.trigger-deploy == 'true'
 
-    steps:
-    - name: Download docs artifact
-      uses: actions/download-artifact@v8
-      with:
-        name: docs-html
-        path: ./docs/_build
+    permissions:
+      pages: write
+      id-token: write
 
-    - name: Deploy to gh-pages
-      uses: peaceiris/actions-gh-pages@v4
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./docs/_build
-        keep_files: false
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    steps:
+    - name: Deploy GitHub Pages
+      id: deployment
+      uses: actions/deploy-pages@v4
diff --git a/.github/workflows/license-check.yaml b/.github/workflows/license-check.yaml
index 0b296f9e74eb..f7416561392d 100644
--- a/.github/workflows/license-check.yaml
+++ b/.github/workflows/license-check.yaml
@@ -63,7 +63,7 @@ jobs:
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '6.0.0' }}' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '6.0.1.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./isaaclab.sh  # Make sure the script is executable
         # install all lab dependencies
         ./isaaclab.sh -i
diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json
index b21ae4cdc5b5..ca01a49cfdc2 100644
--- a/.github/workflows/license-exceptions.json
+++ b/.github/workflows/license-exceptions.json
@@ -488,6 +488,11 @@
     "license": "LicenseRef-NVIDIA-SOFTWARE-LICENSE",
     "comment": "NVIDIA"
   },
+  {
+    "package": "cuda-toolkit",
+    "license": "UNKNOWN",
+    "comment": "NVIDIA"
+  },
   {
     "package": "omniverseclient",
     "license": "NVIDIA Proprietary Software, https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement/",
diff --git a/.github/workflows/nightly-changelog.yml b/.github/workflows/nightly-changelog.yml
index 1daeb841c66a..061f9132940d 100644
--- a/.github/workflows/nightly-changelog.yml
+++ b/.github/workflows/nightly-changelog.yml
@@ -5,12 +5,12 @@
 
 # Nightly auto-compile: rolls accumulated fragments under
 # ``source/<pkg>/changelog.d/`` into per-package ``CHANGELOG.rst`` entries,
-# bumps each ``extension.toml``, deletes consumed fragments, and pushes the
-# result back to each branch in the configured list. Keeps every tracked
-# branch's changelog current without requiring a maintainer to run
+# bumps each package's version metadata, deletes consumed fragments, and
+# pushes the result back to each branch in the configured list. Keeps every
+# tracked branch's changelog current without requiring a maintainer to run
 # ``compile`` by hand.
 #
-# Scheduled workflow — must live on the default branch (``main``) for the
+# Scheduled workflow — must live on the repository's default branch for the
 # cron to register. See ``.github/workflows/README.md``.
 #
 # Adding a branch to the nightly set is a one-line edit to ``env.CRON_BRANCHES``
@@ -30,18 +30,17 @@
 
 name: Nightly Changelog Compilation
 
-# Branches the nightly cron compiles. Single source of truth — append a
-# ref here to extend the nightly set (the active release branch belongs
-# here). Each branch must carry ``tools/changelog/cli.py`` and the
+# Branches the nightly cron compiles. Single source of truth — include only
+# active branches that receive changelog fragments. Each branch must carry
+# ``tools/changelog/cli.py`` and the
 # isaaclab-bot App must be in its branch-ruleset bypass list.
 # Surrounding whitespace per entry is stripped by the resolver below.
 env:
-  CRON_BRANCHES: develop,release/3.0.0-beta2
+  CRON_BRANCHES: develop
 
 on:
   schedule:
-    # Run nightly at 5 AM UTC (one hour after daily-compatibility, so we
-    # don't compete for runner capacity).
+    # Run nightly at 5 AM UTC.
     - cron: '0 5 * * *'
   workflow_dispatch:
     inputs:
@@ -70,7 +69,6 @@ jobs:
     # CSV → JSON array bridge. ``workflow_dispatch`` inputs can only be
     # string / bool / choice, so the branch list arrives as a comma-
     # separated string; the matrix below needs a JSON list to fan out.
-    # Mirrors the ``setup-versions`` job in ``daily-compatibility.yml``.
     name: Resolve branch list
     runs-on: ubuntu-latest
     timeout-minutes: 1
@@ -109,15 +107,14 @@ jobs:
     strategy:
       # Independent branches: one failing shouldn't cancel the others.
       # Each matrix entry shows up as a separate job tile in the Actions
-      # UI, so ``release/3.0.0-beta2`` failing doesn't hide ``develop``'s
-      # success (and ``gh run rerun --failed`` re-runs only the failed
-      # entry). Mirrors ``daily-compatibility.yml``'s matrix style.
+      # UI, so one requested ref failing doesn't hide another's success
+      # (and ``gh run rerun --failed`` re-runs only the failed entry).
       fail-fast: false
       matrix:
         branch: ${{ fromJson(needs.resolve-branches.outputs.branches) }}
     concurrency:
-      # Per-branch group: two runs against the same ref queue, but
-      # different refs (develop and a release branch) compile in parallel.
+      # Per-branch group: two runs against the same ref queue, while
+      # manually requested refs can compile independently.
       group: nightly-changelog-${{ matrix.branch }}
       cancel-in-progress: false
 
@@ -189,12 +186,14 @@ jobs:
           python3 tools/changelog/cli.py compile $ARGS
 
       - name: Commit and push if fragments were compiled
-        # ``always()`` lets this step run even when the compile step above
-        # reported partial failure (one package's malformed file fails, the
-        # rest still wrote their CHANGELOG.rst / deleted fragments / bumped
-        # extension.toml). The staged-diff check below short-circuits cleanly
-        # if the failed package was the only one with pending work.
-        if: ${{ always() && !inputs.dry_run }}
+        # Fires when compile succeeded cleanly OR raised on at least one
+        # package (``continue-on-error: true`` above turned that conclusion
+        # to success while preserving the outcome — the surviving packages
+        # still ship). Explicitly NOT ``always()``: cancellation (timeout /
+        # maintainer cancel) leaves a partial on-disk state and the
+        # re-propagate step below wouldn't fire on ``outcome == 'cancelled'``,
+        # so this guard skips the commit/push entirely on cancel.
+        if: ${{ (success() || steps.compile.outcome == 'failure') && !inputs.dry_run }}
         env:
           # Pass the matrix branch through an env var rather than
           # interpolating ``${{ matrix.branch }}`` directly into ``run:``.
@@ -208,9 +207,11 @@ jobs:
           # them correctly. ID 282401363 is isaaclab-bot[bot]'s user ID.
           git config user.name "isaaclab-bot[bot]"
           git config user.email "282401363+isaaclab-bot[bot]@users.noreply.github.com"
-          git add source/*/changelog.d/ \
-                  source/*/docs/CHANGELOG.rst \
-                  source/*/config/extension.toml
+          # Stage every tracked compiler output under ``source/``. Active
+          # branches store package versions in ``pyproject.toml``, while
+          # release branches still use ``config/extension.toml``; naming both
+          # path globs makes ``git add`` fail when either layout is absent.
+          git add --update -- source/
           if git diff --staged --quiet; then
             echo "No changelog fragments found — nothing to commit."
           else
@@ -223,21 +224,29 @@ jobs:
             # action. The trigger event suffix (``schedule`` vs
             # ``workflow_dispatch``) is preserved for traceability.
             #
-            # The body lists every package that bumped, derived from the
-            # staged ``extension.toml`` diff so the entries are accurate
-            # regardless of which packages happen to have pending
-            # fragments this run.
+            # The body lists every package that bumped, derived from whichever
+            # supported version metadata file changed on the target branch.
             MSG_FILE=$(mktemp)
             {
               echo "[CI][Auto Version Bump] Compile changelog fragments (${{ github.event_name }})"
               echo
               echo "Bumped packages:"
-              for tom in $(git diff --staged --name-only -- 'source/*/config/extension.toml'); do
-                pkg=$(echo "$tom" | sed -E 's|source/([^/]+)/config/extension.toml|\1|')
-                old=$(git diff --staged "$tom" | awk -F'"' '/^-version/{print $2; exit}')
-                new=$(git diff --staged "$tom" | awk -F'"' '/^\+version/{print $2; exit}')
-                echo "- $pkg: $old → $new"
-              done
+              git diff --staged --name-only -- \
+                'source/*/config/extension.toml' \
+                'source/*/pyproject.toml' \
+                | sed -E 's|source/([^/]+)/.*|\1|' \
+                | sort -u \
+                | while IFS= read -r pkg; do
+                    pyproject="source/$pkg/pyproject.toml"
+                    if git diff --staged --quiet -- "$pyproject"; then
+                      tom="source/$pkg/config/extension.toml"
+                    else
+                      tom="$pyproject"
+                    fi
+                    old=$(git diff --staged -- "$tom" | awk -F'"' '/^-version/{print $2; exit}')
+                    new=$(git diff --staged -- "$tom" | awk -F'"' '/^\+version/{print $2; exit}')
+                    echo "- $pkg: $old → $new"
+                  done
             } > "$MSG_FILE"
             git commit -F "$MSG_FILE"
             # Rebase onto the target branch's current tip in case a human
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index ef7e5a820512..d8aad727c3ea 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -21,4 +21,4 @@ jobs:
     - uses: actions/setup-python@v5
       with:
         python-version: "3.12"
-    - uses: pre-commit/action@v3.0.0
+    - uses: pre-commit/action@646c83fcd040023954eafda54b4db0192ce70507 # v3.0.0
diff --git a/.github/workflows/publish-images.yaml b/.github/workflows/publish-images.yaml
index d986142ac8b3..30fe4f22772d 100644
--- a/.github/workflows/publish-images.yaml
+++ b/.github/workflows/publish-images.yaml
@@ -6,55 +6,72 @@
 name: Publish Docker Images
 
 on:
-  push:
-    branches:
-      - main
-      - develop
-      - release/**
-
-# Concurrency control to prevent parallel runs
-concurrency:
-  group: publish-images-${{ github.ref }}
-  cancel-in-progress: true
+  # Nightly build + publish from develop. No push triggers — workflow_dispatch
+  # also accepts any publishable branch. main is intentionally excluded: main images are built
+  # by postmerge-ci.yml on push instead.
+  schedule:
+    - cron: '0 2 * * *'  # 6pm PST / 7pm PDT
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to build and publish (e.g. develop, release/3.0.0-beta2)'
+        required: true
+        type: string
 
 permissions:
   contents: read
 
+# Branches the nightly cron publishes. Single source of truth — include only
+# active branches that receive new commits. Mirrors CRON_BRANCHES in
+# nightly-changelog.yml. Whitespace per entry is stripped. main is excluded on
+# purpose (it builds on the public isaac-sim base via postmerge-ci.yml).
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
+  CRON_BRANCHES: develop
 
 jobs:
-  config:
-    name: Load Config
+  resolve-branches:
+    name: Resolve publish branches
     runs-on: ubuntu-latest
+    timeout-minutes: 1
     outputs:
-      isaacsim_image_name: ${{ steps.load.outputs.isaacsim_image_name }}
-      isaacsim_image_tag: ${{ steps.load.outputs.isaacsim_image_tag }}
-      isaaclab_image_name: ${{ steps.load.outputs.isaaclab_image_name }}
+      branches: ${{ steps.b.outputs.branches }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        sparse-checkout: .github/workflows/config.yaml
-        sparse-checkout-cone-mode: false
-    - id: load
+    - id: b
+      env:
+        # Schedule → the CRON_BRANCHES list. Manual → the single branch the
+        # maintainer entered (required input). Same pattern as nightly-changelog.yml.
+        BRANCHES: ${{ github.event_name == 'schedule' && env.CRON_BRANCHES || inputs.branch }}
       run: |
-        set -euo pipefail
-        f=.github/workflows/config.yaml
-        echo "isaacsim_image_name=$(yq -r .isaacsim_image_name "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaacsim_image_tag=$(yq -r .isaacsim_image_tag "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaaclab_image_name=$(yq -r .isaaclab_image_name "$f")" >> "$GITHUB_OUTPUT"
+        # CSV → newline, trimming surrounding whitespace per entry, then to a
+        # compact JSON array. Manual produces a 1-element array; cron N elements.
+        arr=$(echo "$BRANCHES" | tr ',' '\n' | xargs -n1 | jq -R . | jq -s -c .)
+        if [ "$(echo "$arr" | jq 'length')" -eq 0 ]; then
+          echo "::error::No branches resolved for publishing"
+          exit 1
+        fi
+        echo "branches=$arr" >> "$GITHUB_OUTPUT"
+        echo "Resolved branches: $arr"
 
   build-and-push-images:
-    needs: [config]
+    name: Build and Push (${{ matrix.branch }})
+    needs: resolve-branches
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
+    strategy:
+      fail-fast: false
+      matrix:
+        branch: ${{ fromJson(needs.resolve-branches.outputs.branches) }}
+    concurrency:
+      group: publish-images-${{ matrix.branch }}
+      cancel-in-progress: true
     environment:
       name: postmerge-production
       url: https://github.com/${{ github.repository }}
     env:
         DOCKER_HOST: unix:///var/run/docker.sock
         DOCKER_TLS_CERTDIR: ""
+        BRANCH_NAME: ${{ matrix.branch }}
 
     steps:
     - name: Checkout Code
@@ -62,6 +79,29 @@ jobs:
       with:
         fetch-depth: 1
         lfs: true
+        ref: ${{ matrix.branch }}
+
+    - name: Load branch config
+      id: config
+      run: |
+        set -euo pipefail
+        f=.github/workflows/config.yaml
+        read_config() {
+          sed -n "s/^$1:[[:space:]]*//p" "$f"
+        }
+
+        isaacsim_image_name="$(read_config isaacsim_image_name)"
+        isaacsim_image_tag="$(read_config isaacsim_image_tag)"
+        isaaclab_image_name="$(read_config isaaclab_image_name)"
+
+        if [ -z "$isaacsim_image_name" ] || [ -z "$isaacsim_image_tag" ] || [ -z "$isaaclab_image_name" ]; then
+          echo "::error::Missing required image configuration in $f on $BRANCH_NAME"
+          exit 1
+        fi
+
+        echo "isaacsim_image_name=$isaacsim_image_name" >> "$GITHUB_OUTPUT"
+        echo "isaacsim_image_tag=$isaacsim_image_tag" >> "$GITHUB_OUTPUT"
+        echo "isaaclab_image_name=$isaaclab_image_name" >> "$GITHUB_OUTPUT"
 
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v3
@@ -78,9 +118,9 @@ jobs:
     - name: Login to NGC
       run: |
         # Only attempt NGC login if API key is available
-        if [ -n "${{ env.NGC_API_KEY }}" ]; then
+        if [ -n "$NGC_API_KEY" ]; then
           echo "🔵 Logging into NGC registry..."
-          if ! docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io; then
+          if ! echo "$NGC_API_KEY" | docker login -u '$oauthtoken' --password-stdin nvcr.io; then
             echo "🔴 Failed to log into NGC registry"
             exit 1
           fi
@@ -91,47 +131,49 @@ jobs:
 
     - name: Build and Push Docker Images
       run: |
-        BRANCH_NAME="${{ github.ref_name }}"
-        IMAGE_BASE_VERSION="${{ needs.config.outputs.isaacsim_image_tag }}"
-        SHA="${{ github.sha }}"
-        IMAGE="${{ needs.config.outputs.isaaclab_image_name }}"
+        IMAGE_BASE_VERSION="${{ steps.config.outputs.isaacsim_image_tag }}"
+        IMAGE="${{ steps.config.outputs.isaaclab_image_name }}"
+
+        # Use the SHA actually checked out for this branch (the matrix ref), not
+        # github.sha — on a scheduled run github.sha is the default branch HEAD,
+        # which would mis-tag every nightly image.
+        FULL_SHA="$(git rev-parse HEAD)"
 
         echo "Branch: $BRANCH_NAME"
-        echo "Commit: $SHA"
-        echo "IsaacSim base image: ${{ needs.config.outputs.isaacsim_image_name }}:$IMAGE_BASE_VERSION"
+        echo "Commit: $FULL_SHA"
+        echo "IsaacSim base image: ${{ steps.config.outputs.isaacsim_image_name }}:$IMAGE_BASE_VERSION"
         echo "Target Isaac Lab image: $IMAGE"
 
-        # Build the list of tags based on the branch.
+        # Build the tag list for the branch (main is published separately via
+        # postmerge-ci.yml, so it is not handled here).
         #
         # Tagging scheme:
-        #   - Push to develop:    $IMAGE:latest-develop                          (moves to newest develop build)
-        #                         $IMAGE:latest-develop-<run#>-<sha-stub>        (immutable per-build)
-        #   - Push to release/X:  $IMAGE:latest-release-X                        (moves to newest build on that release branch)
-        #                         $IMAGE:latest-release-X-<run#>-<sha-stub>      (immutable per-build)
-        #   - Push to main:       $IMAGE:latest                                  (moves to newest main build)
-        #                         $IMAGE:v<VERSION>                              (from the VERSION file, e.g. v3.0.0)
-        TAGS=()
+        #   - develop:    $IMAGE:latest-develop               (moves to newest develop build)
+        #                 $IMAGE:latest-develop-<full-sha>    (immutable per-commit)
+        #   - release/X:  $IMAGE:latest-release-X             (moves to newest build on that release branch)
+        #                 $IMAGE:latest-release-X-<full-sha>  (immutable per-commit)
+        #
+        # The immutable per-commit tag doubles as the "already published" marker:
+        # if it exists in the registry the branch has not advanced since the last
+        # publish, so the nightly build is skipped (see the guard below).
+        MOVING_TAG=""
+        IMMUTABLE_TAG=""
 
         case "$BRANCH_NAME" in
           develop)
-            TAGS+=("$IMAGE:latest-develop")
-            TAGS+=("$IMAGE:latest-develop-${{ github.run_number }}-${SHA:0:8}")
-            ;;
-          main)
-            TAGS+=("$IMAGE:latest")
-            VERSION="$(tr -d '[:space:]' < VERSION)"
-            if [ -n "$VERSION" ]; then
-              TAGS+=("$IMAGE:v$VERSION")
-            else
-              echo "🛑 ERROR: VERSION file is empty or missing. Cannot tag build with version tag."
-              exit 1
-            fi
+            MOVING_TAG="$IMAGE:latest-develop"
+            IMMUTABLE_TAG="$IMAGE:latest-develop-$FULL_SHA"
             ;;
           release/*)
             # Sanitize the part after release/ for use as a Docker tag suffix.
             RELEASE_SUFFIX=$(echo "${BRANCH_NAME#release/}" | sed 's/[^a-zA-Z0-9._-]/-/g')
-            TAGS+=("$IMAGE:latest-release-$RELEASE_SUFFIX")
-            TAGS+=("$IMAGE:latest-release-$RELEASE_SUFFIX-${{ github.run_number }}-${SHA:0:8}")
+            MOVING_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX"
+            IMMUTABLE_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX-$FULL_SHA"
+            ;;
+          main)
+            # main is intentionally not published here; see postmerge-ci.yml for main.
+            echo "Branch 'main' is not published by this workflow; skipping. See postmerge-ci.yml for main."
+            exit 0
             ;;
           *)
             echo "Branch '$BRANCH_NAME' is not configured for publishing; skipping."
@@ -139,9 +181,19 @@ jobs:
             ;;
         esac
 
+        # Skip the (expensive) build when this exact commit was already published.
+        # The immutable per-commit tag is the source of truth for "git advanced":
+        # if it already exists in the registry, nothing new to build for this branch.
+        if docker manifest inspect "$IMMUTABLE_TAG" >/dev/null 2>&1; then
+          echo "🟢 $IMMUTABLE_TAG already exists — $BRANCH_NAME has not advanced since the last publish. Skipping."
+          exit 0
+        fi
+
+        TAGS=("$MOVING_TAG" "$IMMUTABLE_TAG")
+
         # Determine if multiarch is supported by inspecting the base image manifest
         echo "🔵 Checking if base image supports multiarch..."
-        BASE_IMAGE_FULL="${{ needs.config.outputs.isaacsim_image_name }}:${IMAGE_BASE_VERSION}"
+        BASE_IMAGE_FULL="${{ steps.config.outputs.isaacsim_image_name }}:${IMAGE_BASE_VERSION}"
         ARCHITECTURES=$(docker manifest inspect "$BASE_IMAGE_FULL" 2>/dev/null | grep -o '"architecture": "[^"]*"' | cut -d'"' -f4 | sort -u)
 
         if [ -z "$ARCHITECTURES" ]; then
@@ -184,7 +236,7 @@ jobs:
           --platform "$BUILD_PLATFORMS" \
           --progress=plain \
           "${TAG_ARGS[@]}" \
-          --build-arg ISAACSIM_BASE_IMAGE_ARG=${{ needs.config.outputs.isaacsim_image_name }} \
+          --build-arg ISAACSIM_BASE_IMAGE_ARG=${{ steps.config.outputs.isaacsim_image_name }} \
           --build-arg ISAACSIM_VERSION_ARG="$IMAGE_BASE_VERSION" \
           --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
           --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
diff --git a/README.md b/README.md
index 6c50d270fec2..113c74c4f00e 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 
 # Isaac Lab 3.0.0 Beta 2
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.0.1-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 [![Python](https://img.shields.io/badge/python-3.12-blue.svg)](https://docs.python.org/3/whatsnew/3.12.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
@@ -14,17 +14,11 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
-This branch is a development branch for Isaac Sim 6.0, which is currently only available through the Isaac Sim [GitHub repo](https://github.com/isaac-sim/IsaacSim).
-For installation, please refer to the Isaac Sim GitHub repo to build the latest Isaac Sim branch, and follow the binary installation method in the
-Isaac Lab documentation for Isaac Lab installation.
-
-> [!WARNING]
-> A recent breaking change on the Isaac Lab `release/3.0.0-beta2` 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`](https://github.com/isaac-sim/IsaacLab/commit/f0234a82e432e2a0b0f0a26ca3c5b59e527ddaaa) or an earlier commit.
-> Alternatively, use the Isaac Lab [`v3.0.0-beta`](https://github.com/isaac-sim/IsaacLab/tree/v3.0.0-beta) tag.
-
-Note that this branch is currently under active development and may experience breaking changes or error messages.
-Performance issues and regressions may also be observed in some use cases.
+This is the stable release branch for Isaac Lab 3.0.0 Beta 2 and supports
+Isaac Sim 6.0.0 and 6.0.1. Use the
+[`v3.0.0-beta2.patch1`](https://github.com/isaac-sim/IsaacLab/tree/v3.0.0-beta2.patch1)
+tag for a reproducible release checkout. Active feature development continues
+on the [`develop`](https://github.com/isaac-sim/IsaacLab/tree/develop) branch.
 
 
 **Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows,
@@ -76,10 +70,10 @@ dependency versions for Isaac Sim.
 
 | Isaac Lab Version             | Isaac Sim Version         |
 | ----------------------------- | ------------------------- |
-| `release/3.0.0-beta2` branch  | Isaac Sim 6.0             |
-| `develop` branch              | Isaac Sim 6.0             |
+| `release/3.0.0-beta2` branch  | Isaac Sim 6.0.0 / 6.0.1   |
+| `develop` branch              | Isaac Sim 6.0.0 / 6.0.1   |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 / 5.1 |
-| `v3.0.0*`                     | Isaac Sim 6.0             |
+| `v3.0.0*`                     | Isaac Sim 6.0.0 / 6.0.1   |
 | `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.2.X`                      | Isaac Sim 4.5 / 5.0       |
 | `v2.1.X`                      | Isaac Sim 4.5             |
diff --git a/docker/.env.base b/docker/.env.base
index 0cc9ff09c016..b784ef9d2bcc 100644
--- a/docker/.env.base
+++ b/docker/.env.base
@@ -6,9 +6,8 @@
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
-# NVIDIA Isaac Sim version to use (e.g. 6.0.0-dev2)
-# TODO(AntoineRichard): Revert to stable 6.0.0 tag once it ships on NGC
-ISAACSIM_VERSION=6.0.0-dev2
+# NVIDIA Isaac Sim version to use (e.g. 6.0.1)
+ISAACSIM_VERSION=6.0.1
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 5c3d30fc220f..d3544b871890 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -51,15 +51,11 @@ RUN apt-get update && \
 
 # 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).
-# - libgmp-dev is required by pytetwild's fTetWild source build (no aarch64 wheel for 0.2.3).
 RUN if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
         apt-get update && \
         apt-get install -y --no-install-recommends \
         libgl1-mesa-dev libopengl-dev libglx-dev \
-        libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev \
-        libgmp-dev \
-        swig; \
+        libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev; \
     fi
 
 # copy files necessary for installing Isaac Lab and its dependencies
@@ -105,23 +101,26 @@ RUN touch /bin/nvidia-smi && \
     mkdir -p /var/run/nvidia-persistenced && \
     touch /var/run/nvidia-persistenced/socket
 
-# On arm64, pre-install nlopt 2.6.2 (transitively pinned by isaacteleop[retargeters]).
-# There is no aarch64 wheel for this version, and pip's isolated build env hides the
-# system numpy from nlopt's cmake-based build, so we install it manually with
-# --no-build-isolation. setuptools+wheel+numpy must be importable in the host Python
-# for that mode (PEP 517 backend lookup). The subsequent isaaclab.sh --install then
-# sees nlopt as already satisfied and skips the from-source rebuild that would fail.
+# On arm64, temporarily install swig for the nlopt source build, keep it
+# through the Isaac Lab dependency install, then purge it before the layer ends.
+# This lets ./isaaclab.sh --install see nlopt as already satisfied without
+# leaving swig in the final container filesystem.
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
     if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
+        apt-get update && \
+        apt-get install -y --no-install-recommends swig && \
         ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install setuptools wheel numpy && \
         ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation nlopt==2.6.2; \
+    fi && \
+    ${ISAACLAB_PATH}/isaaclab.sh --install && \
+    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
+        ${ISAACLAB_PATH}/isaaclab.sh -p -c "import nlopt" && \
+        apt-get purge -y --auto-remove swig && \
+        apt-get clean && \
+        rm -rf /var/lib/apt/lists/* && \
+        if command -v swig >/dev/null 2>&1; then exit 1; fi; \
     fi
 
-# installing Isaac Lab dependencies
-# use pip caching to avoid reinstalling large packages
-RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/isaaclab.sh --install
-
 # HACK: Remove install of quadprog dependency
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
 
diff --git a/docker/Dockerfile.curobo b/docker/Dockerfile.curobo
index ce0862e4c214..2c8b2c14af71 100644
--- a/docker/Dockerfile.curobo
+++ b/docker/Dockerfile.curobo
@@ -51,13 +51,11 @@ RUN apt-get update && \
 
 # 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).
 RUN if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
         apt-get update && \
         apt-get install -y --no-install-recommends \
         libgl1-mesa-dev libopengl-dev libglx-dev \
-        libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev \
-        swig; \
+        libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev; \
     fi
 
 # Detect Ubuntu version and install CUDA 12.8 via NVIDIA network repo (cuda-keyring)
@@ -151,23 +149,26 @@ RUN rm -rf ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/pip* &&
     ${ISAACLAB_PATH}/_isaac_sim/kit/python/bin/python3 get-pip.py && \
     rm get-pip.py
 
-# On arm64, pre-install nlopt 2.6.2 (transitively pinned by isaacteleop[retargeters]).
-# There is no aarch64 wheel for this version, and pip's isolated build env hides the
-# system numpy from nlopt's cmake-based build, so we install it manually with
-# --no-build-isolation. setuptools+wheel+numpy must be importable in the host Python
-# for that mode (PEP 517 backend lookup). The subsequent isaaclab.sh --install then
-# sees nlopt as already satisfied and skips the from-source rebuild that would fail.
+# On arm64, temporarily install swig for the nlopt source build, keep it
+# through the Isaac Lab dependency install, then purge it before the layer ends.
+# This lets ./isaaclab.sh --install see nlopt as already satisfied without
+# leaving swig in the final container filesystem.
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
     if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
+        apt-get update && \
+        apt-get install -y --no-install-recommends swig && \
         ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install setuptools wheel numpy && \
         ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation nlopt==2.6.2; \
+    fi && \
+    ${ISAACLAB_PATH}/isaaclab.sh --install && \
+    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
+        ${ISAACLAB_PATH}/isaaclab.sh -p -c "import nlopt" && \
+        apt-get purge -y --auto-remove swig && \
+        apt-get clean && \
+        rm -rf /var/lib/apt/lists/* && \
+        if command -v swig >/dev/null 2>&1; then exit 1; fi; \
     fi
 
-# installing Isaac Lab dependencies
-# use pip caching to avoid reinstalling large packages
-RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/isaaclab.sh --install
-
 # HACK: Uninstall quadprog as it causes issues with some reinforcement learning frameworks
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
 
diff --git a/docs/Makefile b/docs/Makefile
index 0bff236671c8..826441fad987 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -7,11 +7,14 @@ SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
 BUILDDIR      = _build
+DOCS_DEFAULT_REF ?= main
 
 .PHONY: multi-docs
 multi-docs:
 	@sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS)
-	@cp _redirect/index.html $(BUILDDIR)/index.html
+	@test -f "$(BUILDDIR)/$(DOCS_DEFAULT_REF)/index.html" || \
+		(echo "Default docs ref '$(DOCS_DEFAULT_REF)' was not built" && exit 1)
+	@sed 's|__DOCS_DEFAULT_REF__|$(DOCS_DEFAULT_REF)|g' _redirect/index.html > $(BUILDDIR)/index.html
 
 .PHONY: current-docs
 current-docs:
diff --git a/docs/_extensions/isaaclab_docs.py b/docs/_extensions/isaaclab_docs.py
index 61ba220472a5..0f3a0ab6c9d4 100644
--- 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]==6.0.0.1" \\
+   uv pip install "isaacsim[all,extscache]==6.0.1.0" \\
      --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]==6.0.0.1" ^
+   uv pip install "isaacsim[all,extscache]==6.0.1.0" ^
      --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/_redirect/index.html b/docs/_redirect/index.html
index 5208597ed15e..bd45690b1af5 100644
--- a/docs/_redirect/index.html
+++ b/docs/_redirect/index.html
@@ -3,6 +3,6 @@
   <head>
     <title>Redirecting to the latest Isaac Lab documentation</title>
     <meta charset="utf-8">
-    <meta http-equiv="refresh" content="0; url=./main/index.html">
+    <meta http-equiv="refresh" content="0; url=./__DOCS_DEFAULT_REF__/index.html">
   </head>
 </html>
diff --git a/docs/conf.py b/docs/conf.py
index 028dd4d84b5c..9e8c141e83df 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -156,7 +156,7 @@
     "trimesh": ("https://trimesh.org/", None),
     # NOTE: pinned to /docs/2.11/ because /docs/stable/objects.inv currently 404s
     "torch": ("https://docs.pytorch.org/docs/2.11/", None),
-    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/6.0.0/py/", None),
+    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/6.0.1/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
     # NOTE: pinned to /stable/ because /objects.inv at the root currently 404s
     "warp": ("https://nvidia.github.io/warp/stable/", None),
@@ -233,7 +233,6 @@
     "pink",
     "pinocchio",
     "qpsolvers",
-    "nvidia.srl",
     "flatdict",
     "filelock",
     "IPython",
@@ -318,7 +317,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-6.0.1-silver.svg",
             "type": "url",
         },
         {
diff --git a/docs/make.bat b/docs/make.bat
index 676a3abc67d6..d3586c07a6e2 100644
--- a/docs/make.bat
+++ b/docs/make.bat
@@ -6,6 +6,7 @@ REM Command file to build Sphinx documentation
 
 set SOURCEDIR=.
 set BUILDDIR=_build
+if "%DOCS_DEFAULT_REF%" == "" set DOCS_DEFAULT_REF=main
 
 REM Check if a specific target was passed
 if "%1" == "multi-docs" (
@@ -26,10 +27,18 @@ if "%1" == "multi-docs" (
 		exit /b 1
 	)
 	%SPHINXBUILD% %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+	if errorlevel 1 exit /b 1
 
-	REM Copy the redirect index.html to the build directory
-	copy _redirect\index.html %BUILDDIR%\index.html
-	goto end
+	if not exist "%BUILDDIR%\%DOCS_DEFAULT_REF%\index.html" (
+		echo Default docs ref '%DOCS_DEFAULT_REF%' was not built
+		exit /b 1
+	)
+
+	REM Render the redirect index.html using the selected default docs ref
+	powershell -NoProfile -Command "$ErrorActionPreference = 'Stop'; $template = [System.IO.File]::ReadAllText('_redirect\index.html'); $output = $template.Replace('__DOCS_DEFAULT_REF__', $env:DOCS_DEFAULT_REF); [System.IO.File]::WriteAllText('%BUILDDIR%\index.html', $output); exit 0"
+	if errorlevel 1 exit /b 1
+	popd
+	exit /b 0
 )
 
 if "%1" == "current-docs" (
@@ -63,3 +72,4 @@ echo.
 
 :end
 popd
+exit /b 0
diff --git a/docs/source/deployment/docker.rst b/docs/source/deployment/docker.rst
index c5a540de66a0..c5eadb3c5416 100644
--- a/docs/source/deployment/docker.rst
+++ b/docs/source/deployment/docker.rst
@@ -322,7 +322,7 @@ To pull the minimal Isaac Lab container, run:
 
 .. code:: bash
 
-  docker pull nvcr.io/nvidia/isaac-lab:3.0.0-beta1
+  docker pull nvcr.io/nvidia/isaac-lab:3.0.0-beta2
 
 .. attention::
 
@@ -353,7 +353,7 @@ To run the Isaac Lab container with an interactive bash session, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:3.0.0-beta1
+     nvcr.io/nvidia/isaac-lab:3.0.0-beta2
 
 To enable rendering through X11 forwarding, run:
 
@@ -372,7 +372,7 @@ To enable rendering through X11 forwarding, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:3.0.0-beta1
+     nvcr.io/nvidia/isaac-lab:3.0.0-beta2
 
 To run an example within the container, run:
 
diff --git a/docs/source/experimental-features/rlinf_vla_posttraining.rst b/docs/source/experimental-features/rlinf_vla_posttraining.rst
index c3993e8f57f1..3b0873cffccf 100644
--- a/docs/source/experimental-features/rlinf_vla_posttraining.rst
+++ b/docs/source/experimental-features/rlinf_vla_posttraining.rst
@@ -168,6 +168,11 @@ architecture from the base model and overlays the RL-finetuned weights
    The ``--config_path`` flag is optional. When omitted, the scripts automatically
    search the ``isaaclab_tasks`` package for the matching YAML configuration file.
 
+.. note::
+
+   **Windows support is still being optimized.** For now, Linux is recommended for
+   RLinf training and evaluation.
+
 Checkpoints
 -----------
 
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/installation.rst b/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
index 39c55fe713cd..cbc5fd4545c9 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
@@ -53,7 +53,7 @@ Ensure pip is up to date:
 
 .. code-block:: bash
 
-    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 "isaacsim[all,extscache]==6.0.1.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
 
 Install the correct version of torch and torchvision:
 
diff --git a/docs/source/overview/core-concepts/visualization.rst b/docs/source/overview/core-concepts/visualization.rst
index 4b4c5afa06e1..defc678e26fc 100644
--- a/docs/source/overview/core-concepts/visualization.rst
+++ b/docs/source/overview/core-concepts/visualization.rst
@@ -646,6 +646,18 @@ The visualizer will still function correctly but may experience reduced performa
 CPU copy operations instead of direct GPU memory sharing.
 
 
+**Newton Visualizer OpenGL Context Failures**
+
+The Newton visualizer is an OpenGL window. If pyglet reports that
+``glCreateShader`` is not exported or that OpenGL 2.0 is required, the Python
+process did not receive a usable OpenGL 2.0+ context from the active Windows or
+Linux display session. This usually means the process is running in a
+non-interactive/service session, through a remote desktop path without GPU
+OpenGL acceleration, or with a software/basic OpenGL provider instead of the
+NVIDIA driver. Run from a GPU-backed interactive display session, or omit
+``--visualizer newton`` for headless inference.
+
+
 **Newton Visualizer on Spark with Conda**
 
 When running the Newton visualizer on Spark inside a conda environment, conda-installed X11 libraries
diff --git a/docs/source/overview/imitation-learning/humanoids_imitation.rst b/docs/source/overview/imitation-learning/humanoids_imitation.rst
index 6bfd8f29a1f2..44dc7d19cf44 100644
--- a/docs/source/overview/imitation-learning/humanoids_imitation.rst
+++ b/docs/source/overview/imitation-learning/humanoids_imitation.rst
@@ -765,7 +765,7 @@ navigation and manipulation dataset as an HDF5 file — but here the robot navig
 manipulates objects inside a neurally-rendered environment, and an ego-centric camera
 captures the result, producing more realistic training data than a purely synthetic scene.
 NVIDIA Isaac Sim renders 3DGS models stored as USD assets; see
-`Neural Volume Rendering <https://docs.isaacsim.omniverse.nvidia.com/6.0.0/assets/usd_assets_nurec.html>`__
+`Neural Volume Rendering <https://docs.isaacsim.omniverse.nvidia.com/6.0.1/assets/usd_assets_nurec.html>`__
 for details.
 
 .. note::
@@ -818,7 +818,7 @@ compatible with the SDG pipeline:
 
   - If your scene was reconstructed using the `Stereo Workflow <https://docs.nvidia.com/nurec/robotics/neural_reconstruction_stereo.html>`__,
     the occupancy map is generated via ``nvblox``.
-  - If your background includes a mesh, use the `Occupancy Map Generator <https://docs.isaacsim.omniverse.nvidia.com/6.0.0/digital_twin/ext_isaacsim_asset_generator_occupancy_map.html>`__
+  - If your background includes a mesh, use the `Occupancy Map Generator <https://docs.isaacsim.omniverse.nvidia.com/6.0.1/digital_twin/ext_isaacsim_asset_generator_occupancy_map.html>`__
     to create a map via physical simulation.
 
 Generating the dataset
diff --git a/docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst b/docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst
index dfef283d2a77..93bba03ab6ac 100644
--- a/docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst
+++ b/docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst
@@ -36,7 +36,7 @@ This environment has been successfully deployed on real UR10e and Flexiv Rizon 4
 
 **Scope of This Tutorial:**
 
-This tutorial focuses exclusively on the **training part** of the sim-to-real transfer workflow in Isaac Lab. For the complete deployment workflow on the real robot, including the exact steps to set up the vision pipeline, robot interface and the ROS inference node to run your trained policy on real hardware, please refer to the `Isaac ROS Documentation <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_ur_dnn_policy/index.html>`_.
+This tutorial focuses exclusively on the **training part** of the sim-to-real transfer workflow in Isaac Lab. For the complete deployment workflow on the real robot, including the exact steps to set up the vision pipeline, robot interface and the ROS inference node to run your trained policy on real hardware, please refer to the `Isaac ROS Documentation <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_dnn_policy/index.html>`_.
 
 Overview
 --------
@@ -755,7 +755,7 @@ Replace the log directory path with your actual training log location if differe
 Step 3: Deploy on Real Robot
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Once training is complete, follow the `Isaac ROS inference documentation <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_ur_dnn_policy/index.html>`_ to deploy your policy.
+Once training is complete, follow the `Isaac ROS inference documentation <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_dnn_policy/index.html>`_ to deploy your policy.
 
 The Isaac ROS deployment pipeline directly uses the trained model checkpoint (``.pt`` file) along with the ``agent.yaml`` and ``env.yaml`` configuration files generated during training. No additional export step is required.
 
diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst
index 4cd77653be64..99ba2e45dbbf 100644
--- a/docs/source/setup/installation/index.rst
+++ b/docs/source/setup/installation/index.rst
@@ -3,9 +3,9 @@
 Local Installation
 ==================
 
-.. image:: https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-6.0.1-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 6.0.0
+   :alt: IsaacSim 6.0.1
 
 .. image:: https://img.shields.io/badge/python-3.12-blue.svg
    :target: https://www.python.org/downloads/release/python-3120/
@@ -39,7 +39,7 @@ Local Installation
 .. caution::
 
    We have dropped support for Isaac Sim versions 5.1.0 and below. We recommend using the latest
-   Isaac Sim 6.0.0 release to benefit from the latest features and improvements.
+   Isaac Sim 6.0.1 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`__.
@@ -108,6 +108,8 @@ Other notable limitations with respect to Isaac Lab include...
    ``pytetwild`` wheel is available for ARM (aarch64). ``pytetwild`` is required for
    automatic tetrahedral mesh generation of volume deformables.
 
+#. RLinf support has not been verified on DGX Spark.
+
 .. note::
 
    **Build prerequisites on aarch64:** Some Python packages (notably ``imgui-bundle`` and ``quadprog``) do not ship
diff --git a/docs/source/setup/installation/isaaclab_pip_installation.rst b/docs/source/setup/installation/isaaclab_pip_installation.rst
index fea39a704839..fe815b148afa 100644
--- a/docs/source/setup/installation/isaaclab_pip_installation.rst
+++ b/docs/source/setup/installation/isaaclab_pip_installation.rst
@@ -30,9 +30,9 @@ pip extras include:
    * - Extra
      - What it installs
    * - ``isaacsim``
-     - Isaac Sim (``isaacsim[all,extscache]==6.0.0.1``) from `pypi.nvidia.com <https://pypi.nvidia.com>`_
+     - Isaac Sim (``isaacsim[all,extscache]==6.0.1.0``) from `pypi.nvidia.com <https://pypi.nvidia.com>`_
    * - ``all``
-     - RL frameworks (SB3, SKRL, RL-Games, RSL-RL). Combine with ``isaacsim`` for a full install.
+     - RL frameworks (SB3, SKRL, RSL-RL). Combine with ``isaacsim`` for a full install.
 
 Install with ``isaaclab[isaacsim,all]`` for the full workflow.
 
@@ -50,6 +50,15 @@ Install with ``isaaclab[isaacsim,all]`` for the full workflow.
 
          pip install "isaaclab[isaacsim,all]" --extra-index-url https://pypi.nvidia.com --pre
 
+.. note::
+
+   ``rl_games`` is not included in the Isaac Lab pip wheel extras. If your workflow requires
+   ``rl_games``, install it manually from the Isaac Lab-compatible branch:
+
+   .. code-block:: bash
+
+      pip install "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11" gym standard-distutils
+
 Installing dependencies
 ~~~~~~~~~~~~~~~~~~~~~~~
 
diff --git a/docs/source/setup/installation/pip_installation.rst b/docs/source/setup/installation/pip_installation.rst
index 6b324b2cabbf..6f0a413cdd76 100644
--- a/docs/source/setup/installation/pip_installation.rst
+++ b/docs/source/setup/installation/pip_installation.rst
@@ -51,7 +51,7 @@ Installing dependencies
 
    .. code-block:: bash
 
-      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 "isaacsim[all,extscache]==6.0.1.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
 
 -  Install a CUDA-enabled PyTorch build that matches your system architecture:
 
diff --git a/scripts/tools/record_demos.py b/scripts/tools/record_demos.py
index dbfdec95c305..c15330b52c37 100644
--- a/scripts/tools/record_demos.py
+++ b/scripts/tools/record_demos.py
@@ -65,6 +65,15 @@
     default=10,
     help="Number of continuous steps with task success for concluding a demo as successful. Default is 10.",
 )
+parser.add_argument(
+    "--reset_sim_buffer_each_episode",
+    action=argparse.BooleanOptionalAction,
+    default=True,
+    help=(
+        "Call env.sim.reset() before the initial episode and between recording attempts."
+        " Use --no-reset_sim_buffer_each_episode to preserve simulation buffers."
+    ),
+)
 parser.add_argument(
     "--cloudxr_env",
     type=str,
@@ -146,7 +155,7 @@
 from isaaclab_mimic.ui.instruction_display import InstructionDisplay, show_subtask_instructions
 
 import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 
 logger = logging.getLogger(__name__)
 
@@ -283,7 +292,11 @@ def create_environment_config(
     env_cfg.terminations.time_out = None
     env_cfg.observations.policy.concatenate_terms = False
 
-    env_cfg.recorders: ActionStateRecorderManagerCfg = ActionStateRecorderManagerCfg()
+    demo_recorder_cfg_entry_point = gym.spec(args_cli.task.split(":")[-1]).kwargs.get("demo_recorder_cfg_entry_point")
+    if demo_recorder_cfg_entry_point is None:
+        env_cfg.recorders = ActionStateRecorderManagerCfg()
+    else:
+        env_cfg.recorders = load_cfg_from_registry(args_cli.task, "demo_recorder_cfg_entry_point")
     env_cfg.recorders.dataset_export_dir_path = output_dir
     env_cfg.recorders.dataset_filename = output_file_name
     env_cfg.recorders.dataset_export_mode = DatasetExportMode.EXPORT_SUCCEEDED_ONLY
@@ -472,7 +485,8 @@ def handle_reset(
         Reset success step count (0).
     """
     print("Resetting environment...")
-    env.sim.reset()
+    if args_cli.reset_sim_buffer_each_episode:
+        env.sim.reset()
     env.recorder_manager.reset()
     env.reset()
     if teleop_interface is not None and hasattr(teleop_interface, "reset"):
@@ -514,6 +528,12 @@ def run_simulation_loop(
     # Callback closures for the teleop device
     def reset_recording_instance():
         nonlocal should_reset_recording_instance
+        if success_step_count > 0:
+            print(
+                "Manual reset ignored. Success has fired and post-success steps are still recording. Please wait for"
+                " the automatic reset."
+            )
+            return
         should_reset_recording_instance = True
         print("Recording instance reset requested")
 
@@ -548,7 +568,8 @@ def inner_loop():
         nonlocal running_recording_instance, label_text
 
         # Reset before starting
-        env.sim.reset()
+        if args_cli.reset_sim_buffer_each_episode:
+            env.sim.reset()
         env.reset()
         teleop_interface.reset()
 
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index 30b2762f37f5..f21e69af563f 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "6.1.8"
+version = "6.1.17"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index a36380c53b0c..c0f341247e6d 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,126 @@
 Changelog
 ---------
 
+6.1.17 (2026-07-24)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added support for an optional ``demo_recorder_cfg_entry_point`` Gym registry entry in demonstration collection.
+
+Fixed
+^^^^^
+
+* Fixed simulator tests and examples to use the available legacy Franka Panda USD asset.
+
+
+6.1.16 (2026-07-14)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed docker installs deleting ``pillow`` from Isaac Sim's
+  ``omni.kit.pip_archive`` prebundle by relaxing the exact ``pillow==12.2.0``
+  pin to a ``>=12.1.1`` floor. An exact pin below the version prebundled by a
+  future Isaac Sim base image forces a downgrade that deletes the prebundled
+  copy, dangling the per-file symlink farm on aarch64 and breaking extension
+  startup.
+
+
+6.1.15 (2026-07-11)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added a fail-loud post-install check that aborts installation when pip
+  operations leave a prebundled Isaac Sim package with a dangling
+  ``__init__.py`` (other new dangling symlinks are reported as warnings).
+* Fixed the ``isaacsim.robot_motion.pink`` extension failing to load after
+  installation by moving the ``pin-pink`` pin from ``3.1.0`` to ``3.3.0``, which
+  provides ``pink.exceptions.NoSolutionFound`` while staying below the pink 3.4
+  task-API break. Environments installed manually should update with
+  ``pip install pin-pink==3.3.0``.
+
+
+6.1.14 (2026-06-30)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed a crash (``undefined symbol: ncclDevCommCreate``) when launching the Isaac Sim
+  streaming app (e.g. ``isaac-sim.streaming.sh`` / ``runheadless.sh``) from an Isaac Lab
+  install against Isaac Sim 6.0. Isaac Sim's deprecated ``omni.isaac.ml_archive`` prebundle
+  ships its own PyTorch and NCCL while Isaac Lab installs a different pinned PyTorch; on
+  launch paths that do not import Isaac Lab (which otherwise deprioritizes the prebundle on
+  ``sys.path``), the two NCCL copies collide and the prebundled torch binds to the wrong
+  one. The install step that repoints the prebundle to the active environment now uses
+  overlayfs-safe filesystem operations, so it works inside the Docker image build (where it
+  previously failed silently with ``EXDEV`` / ``EINVAL``) and fails loudly if a shadowing
+  copy remains.
+
+
+6.1.13 (2026-06-29)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated the Isaac Sim pip dependency to ``6.0.1.0`` and aligned the
+  ``pillow`` dependency with Isaac Sim by pinning ``pillow==12.2.0``.
+
+
+6.1.12 (2026-06-18)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed Linux ARM installation by pre-installing ``nlopt==2.6.2`` before
+  Isaac Lab dependencies are resolved, and by keeping ``swig`` available in
+  Docker only until dependency installation completes.
+
+
+6.1.11 (2026-06-16)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :func:`~isaaclab.sim.utils.newton_model_utils.replace_newton_shape_colors` incorrectly
+  keeping Newton's random palette colors for environments 1–N when USD cloning is skipped
+  Shape labels for non-source environments now resolve to the clone-plan source prim so
+  the correct USD material color is applied to all environments.
+
+
+6.1.10 (2026-06-14)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated the ``newton`` extra installation message to list the Newton GL
+  viewer's ``pyglet`` dependency.
+
+Fixed
+^^^^^
+
+* Fixed SimulationContext reset ordering so initial visualizers are created before the timeline play event pump can invalidate freshly created PhysX tensor views.
+* Fixed Pink IK USD-to-URDF conversion to use Isaac Sim's URDF exporter instead of the unavailable ``nvidia.srl`` package.
+
+
+6.1.9 (2026-06-13)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Prevented MARL adapter wrappers from raising destructor tracebacks when destroyed by setting their environment lifecycle state explicitly.
+
+
 6.1.8 (2026-06-12)
 ~~~~~~~~~~~~~~~~~~
 
@@ -177,8 +297,6 @@ Added
   ``CUDA_VISIBLE_DEVICES`` selects a subset of a node's GPUs, including the
   ``NCCL_P2P_DISABLE=1`` workaround and an explanation of why it is not needed when all GPUs
   are visible.
-* Added the ``rl-games`` optional dependency to the ``isaaclab`` wheel and
-  included it in the wheel's ``all`` extra.
 
 Changed
 ^^^^^^^
diff --git a/source/isaaclab/isaaclab/cli/commands/install.py b/source/isaaclab/isaaclab/cli/commands/install.py
index da9311992e17..b43052b79508 100644
--- a/source/isaaclab/isaaclab/cli/commands/install.py
+++ b/source/isaaclab/isaaclab/cli/commands/install.py
@@ -80,20 +80,13 @@ def _install_system_deps() -> None:
             run_command(["sudo"] + cmd if os.geteuid() != 0 else cmd)
 
         # nlopt has no aarch64 manylinux wheel for the version pinned by
-        # isaacteleop[retargeters], so pip falls back to a CMake source build
-        # that needs SWIG. Mirrors the apt step in docker/Dockerfile.base.
+        # isaacteleop[retargeters]. The installer pre-installs nlopt below to
+        # avoid the CMake source-build fallback that would require SWIG.
         if not shutil.which("swig"):
-            if os.geteuid() != 0 and not shutil.which("sudo"):
-                print_info(
-                    "swig is missing and sudo is unavailable; skipping swig install. "
-                    "Pre-install swig in your image if you need to build nlopt from source."
-                )
-            else:
-                print_info("Installing swig (required for building nlopt on ARM)...")
-                cmd = ["apt-get", "update"]
-                run_command(["sudo"] + cmd if os.geteuid() != 0 else cmd)
-                cmd = ["apt-get", "install", "-y", "--no-install-recommends", "swig"]
-                run_command(["sudo"] + cmd if os.geteuid() != 0 else cmd)
+            print_info(
+                "swig is missing; continuing because nlopt is pre-installed on ARM before optional "
+                "dependencies are resolved. Pre-install swig manually only if you need to build nlopt from source."
+            )
 
         # imgui-bundle has no aarch64 manylinux wheel, so pip falls back to a
         # CMake source build that needs GL/X11 dev headers (via glfw).
@@ -154,25 +147,6 @@ def _torch_first_on_sys_path_is_prebundle(python_exe: str, *, env: dict[str, str
     return result.returncode == 1
 
 
-def _maybe_preinstall_arm_nlopt(pip_cmd: list[str]) -> None:
-    """Pre-install ``nlopt==2.6.2`` on ARM Linux to skip the source-build fallback.
-
-    There is no aarch64 manylinux wheel for the ``nlopt 2.6.2`` version pinned
-    by ``isaacteleop[retargeters]``, so pip falls back to a CMake source build
-    that hides the host-Python ``numpy`` from its isolated build env. Mirror
-    the docker/Dockerfile.base arm64 step: install ``setuptools wheel numpy``
-    in the host Python first, then ``--no-build-isolation`` install nlopt so
-    later submodule installs see it as already satisfied.
-    """
-    if is_windows() or not is_arm():
-        return
-    print_info("Pre-installing nlopt==2.6.2 on ARM (no-build-isolation)...")
-    print_info("  step 1/2: ensure setuptools/wheel/numpy are importable for the no-build-isolation backend")
-    run_command(pip_cmd + ["install", "setuptools", "wheel", "numpy"])
-    print_info("  step 2/2: install nlopt==2.6.2 with --no-build-isolation")
-    run_command(pip_cmd + ["install", "--no-build-isolation", "nlopt==2.6.2"])
-
-
 def _maybe_uninstall_prebundled_torch(
     python_exe: str,
     pip_cmd: list[str],
@@ -195,11 +169,47 @@ def _maybe_uninstall_prebundled_torch(
     )
 
 
+def _maybe_preinstall_arm_nlopt(python_exe: str, pip_cmd: list[str]) -> None:
+    """Pre-install ``nlopt==2.6.2`` on ARM Linux to skip the source-build fallback.
+
+    There is no aarch64 manylinux wheel for the ``nlopt 2.6.2`` version pinned
+    by ``isaacteleop[retargeters]``, so pip falls back to a CMake source build
+    that hides the host-Python ``numpy`` from its isolated build env. Mirror
+    the docker/Dockerfile.base arm64 step: install ``setuptools wheel numpy``
+    in the host Python first, then ``--no-build-isolation`` install nlopt so
+    later submodule installs see it as already satisfied.
+    """
+    if is_windows() or not is_arm():
+        return
+
+    probe_result = run_command(
+        [
+            python_exe,
+            "-c",
+            "import importlib.metadata as metadata; import nlopt; "
+            "raise SystemExit(0 if metadata.version('nlopt') == '2.6.2' else 1)",
+        ],
+        check=False,
+        capture_output=True,
+        text=True,
+    )
+    if probe_result.returncode == 0:
+        print_info("nlopt==2.6.2 is already installed on ARM.")
+        return
+
+    print_info("Pre-installing nlopt==2.6.2 on ARM (no-build-isolation)...")
+    print_info("  step 1/2: ensure setuptools/wheel/numpy are importable for the no-build-isolation backend")
+    run_command(pip_cmd + ["install", "setuptools", "wheel", "numpy"])
+    print_info("  step 2/2: install nlopt==2.6.2 with --no-build-isolation")
+    run_command(pip_cmd + ["install", "--no-build-isolation", "nlopt==2.6.2"])
+
+
 # Dependency stack required by isaaclab.controllers.pink_ik. Pinocchio is installed
 # via the cmeel ``pin`` wheel, which provides the ``pinocchio`` Python module under
 # ``cmeel.prefix/lib/python3.12/site-packages/`` and registers it on sys.path via a
 # ``cmeel.pth`` hook. DAQP provides the QP solver selected by the Pink IK controller.
-_PINK_IK_STACK = ("pin", "pin-pink==3.1.0", "daqp==0.8.5")
+# pin-pink: Isaac Sim 6.x needs >=3.3, 3.4+ breaks pink_ik; daqp >0.8.5 changes behavior.
+_PINK_IK_STACK = ("pin", "pin-pink==3.3.0", "daqp==0.8.5")
 
 
 def _ensure_pink_ik_dependencies_installed(python_exe: str, pip_cmd: list[str], *, probe_env: dict[str, str]) -> None:
@@ -254,7 +264,7 @@ def _ensure_pink_ik_dependencies_installed(python_exe: str, pip_cmd: list[str],
         print_warning(
             "Force-installing the cmeel pinocchio and DAQP stack failed (returncode "
             f"{install_result.returncode}). The pink IK controller and its tests will not be"
-            " usable until ``pin pin-pink==3.1.0 daqp==0.8.5`` is installed manually."
+            f" usable until ``{' '.join(_PINK_IK_STACK)}`` is installed manually."
         )
 
 
@@ -652,7 +662,9 @@ def _install_extra_feature(feature_name: str, selector: str = "") -> None:
     elif feature_name == "newton":
         if selector:
             print_warning(f"'newton' does not support selectors (got '{selector}'). Installing all newton extras.")
-        print_info("Installing newton extras (newton[sim], PyOpenGL-accelerate, imgui-bundle, typing-extensions)...")
+        print_info(
+            "Installing newton extras (newton[sim], pyglet, PyOpenGL-accelerate, imgui-bundle, typing-extensions)..."
+        )
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_newton[all]"])
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_physx[newton]"])
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_visualizers[newton]"])
@@ -701,6 +713,116 @@ def _install_extra_feature(feature_name: str, selector: str = "") -> None:
 """
 
 
+def _force_remove(path: Path) -> None:
+    """Recursively remove a file, directory, or symlink. A missing path is a no-op.
+
+    Uses absolute-path :func:`os.unlink` / :func:`os.rmdir` rather than the
+    ``dir_fd``-relative operations :func:`shutil.rmtree` performs internally. On
+    an overlayfs *lower* layer (e.g. inside a Docker image build) the ``dir_fd``
+    variant raises ``EINVAL``, whereas the plain ``unlink(2)`` / ``rmdir(2)``
+    syscalls create the proper whiteout. This makes prebundle neutralization
+    behave identically on a normal filesystem and on an overlayfs lower layer.
+    """
+    if path.is_symlink() or path.is_file():
+        os.unlink(path)
+    elif path.is_dir():
+        for child in path.iterdir():
+            _force_remove(child)
+        os.rmdir(path)
+
+
+def _discover_prebundle_dirs() -> set[Path]:
+    """Find every ``pip_prebundle`` directory under the Isaac Sim installation.
+
+    Searches both the Isaac Sim tree and the Omniverse cache roots — some Isaac
+    Sim directories are symlinked into ``~/.local/share/ov`` and would be missed
+    by a plain ``rglob()`` on ``_isaac_sim``. Returns an empty set when no Isaac
+    Sim installation is present.
+    """
+    isaacsim_path = extract_isaacsim_path(required=False)
+    if isaacsim_path is None or not isaacsim_path.exists():
+        return set()
+
+    candidate_roots: set[Path] = set()
+    for root in (
+        isaacsim_path,
+        isaacsim_path.resolve(),
+        isaacsim_path / "extscache",
+        Path.home() / ".local" / "share" / "ov" / "data" / "exts",
+        Path.home() / ".local" / "share" / "ov" / "data" / "exts" / "v2",
+    ):
+        if root.exists():
+            candidate_roots.add(root)
+            candidate_roots.add(root.resolve())
+
+    prebundle_dirs: set[Path] = set()
+    for root in candidate_roots:
+        prebundle_dirs.update(root.rglob("pip_prebundle"))
+    return prebundle_dirs
+
+
+def _find_dangling_prebundle_symlinks() -> set[Path]:
+    """Find symlinks under Isaac Sim prebundles whose targets do not resolve.
+
+    Isaac Sim deduplicates packages shared by several extensions as per-file
+    symlink farms between ``pip_prebundle`` directories. pip operations routinely
+    replace prebundled distributions with copies in ``site-packages`` — harmless
+    on its own — but deleting a copy that other prebundles link into leaves
+    dangling symlinks that break extension startup at runtime.
+    """
+    dangling: set[Path] = set()
+    for prebundle_dir in _discover_prebundle_dirs():
+        for root, _dirs, files in os.walk(prebundle_dir):
+            for name in files:
+                path = Path(root) / name
+                if path.is_symlink() and not path.exists():
+                    dangling.add(path)
+    return dangling
+
+
+def _assert_no_new_dangling_prebundle_symlinks(before: set[Path]) -> None:
+    """Fail when the installation broke a prebundled package's symlinked ``__init__.py``.
+
+    A new dangling symlink means a pip operation deleted a prebundled package
+    that other extensions reference through Isaac Sim's symlink farms — the
+    failure mode behind the ``packaging`` removal cascade in nvbugs 6343978
+    (14 extensions failing to start). Routine pip replacements do leave a few
+    dozen dangling links to files Python never imports at startup (test modules,
+    ``WHEEL``/license files, cmake hooks), so only a dangling ``__init__.py`` —
+    which makes the whole package unimportable — fails the install; other new
+    dangling links are reported as warnings.
+
+    Args:
+        before: Dangling symlinks from :func:`_find_dangling_prebundle_symlinks`,
+            collected before the pip operations.
+
+    Raises:
+        RuntimeError: If the installation left a prebundled package with a
+            dangling ``__init__.py``.
+    """
+    introduced = sorted(_find_dangling_prebundle_symlinks() - before)
+    if not introduced:
+        return
+    broken_packages = [p for p in introduced if p.name == "__init__.py"]
+    if broken_packages:
+        shown = "\n  ".join(str(p) for p in broken_packages)
+        raise RuntimeError(
+            f"Installation broke {len(broken_packages)} prebundled package(s) in Isaac Sim"
+            f" (dangling __init__.py, {len(introduced)} new dangling symlink(s) total):\n  "
+            + shown
+            + "\nA pip operation deleted a prebundled package that other Isaac Sim extensions share"
+            " via symlinks; extensions will fail to start at runtime (see nvbugs 6343978). This"
+            " usually means a dependency pin forced pip to downgrade/replace the prebundled copy —"
+            " fix that pin instead of shipping a broken prebundle, and restore the Isaac Sim"
+            " installation before retrying."
+        )
+    print_warning(
+        f"Installation left {len(introduced)} new dangling symlink(s) in Isaac Sim prebundles"
+        " (no package __init__.py affected — extensions should still start). First few: "
+        + ", ".join(str(p) for p in introduced[:5])
+    )
+
+
 def _repoint_prebundle_packages() -> None:
     """Replace prebundled packages in Isaac Sim with symlinks to the active environment.
 
@@ -734,25 +856,7 @@ def _repoint_prebundle_packages() -> None:
         print_warning(f"site-packages directory not found: {site_packages} — skipping prebundle repoint.")
         return
 
-    # Discover pip_prebundle directories from both the Isaac Sim tree and
-    # Omniverse cache roots. Some Isaac Sim directories are symlinked into
-    # ~/.local/share/ov and may be missed by a plain rglob() on _isaac_sim.
-    candidate_roots: set[Path] = set()
-    for root in (
-        isaacsim_path,
-        isaacsim_path.resolve(),
-        isaacsim_path / "extscache",
-        Path.home() / ".local" / "share" / "ov" / "data" / "exts",
-        Path.home() / ".local" / "share" / "ov" / "data" / "exts" / "v2",
-    ):
-        if root.exists():
-            candidate_roots.add(root)
-            candidate_roots.add(root.resolve())
-
-    prebundle_dirs: set[Path] = set()
-    for root in candidate_roots:
-        prebundle_dirs.update(root.rglob("pip_prebundle"))
-
+    prebundle_dirs = _discover_prebundle_dirs()
     if not prebundle_dirs:
         print_debug("No pip_prebundle directories found under Isaac Sim.")
         return
@@ -780,16 +884,15 @@ def _repoint_prebundle_packages() -> None:
                 continue
 
             try:
-                if prebundled.is_symlink():
-                    if prebundled.resolve() == venv_pkg.resolve():
-                        continue
-                    prebundled.unlink()
-                else:
-                    backup = prebundle_dir / f"{pkg_name}.bak"
-                    if backup.exists() or backup.is_symlink():
-                        shutil.rmtree(backup) if backup.is_dir() else backup.unlink()
-                    prebundled.rename(backup)
-
+                # Already repointed to the right place — nothing to do.
+                if prebundled.is_symlink() and prebundled.resolve() == venv_pkg.resolve():
+                    continue
+                # Replace the prebundled copy (a stale symlink or a real directory)
+                # with a symlink to the active environment. We remove rather than
+                # rename-to-``.bak``: the env copy is the symlink target, so the
+                # prebundle content is redundant, and renaming a directory on an
+                # overlayfs lower layer (Docker image build) fails with ``EXDEV``.
+                _force_remove(prebundled)
                 if use_symlinks:
                     prebundled.symlink_to(venv_pkg)
                 else:
@@ -806,6 +909,24 @@ def _repoint_prebundle_packages() -> None:
     else:
         print_debug("All prebundled packages already up-to-date — nothing to repoint.")
 
+    # Fail loud: a real (non-symlink) prebundled ``torch`` left behind shadows the
+    # pip-installed torch on launch paths that do not import ``isaaclab`` (e.g.
+    # ``isaac-sim.streaming.sh``), pulling a mismatched NCCL and crashing with
+    # ``undefined symbol: ncclDevCommCreate``. Never let that state ship silently.
+    # Only relevant when symlinking (Linux); the Windows branch deliberately copies the
+    # env package into the prebundle, which is a real directory by design.
+    if use_symlinks and (site_packages / "torch").exists():
+        shadowing = [
+            prebundle_dir / "torch"
+            for prebundle_dir in prebundle_dirs
+            if (prebundle_dir / "torch").is_dir() and not (prebundle_dir / "torch").is_symlink()
+        ]
+        if shadowing:
+            raise RuntimeError(
+                "Failed to neutralize prebundled torch under Isaac Sim; the following would shadow the "
+                "pip-installed torch and crash non-isaaclab launches:\n  " + "\n  ".join(str(p) for p in shadowing)
+            )
+
 
 def command_install(install_type: str = "all") -> None:
     """Install Isaac Lab extensions and optional extras.
@@ -941,6 +1062,10 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
     if saved_pythonpath is not None:
         probe_env["PYTHONPATH"] = saved_pythonpath
 
+    # Baseline for the post-install integrity check: no pip operation below may
+    # leave new dangling symlinks in Isaac Sim's prebundles (nvbugs 6343978).
+    dangling_symlinks_before = _find_dangling_prebundle_symlinks()
+
     try:
         # Upgrade pip first to avoid compatibility issues (skip when using uv).
         if not using_uv:
@@ -951,7 +1076,7 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
         run_command(pip_cmd + ["install", "setuptools<82.0.0"])
 
         # On ARM Linux pre-install nlopt to dodge its from-source build fallback.
-        _maybe_preinstall_arm_nlopt(pip_cmd)
+        _maybe_preinstall_arm_nlopt(python_exe, pip_cmd)
 
         # Drop pip-installed torch if Isaac Sim's deprecated ML prebundle would shadow it.
         _maybe_uninstall_prebundled_torch(python_exe, pip_cmd, using_uv, probe_env=probe_env)
@@ -992,6 +1117,12 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
         # ordering (e.g. torch+cu130 in venv vs torch+cu128 in prebundle on aarch64).
         _repoint_prebundle_packages()
 
+        # Fail loud if any pip operation above broke Isaac Sim's cross-extension
+        # symlink farms. Prebundle deletions on their own are routine (pip
+        # replaces those packages in site-packages, which shadows the prebundle
+        # at runtime); only newly dangling symlinks break extension startup.
+        _assert_no_new_dangling_prebundle_symlinks(dangling_symlinks_before)
+
     finally:
         # Restore LD_PRELOAD if we cleared it.
         if saved_ld_preload:
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
index 1520afdb0177..2bc4958809cb 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
@@ -271,14 +271,14 @@ def _return_current_joint_positions(error: Exception) -> torch.Tensor:
         except SolverNotFound as e:
             raise RuntimeError(
                 f"Pink IK requires the '{_QP_SOLVER}' QP solver. Install the Pink IK stack with "
-                "``./isaaclab.sh -i`` or manually install ``pin pin-pink==3.1.0 daqp==0.8.5``."
+                "``./isaaclab.sh -i`` or manually install ``pin pin-pink==3.3.0 daqp==0.8.5``."
             ) from e
         except TypeError as e:
             if "primal_start" in str(e):
                 raise RuntimeError(
                     "Pink IK requires a DAQP version compatible with qpsolvers warm-start arguments. "
                     "Install the Pink IK stack with ``./isaaclab.sh -i`` or manually install "
-                    "``pin pin-pink==3.1.0 daqp==0.8.5``."
+                    "``pin pin-pink==3.3.0 daqp==0.8.5``."
                 ) from e
             return _return_current_joint_positions(e)
         except (AssertionError, Exception) as e:
diff --git a/source/isaaclab/isaaclab/controllers/utils.py b/source/isaaclab/isaaclab/controllers/utils.py
index bd772329c427..7905f178d759 100644
--- a/source/isaaclab/isaaclab/controllers/utils.py
+++ b/source/isaaclab/isaaclab/controllers/utils.py
@@ -14,6 +14,7 @@
 import os
 import re
 import sys
+import xml.etree.ElementTree as ET
 
 # import logger
 logger = logging.getLogger(__name__)
@@ -42,48 +43,41 @@ def convert_usd_to_urdf(usd_path: str, output_path: str, force_conversion: bool
 
     enable_extension("isaacsim.asset.exporter.urdf")
 
-    from nvidia.srl.from_usd.to_urdf import UsdToUrdf
-
-    usd_to_urdf_kwargs = {
-        "node_names_to_remove": None,
-        "edge_names_to_remove": None,
-        "root": None,
-        "parent_link_is_body_1": None,
-        "log_level": logging.ERROR,
-    }
-
     urdf_output_dir = os.path.join(output_path, "urdf")
-    urdf_file_name = os.path.basename(usd_path).split(".")[0] + ".urdf"
-    urdf_output_path = urdf_output_dir + "/" + urdf_file_name
+    urdf_file_name = os.path.splitext(os.path.basename(usd_path))[0] + ".urdf"
+    urdf_output_path = os.path.join(urdf_output_dir, urdf_file_name)
     urdf_meshes_output_dir = os.path.join(output_path, "meshes")
 
     if not os.path.exists(urdf_output_path) or not os.path.exists(urdf_meshes_output_dir) or force_conversion:
-        usd_to_urdf = UsdToUrdf.init_from_file(usd_path, **usd_to_urdf_kwargs)
         os.makedirs(urdf_output_dir, exist_ok=True)
         os.makedirs(urdf_meshes_output_dir, exist_ok=True)
 
-        output_path = usd_to_urdf.save_to_file(
-            urdf_output_path=urdf_output_path,
+        from isaacsim.asset.exporter.urdf import UsdToUrdfConverter
+
+        usd_to_urdf = UsdToUrdfConverter(
+            stage=usd_path,
+            root_prim_path=None,
+            mesh_dir_name="../meshes",
+            mesh_path_prefix="../meshes/",
             visualize_collision_meshes=False,
-            mesh_dir=urdf_meshes_output_dir,
-            mesh_path_prefix="",
         )
+        usd_to_urdf.convert(urdf_output_path)
 
-        # The current version of the usd to urdf converter creates "inf" effort,
-        # This has to be replaced with a max value for the urdf to be valid
-        # Open the file for reading and writing
-        with open(urdf_output_path) as file:
-            # Read the content of the file
-            content = file.read()
+        _sanitize_urdf_for_pinocchio(urdf_output_path)
+    return urdf_output_path, urdf_meshes_output_dir
 
-        # Replace all occurrences of 'inf' with '0'
-        content = content.replace("inf", "0.")
 
-        # Open the file again to write the modified content
-        with open(urdf_output_path, "w") as file:
-            # Write the modified content back to the file
-            file.write(content)
-    return urdf_output_path, urdf_meshes_output_dir
+def _sanitize_urdf_for_pinocchio(urdf_path: str) -> None:
+    """Fill Pinocchio-required non-kinematic joint-limit fields in exported URDFs."""
+    tree = ET.parse(urdf_path)
+    changed = False
+    for limit in tree.iter("limit"):
+        for attr in ("effort", "velocity"):
+            if limit.get(attr) in {None, "inf", "+inf", "-inf"}:
+                limit.set(attr, "0.")
+                changed = True
+    if changed:
+        tree.write(urdf_path, encoding="unicode")
 
 
 def change_revolute_to_fixed(urdf_path: str, fixed_joints: list[str], verbose: bool = False):
diff --git a/source/isaaclab/isaaclab/envs/utils/marl.py b/source/isaaclab/isaaclab/envs/utils/marl.py
index 5901bfbc3184..55c25acd0b8c 100644
--- a/source/isaaclab/isaaclab/envs/utils/marl.py
+++ b/source/isaaclab/isaaclab/envs/utils/marl.py
@@ -48,6 +48,7 @@ def multi_agent_to_single_agent(env: DirectMARLEnv, state_as_observation: bool =
     class Env(DirectRLEnv):
         def __init__(self, env: DirectMARLEnv) -> None:
             self.env: DirectMARLEnv = env.unwrapped
+            self._is_closed = False
 
             # check if it is possible to use the multi-agent environment state as single-agent observation
             self._state_as_observation = state_as_observation
@@ -133,7 +134,9 @@ def render(self, recompute: bool = False) -> np.ndarray | None:
             return self.env.render(recompute)
 
         def close(self) -> None:
-            self.env.close()
+            if not self._is_closed:
+                self.env.close()
+                self._is_closed = True
 
     return Env(env)
 
@@ -168,6 +171,7 @@ def multi_agent_with_one_agent(env: DirectMARLEnv, state_as_observation: bool =
     class Env(DirectMARLEnv):
         def __init__(self, env: DirectMARLEnv) -> None:
             self.env: DirectMARLEnv = env.unwrapped
+            self._is_closed = False
 
             # check if it is possible to use the multi-agent environment state as agent observation
             self._state_as_observation = state_as_observation
@@ -272,6 +276,8 @@ def render(self, recompute: bool = False) -> np.ndarray | None:
             self.env.render(recompute)
 
         def close(self) -> None:
-            self.env.close()
+            if not self._is_closed:
+                self.env.close()
+                self._is_closed = True
 
     return Env(env)
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index 6267ca0710c0..0f66cad6ea02 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -720,11 +720,11 @@ def reset(self, soft: bool = False) -> None:
         self.physics_manager.reset(soft)
         for viz in self._visualizers:
             viz.reset(soft)
-        # Start the timeline so the play button is pressed
-        self.physics_manager.play()
         if not self._visualizers:
-            # Initialize visualizers after PhysX sim view is ready.
+            # Initialize visualizers after PhysX sim views are ready, but before play() pumps timeline events.
             self.initialize_visualizers()
+        # Start the timeline so the play button is pressed
+        self.physics_manager.play()
         self._is_playing = True
         self._is_stopped = False
 
diff --git a/source/isaaclab/isaaclab/sim/spawners/__init__.py b/source/isaaclab/isaaclab/sim/spawners/__init__.py
index 8e2541507d5d..a4039270aa42 100644
--- a/source/isaaclab/isaaclab/sim/spawners/__init__.py
+++ b/source/isaaclab/isaaclab/sim/spawners/__init__.py
@@ -19,7 +19,9 @@
     from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
     # spawn from USD file
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
+    )
     prim_path = "/World/myAsset"
 
     # spawn using the function from the module
@@ -33,7 +35,9 @@
     from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
     # spawn from USD file
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
+    )
     prim_path = "/World/myAsset"
 
     # use the `func` reference in the config class
diff --git a/source/isaaclab/isaaclab/sim/utils/newton_model_utils.py b/source/isaaclab/isaaclab/sim/utils/newton_model_utils.py
index d94a309e5b55..caadfd838467 100644
--- a/source/isaaclab/isaaclab/sim/utils/newton_model_utils.py
+++ b/source/isaaclab/isaaclab/sim/utils/newton_model_utils.py
@@ -15,13 +15,19 @@
 import logging
 import os
 import warnings
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
 import warp as wp
 
 from pxr import Usd, UsdGeom, UsdShade
 
+from isaaclab.sim import SimulationContext
+
+if TYPE_CHECKING:
+    from isaaclab.cloner import ClonePlan
+
+
 __all__ = ["replace_newton_shape_colors"]
 
 logger = logging.getLogger(__name__)
@@ -195,6 +201,130 @@ def _get_primvar_display_color(shape_prim: Usd.Prim) -> tuple[float, float, floa
     return _coerce_color(primvar.Get())
 
 
+def _build_clone_source_map(missing_keys: set[str], clone_plan: ClonePlan) -> dict[str, str]:
+    """Map missing destination prim paths to their clone-plan source prim paths in one pass.
+
+    In the Newton headless path USD cloning is skipped, so only the source env (env_0) has
+    real USD prims.  Shape labels for all other envs point to paths that don't exist in the
+    stage.  This function resolves them back to the source prim that was cloned into each env
+    so the correct material color can be read from an existing prim.
+
+    Example:
+        Given a clone plan with source ``/World/envs/env_0/Robot`` cloned into envs 0-3, and
+        missing keys for envs 1-3::
+
+            missing_keys = {
+                "/World/envs/env_1/Robot/Mesh",
+                "/World/envs/env_2/Robot/Mesh",
+                "/World/envs/env_3/Robot/Mesh",
+            }
+
+        The function returns::
+
+            {
+                "/World/envs/env_1/Robot/Mesh": "/World/envs/env_0/Robot/Mesh",
+                "/World/envs/env_2/Robot/Mesh": "/World/envs/env_0/Robot/Mesh",
+                "/World/envs/env_3/Robot/Mesh": "/World/envs/env_0/Robot/Mesh",
+            }
+
+        In a heterogeneous scene where ``RobotA`` populates envs 0 and 2, and ``RobotB``
+        populates envs 1 and 3, env_2 maps to ``RobotA``'s source and env_3 to ``RobotB``'s::
+
+            {
+                "/World/envs/env_2/Robot/Mesh": "/World/envs/env_0/RobotA/Mesh",
+                "/World/envs/env_3/Robot/Mesh": "/World/envs/env_1/RobotB/Mesh",
+            }
+
+    Instead of querying the clone plan once per missing key (which scans all rows and applies a
+    compiled regex per call via :func:`~isaaclab.cloner.cloner_utils.iter_clone_plan_matches`),
+    this function iterates the clone-plan rows once and matches all missing keys against each source
+    using simple string prefix and digit checks.  The total cost is O(R × K_miss) with a low
+    constant factor, where R is the number of clone-plan rows and K_miss = ``len(missing_keys)``.
+
+    Rows are processed in decreasing order of instantiated template length so that more-specific
+    (deeper) templates take priority, matching
+    :func:`~isaaclab.cloner.cloner_utils.iter_clone_plan_matches` semantics.
+
+    Args:
+        missing_keys: Destination prim paths absent from the USD stage.
+        clone_plan: Active clone plan.
+
+    Returns:
+        Dict mapping each resolvable missing path to its clone-source prim path.
+    """
+    from dataclasses import dataclass
+
+    @dataclass
+    class _Source:
+        root: str
+        template_prefix: str  # template prefix before the "{}" env-slot
+        template_suffix: str  # template suffix after the "{}" env-slot
+        env_ids: frozenset[int]
+
+        def instantiated_length(self) -> int:
+            """Length of the template when formatted with the smallest env id."""
+            return len(self.template_prefix) + len(str(min(self.env_ids))) + len(self.template_suffix)
+
+    result: dict[str, str] = {}
+    if not missing_keys:
+        return result
+
+    # Pre-process rows: strip trailing slashes, split the template at the env-slot placeholder,
+    # and collect the populated env ids as a frozenset for O(1) membership checks.
+    sources: list[_Source] = []
+    for row_idx, (root, dest_template) in enumerate(zip(clone_plan.sources, clone_plan.destinations)):
+        if "{}" not in dest_template:
+            continue
+        env_ids: frozenset[int] = frozenset(
+            int(j) for j in clone_plan.clone_mask[row_idx].nonzero(as_tuple=False).flatten().tolist()
+        )
+        if not env_ids:
+            continue
+        template_prefix, template_suffix = dest_template.rstrip("/").split("{}", 1)
+        sources.append(
+            _Source(
+                root=root.rstrip("/"), template_prefix=template_prefix, template_suffix=template_suffix, env_ids=env_ids
+            )
+        )
+
+    # Sort by instantiated template length descending, matching iter_clone_plan_matches semantics.
+    sources.sort(key=lambda r: r.instantiated_length(), reverse=True)
+
+    # Match each destination prim path against one of the sources.
+    remaining_dest = set(missing_keys)
+    for source in sources:
+        if not remaining_dest:
+            break
+        resolved: set[str] = set()
+        for prim_path in remaining_dest:
+            # Reject paths that don't start with this source's template prefix.
+            if not prim_path.startswith(source.template_prefix):
+                continue
+
+            # Extract the env-slot token: the path segment immediately after the prefix.
+            rest = prim_path[len(source.template_prefix) :]
+            slash = rest.find("/")
+            slot_str = rest[:slash] if slash >= 0 else rest
+
+            # Reject if the slot is not a digit or doesn't belong to this source's env ids.
+            if not slot_str.isdigit() or int(slot_str) not in source.env_ids:
+                continue
+
+            # Reject if the template_suffix-slot portion of the path doesn't match the template suffix.
+            after_slot = rest[len(slot_str) :]
+            if not after_slot.startswith(source.template_suffix):
+                continue
+
+            # Everything after the instantiated template root is the asset suffix;
+            # prepend the source root to form the source prim path.
+            result[prim_path] = source.root + after_slot[len(source.template_suffix) :]
+            resolved.add(prim_path)
+
+        remaining_dest -= resolved
+
+    return result
+
+
 def _resolve_shape_color(
     stage: Usd.Stage,
     prim_path: str,
@@ -202,6 +332,9 @@ def _resolve_shape_color(
 ) -> tuple[float, float, float] | None:
     """Resolve replacement linear RGB for one prim path (sRGB encoding is applied in the scatter kernel).
 
+    The caller is responsible for remapping missing destination prim paths to their clone-source
+    equivalents before calling this function (see :func:`_build_clone_source_map`).
+
     Returns:
         Linear RGB to pass to :func:`_scatter_shape_color_rows_kernel`, or ``None`` to leave the row unchanged.
     """
@@ -305,23 +438,39 @@ def replace_newton_shape_colors(model: Any, stage: Usd.Stage | None = None) -> i
 
             stage = get_current_stage()
 
-        shape_keys: list[str] = []
+        sim = SimulationContext.instance()
+        clone_plan = sim.get_clone_plan() if sim is not None else None
 
+        # Collect canonical lookup keys, tracking which labels had no prim in the stage.
+        # Missing labels are kept verbatim so _build_clone_source_map can map them back to
+        # their clone-source equivalents (Newton headless path skips USD cloning for env_1-N).
+        shape_keys: list[str] = []
+        missing_key_set: set[str] = set()
         for label in shape_labels:
             prim = stage.GetPrimAtPath(label)
-            shape_keys.append(_canonical_prim_lookup_key(prim) if prim.IsValid() else label)
+            if prim.IsValid():
+                shape_keys.append(_canonical_prim_lookup_key(prim))
+            else:
+                shape_keys.append(label)
+                missing_key_set.add(label)
 
         # shape_keys must stay the same length as shape labels, to guarantee the correctness of
         # shape indices that will be used in the scatter kernel.
         assert num_shapes == len(shape_keys)
 
+        # Pre-build the dest -> source map for all missing keys in one clone-plan pass instead of
+        # calling iter_clone_plan_matches once per key (which applies a regex per call).
+        clone_source_map = (
+            _build_clone_source_map(missing_key_set, clone_plan) if missing_key_set and clone_plan else {}
+        )
+
         resolved_color_cache: dict[str, tuple[float, float, float] | None] = {}
         material_color_cache: dict[str, tuple[float, float, float] | None] = {}
 
         unique_keys = dict.fromkeys(shape_keys)
         for key in unique_keys:
-            color = _resolve_shape_color(stage, key, material_color_cache)
-            resolved_color_cache[key] = color
+            lookup = clone_source_map.get(key, key)
+            resolved_color_cache[key] = _resolve_shape_color(stage, lookup, material_color_cache)
 
         # Prepare the indices and colors for the scatter kernel:
         # - Indices point to the slots in the shape_colors array that should be updated
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
index a7f6f6c3127e..2bbf207b4cc1 100644
--- a/source/isaaclab/setup.py
+++ b/source/isaaclab/setup.py
@@ -35,8 +35,9 @@
     "einops",  # needed for transformers, doesn't always auto-install
     "warp-lang==1.13.0",
     "matplotlib>=3.10.3",  # minimum version for Python 3.12 support
-    # make sure this is consistent with isaac sim version
-    "pillow==12.1.1",
+    # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
+    # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
+    "pillow>=12.1.1",
     # required by omni.replicator.core S3 backend
     "botocore",
     # livestream
@@ -68,12 +69,12 @@
 INSTALL_REQUIRES += [
     # required by isaaclab.isaaclab.controllers.pink_ik
     f"pin ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
-    f"pin-pink==3.1.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
+    f"pin-pink==3.3.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
     f"daqp==0.8.5 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
 ]
 # Adds OpenUSD dependencies based on architecture for Kit less mode.
 INSTALL_REQUIRES += [
-    f"usd-core==25.11.0 ; ({SUPPORTED_ARCHS})",
+    f"usd-core>=25.11,<26.0 ; ({SUPPORTED_ARCHS})",
     f"usd-exchange>=2.2 ; ({SUPPORTED_ARCHS_ARM})",
 ]
 
@@ -87,10 +88,9 @@
 ]
 
 # Pin hf-xet to avoid broken tarball (hf_xet-1.1.8.dev2) cached on NVIDIA Artifactory.
-# (https://urm.nvidia.com/artifactory/api/pypi/ct-omniverse-pypi) that gets installed with --pre
+# that gets installed with --pre
 # and --extra-index-url flags. The broken hf-xet-1.1.8.dev2 package is present as of Mar 12 2026.
 # TODO: Can be removed once the broken hf-xet-1.1.8.dev2 package is removed from NVIDIA Artifactory.
-# Issue: https://nvbugs/5974917 includes verification steps.
 INSTALL_REQUIRES += [
     # 1.4.1 is latest as of Mar 12 2026
     f"hf-xet>=1.4.1,<2.0.0 ; ({SUPPORTED_ARCHS_ARM})",
@@ -102,9 +102,9 @@
 # Use ``pip install isaaclab[isaacsim]`` to add Isaac Sim, or
 # ``pip install isaaclab[all]`` to pull in all sub-packages and extras.
 EXTRAS_REQUIRE = {
-    "isaacsim": ["isaacsim[all,extscache]==5.1.0"],
+    "isaacsim": ["isaacsim[all,extscache]==6.0.1.0"],
     "all": [
-        "isaacsim[all,extscache]==5.1.0",
+        "isaacsim[all,extscache]==6.0.1.0",
         "isaaclab_assets",
         "isaaclab_contrib",
         "isaaclab_experimental",
diff --git a/source/isaaclab/test/cli/test_install.py b/source/isaaclab/test/cli/test_install.py
index 13494cec696d..9be554c9b11b 100644
--- a/source/isaaclab/test/cli/test_install.py
+++ b/source/isaaclab/test/cli/test_install.py
@@ -222,3 +222,36 @@ def test_uses_package_metadata_when_no_version_file(self, tmp_path):
         ):
             result = determine_python_version()
             assert result == "3.11"
+
+
+# ---------------------------------------------------------------------------
+# Prebundled-torch shadowing invariant (regression: nvbugs 6343978)
+# ---------------------------------------------------------------------------
+
+
+def test_no_shadowing_prebundled_torch_in_isaac_sim():
+    """A prebundled torch must not shadow the pip-installed torch.
+
+    Regression test for nvbugs 6343978: Isaac Sim 6.0 ships a prebundled PyTorch under
+    the deprecated ``omni.isaac.ml_archive`` extension whose ``libtorch_cuda.so``
+    requires an NCCL symbol the co-bundled NCCL does not export. Launch paths that do
+    not import :mod:`isaaclab` (e.g. ``isaac-sim.streaming.sh`` / ``runheadless.sh``)
+    bypass the ``sys.path`` deprioritization and import this broken copy, crashing with
+    ``undefined symbol: ncclDevCommCreate``. After install/build, every
+    ``pip_prebundle/torch`` under Isaac Sim must therefore be either removed or a
+    symlink into the active environment, never a real shadowing directory.
+    """
+    isaacsim_path = extract_isaacsim_path(required=False)
+    if isaacsim_path is None or not isaacsim_path.exists():
+        pytest.skip("Isaac Sim installation not found; skipping prebundle-shadow invariant check")
+
+    shadowing = [
+        prebundled_torch
+        for prebundled_torch in isaacsim_path.rglob("pip_prebundle/torch")
+        if prebundled_torch.is_dir() and not prebundled_torch.is_symlink()
+    ]
+    assert not shadowing, (
+        "Found prebundled torch directories that shadow the pip-installed torch (nvbugs 6343978). "
+        "They must be removed at image build time or repointed to the active environment:\n  "
+        + "\n  ".join(str(p) for p in shadowing)
+    )
diff --git a/source/isaaclab/test/cli/test_install_commands.py b/source/isaaclab/test/cli/test_install_commands.py
index f773d9f026cf..af1ba751c2aa 100644
--- a/source/isaaclab/test/cli/test_install_commands.py
+++ b/source/isaaclab/test/cli/test_install_commands.py
@@ -643,7 +643,7 @@ def test_local_build_symlinks_torch_to_venv_site_packages(self, tmp_path):
         symlink = prebundle / "torch"
         assert symlink.is_symlink(), "torch should be a symlink after repoint"
         assert symlink.resolve() == (site_pkgs / "torch").resolve()
-        assert (prebundle / "torch.bak").is_dir(), "Original torch should be backed up"
+        assert not (prebundle / "torch.bak").exists(), "repoint replaces in place — no .bak (env copy is the target)"
 
     def test_local_build_skips_nvidia_when_cudnn_absent_kit_python(self, tmp_path):
         """Local build + kit Python: site-packages/nvidia has only 'srl' (no cudnn) → nvidia NOT repointed.
@@ -717,23 +717,20 @@ def test_updates_stale_symlink_pointing_to_old_env(self, tmp_path):
 
         assert (prebundle / "torch").resolve() == (site_pkgs / "torch").resolve(), "Stale symlink must be updated"
 
-    def test_removes_old_backup_before_renaming(self, tmp_path):
-        """A pre-existing .bak directory is removed before the current package is backed up."""
+    def test_raises_when_prebundled_torch_not_neutralized(self, tmp_path):
+        """Fail loud: a real prebundled torch surviving repoint would shadow the pip torch
+        on launch paths that do not import isaaclab (nvbugs 6343978), so repoint raises
+        instead of silently leaving the broken state in place."""
         isaacsim_path, prebundle = self._sim_with_prebundle(tmp_path / "sim", ["torch"])
         site_pkgs = _make_site_packages(tmp_path / "env", ["torch"])
         py = str(tmp_path / "env" / "bin" / "python")
 
-        # Simulate leftover backup from a previous partial install.
-        old_backup = prebundle / "torch.bak"
-        old_backup.mkdir()
-        (old_backup / "stale_file.py").touch()
-
+        # Simulate the removal not taking effect (e.g. an unhandled filesystem quirk): the
+        # prebundled torch stays a real directory rather than becoming a symlink.
         with self._patch(isaacsim_path, site_pkgs, py):
-            _repoint_prebundle_packages()
-
-        assert (prebundle / "torch").is_symlink(), "torch must be repointed"
-        # The old backup was replaced by the fresh backup.
-        assert (prebundle / "torch.bak").is_dir()
+            with mock.patch("isaaclab.cli.commands.install._force_remove"):
+                with pytest.raises(RuntimeError, match="neutralize"):
+                    _repoint_prebundle_packages()
 
     # ---- pip-installed isaacsim (path found via import probe) ----------------
 
diff --git a/source/isaaclab/test/cli/test_install_prebundle.py b/source/isaaclab/test/cli/test_install_prebundle.py
index 021a247a8e2b..c6f0486ad178 100644
--- a/source/isaaclab/test/cli/test_install_prebundle.py
+++ b/source/isaaclab/test/cli/test_install_prebundle.py
@@ -3,15 +3,21 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Tests for prebundle probe and _split_install_items.
+"""Tests for prebundle probe, _split_install_items, and prebundle dist integrity.
 
 Supplements test_install_commands.py with tests that verify the probe
-script text and the comma-separated install item parser.
+script text, the comma-separated install item parser, and the
+snapshot/assert pair guarding Isaac Sim prebundles against pip removals.
 """
 
+import shutil
 from unittest import mock
 
+import pytest
+
 from isaaclab.cli.commands.install import (
+    _assert_no_new_dangling_prebundle_symlinks,
+    _find_dangling_prebundle_symlinks,
     _torch_first_on_sys_path_is_prebundle,
     split_install_items,
 )
@@ -79,3 +85,76 @@ def fake_run(cmd, *, env=None, check=False, capture_output=False, text=False):
         probe_script = captured_cmd[2]  # [python_exe, "-c", probe]
         assert "pip_prebundle" in probe_script, "Probe must check for 'pip_prebundle'"
         assert "extsDeprecated" not in probe_script, "Probe must NOT check only for 'extsDeprecated'"
+
+
+# ---------------------------------------------------------------------------
+# prebundle dangling-symlink integrity
+# ---------------------------------------------------------------------------
+
+
+class TestPrebundleSymlinkIntegrity:
+    """Tests for :func:`_find_dangling_prebundle_symlinks` and
+    :func:`_assert_no_new_dangling_prebundle_symlinks`.
+
+    Regression guard for nvbugs 6343978: a pip downgrade deleted ``packaging``
+    from the ``omni.isaac.core_archive`` prebundle, dangling the per-file
+    symlink farm ``omni.services.pip_archive`` shares with it and cascading
+    into 14 extension startup failures. Prebundle deletions by themselves are
+    routine (site-packages shadows them); only new dangling symlinks fail.
+    """
+
+    def _make_prebundles(self, tmp_path):
+        core = tmp_path / "exts" / "omni.isaac.core_archive" / "pip_prebundle"
+        (core / "packaging").mkdir(parents=True)
+        (core / "packaging" / "__init__.py").write_text("")
+        services = tmp_path / "extscache" / "omni.services.pip_archive" / "pip_prebundle"
+        (services / "packaging").mkdir(parents=True)
+        (services / "packaging" / "__init__.py").symlink_to(core / "packaging" / "__init__.py")
+        return core, services
+
+    def test_intact_farm_has_no_dangling_links(self, tmp_path):
+        core, services = self._make_prebundles(tmp_path)
+        with mock.patch("isaaclab.cli.commands.install._discover_prebundle_dirs", return_value={core, services}):
+            assert _find_dangling_prebundle_symlinks() == set()
+            _assert_no_new_dangling_prebundle_symlinks(set())
+
+    def test_raises_when_symlink_target_deleted(self, tmp_path):
+        """Deleting the shared copy must fail the install, naming the broken link."""
+        core, services = self._make_prebundles(tmp_path)
+        with mock.patch("isaaclab.cli.commands.install._discover_prebundle_dirs", return_value={core, services}):
+            before = _find_dangling_prebundle_symlinks()
+            shutil.rmtree(core / "packaging")
+            with pytest.raises(RuntimeError, match="dangling symlink") as excinfo:
+                _assert_no_new_dangling_prebundle_symlinks(before)
+        assert str(services / "packaging" / "__init__.py") in str(excinfo.value)
+
+    def test_preexisting_dangling_links_are_tolerated(self, tmp_path):
+        """Links already broken before the install do not fail it."""
+        core, services = self._make_prebundles(tmp_path)
+        (services / "stale.py").symlink_to(core / "does-not-exist.py")
+        with mock.patch("isaaclab.cli.commands.install._discover_prebundle_dirs", return_value={core, services}):
+            before = _find_dangling_prebundle_symlinks()
+            assert before == {services / "stale.py"}
+            _assert_no_new_dangling_prebundle_symlinks(before)
+
+    def test_routine_dist_replacement_passes(self, tmp_path):
+        """Deleting a prebundled package nothing links into is not a violation."""
+        core, services = self._make_prebundles(tmp_path)
+        (core / "six.py").write_text("")
+        with mock.patch("isaaclab.cli.commands.install._discover_prebundle_dirs", return_value={core, services}):
+            before = _find_dangling_prebundle_symlinks()
+            (core / "six.py").unlink()
+            _assert_no_new_dangling_prebundle_symlinks(before)
+
+    def test_non_package_dangles_warn_but_pass(self, tmp_path):
+        """Routine residue (dangling non-__init__ files) warns without failing.
+
+        Every docker build leaves a few dozen dangling links to files Python
+        never imports at startup (test modules, WHEEL/license files, cmake
+        hooks); those must not abort the install.
+        """
+        core, services = self._make_prebundles(tmp_path)
+        (services / "WHEEL").symlink_to(core / "gone-WHEEL")
+        (services / "test_module.py").symlink_to(core / "gone-test.py")
+        with mock.patch("isaaclab.cli.commands.install._discover_prebundle_dirs", return_value={core, services}):
+            _assert_no_new_dangling_prebundle_symlinks(set())
diff --git a/source/isaaclab/test/cli/test_uv_run_pyproject.py b/source/isaaclab/test/cli/test_uv_run_pyproject.py
index 61461c6473da..076dc63a8959 100644
--- a/source/isaaclab/test/cli/test_uv_run_pyproject.py
+++ b/source/isaaclab/test/cli/test_uv_run_pyproject.py
@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import ast
 import re
 from pathlib import Path
 
@@ -27,6 +28,24 @@ def _root_pyproject() -> dict:
         return tomllib.load(f)
 
 
+def _ovrtx_requirement_from_setup() -> str:
+    """Return the OVRTX requirement declared by ``source/isaaclab_ov/setup.py``."""
+    setup_path = _repo_root() / "source/isaaclab_ov/setup.py"
+    module = ast.parse(setup_path.read_text(encoding="utf-8"))
+
+    for node in module.body:
+        if not isinstance(node, ast.Assign):
+            continue
+        if not any(isinstance(target, ast.Name) and target.id == "EXTRAS_REQUIRE" for target in node.targets):
+            continue
+        extras_require = ast.literal_eval(node.value)
+        for dependency in extras_require["ovrtx"]:
+            if dependency.startswith("ovrtx"):
+                return dependency
+
+    raise AssertionError("Could not find the OVRTX requirement in source/isaaclab_ov/setup.py")
+
+
 def test_uv_run_extra_names_match_documented_workflow():
     """Docs must only reference ``uv run --extra`` names that pyproject defines."""
     repo_root = _repo_root()
@@ -86,3 +105,19 @@ def test_uv_run_uses_managed_python():
     tool_uv = _root_pyproject()["tool"]["uv"]
 
     assert tool_uv["python-preference"] == "only-managed"
+
+
+def test_ci_ovrtx_installs_match_source_package_requirement():
+    """CI must not bypass the OVRTX version range declared by the source package."""
+    expected_requirement = _ovrtx_requirement_from_setup()
+
+    for workflow_path in (
+        ".github/workflows/build.yaml",
+        ".github/workflows/daily-compatibility.yml",
+    ):
+        workflow = (_repo_root() / workflow_path).read_text(encoding="utf-8")
+        ovrtx_install_lines = [
+            line.strip() for line in workflow.splitlines() if "extra-pip-packages:" in line and "ovrtx" in line
+        ]
+        assert ovrtx_install_lines
+        assert all(expected_requirement in line for line in ovrtx_install_lines)
diff --git a/source/isaaclab/test/controllers/test_controller_utils.py b/source/isaaclab/test/controllers/test_controller_utils.py
index 80a839a847f4..5c33ce7d818e 100644
--- a/source/isaaclab/test/controllers/test_controller_utils.py
+++ b/source/isaaclab/test/controllers/test_controller_utils.py
@@ -13,14 +13,19 @@
 simulation_app = AppLauncher(headless=True).app
 
 import os
-
-# Import the function to test
+import sys
 import tempfile
+import xml.etree.ElementTree as ET
+from types import ModuleType
 
 import pytest
 import torch
 
-from isaaclab.controllers.utils import change_revolute_to_fixed, change_revolute_to_fixed_regex
+from isaaclab.controllers.utils import (
+    change_revolute_to_fixed,
+    change_revolute_to_fixed_regex,
+    convert_usd_to_urdf,
+)
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 from isaaclab.utils.io.torchscript import load_torchscript_model
 
@@ -121,6 +126,66 @@ def test_urdf_file(mock_urdf_content):
     shutil.rmtree(test_dir)
 
 
+def _mock_module(monkeypatch, name: str) -> ModuleType:
+    module = ModuleType(name)
+    monkeypatch.setitem(sys.modules, name, module)
+    return module
+
+
+def _mock_isaacsim_app(monkeypatch):
+    for module_name in (
+        "isaacsim",
+        "isaacsim.core",
+        "isaacsim.core.experimental",
+        "isaacsim.core.experimental.utils",
+    ):
+        _mock_module(monkeypatch, module_name).__path__ = []
+    enabled_extensions = []
+    app_module = _mock_module(monkeypatch, "isaacsim.core.experimental.utils.app")
+    app_module.enable_extension = enabled_extensions.append
+    return enabled_extensions
+
+
+def test_convert_usd_to_urdf_uses_isaacsim_exporter(monkeypatch, tmp_path):
+    """Test that USD-to-URDF conversion uses Isaac Sim's URDF exporter."""
+    enabled_extensions = _mock_isaacsim_app(monkeypatch)
+    for module_name in ("isaacsim.asset", "isaacsim.asset.exporter"):
+        _mock_module(monkeypatch, module_name).__path__ = []
+
+    converter_args = {}
+
+    class MockUsdToUrdfConverter:
+        def __init__(self, **kwargs):
+            converter_args.update(kwargs)
+
+        def convert(self, output_path):
+            with open(output_path, "w") as file:
+                file.write(
+                    '<robot><joint name="j" type="revolute">'
+                    '<limit lower="-inf" upper="inf" velocity="inf"/></joint></robot>'
+                )
+
+    urdf_module = _mock_module(monkeypatch, "isaacsim.asset.exporter.urdf")
+    urdf_module.UsdToUrdfConverter = MockUsdToUrdfConverter
+
+    urdf_path, mesh_path = convert_usd_to_urdf("/assets/gr1.usd", str(tmp_path))
+
+    assert enabled_extensions == ["isaacsim.asset.exporter.urdf"]
+    assert converter_args == {
+        "stage": "/assets/gr1.usd",
+        "root_prim_path": None,
+        "mesh_dir_name": "../meshes",
+        "mesh_path_prefix": "../meshes/",
+        "visualize_collision_meshes": False,
+    }
+    assert (urdf_path, mesh_path) == (str(tmp_path / "urdf" / "gr1.urdf"), str(tmp_path / "meshes"))
+    limit = ET.parse(urdf_path).find("joint/limit")
+    assert limit.attrib["lower"] == "-inf"
+    assert limit.attrib["upper"] == "inf"
+    assert limit.attrib["effort"] == "0."
+    assert limit.attrib["velocity"] == "0."
+
+
 # =============================================================================
 # Test cases for change_revolute_to_fixed function
 # =============================================================================
diff --git a/source/isaaclab/test/envs/test_env_destructors.py b/source/isaaclab/test/envs/test_env_destructors.py
index 92b81a114b3c..60e0bedcd282 100644
--- a/source/isaaclab/test/envs/test_env_destructors.py
+++ b/source/isaaclab/test/envs/test_env_destructors.py
@@ -5,9 +5,36 @@
 
 from __future__ import annotations
 
+from types import SimpleNamespace
+
+import gymnasium as gym
 import pytest
 
 from isaaclab.envs import DirectMARLEnv, DirectRLEnv, ManagerBasedEnv
+from isaaclab.envs.utils.marl import multi_agent_to_single_agent, multi_agent_with_one_agent
+
+
+class _FakeMultiAgentEnv:
+    possible_agents = ["agent_0", "agent_1"]
+    observation_spaces = {
+        "agent_0": gym.spaces.Box(low=-1.0, high=1.0, shape=(3,)),
+        "agent_1": gym.spaces.Box(low=-1.0, high=1.0, shape=(4,)),
+    }
+    action_spaces = {
+        "agent_0": gym.spaces.Box(low=-1.0, high=1.0, shape=(1,)),
+        "agent_1": gym.spaces.Box(low=-1.0, high=1.0, shape=(2,)),
+    }
+    render_mode = None
+
+    def __init__(self):
+        self.unwrapped = self
+        self.cfg = SimpleNamespace(state_space=1)
+        self.sim = object()
+        self.scene = SimpleNamespace(num_envs=2)
+        self.closed_count = 0
+
+    def close(self):
+        self.closed_count += 1
 
 
 @pytest.mark.parametrize("env_cls", [DirectRLEnv, DirectMARLEnv, ManagerBasedEnv])
@@ -56,3 +83,17 @@ def close(_self):
     monkeypatch.setattr("sys.meta_path", None)
 
     env.__del__()
+
+
+@pytest.mark.parametrize("converter", [multi_agent_to_single_agent, multi_agent_with_one_agent])
+def test_marl_adapter_destructor_closes_wrapped_env_once(converter):
+    """MARL adapters inherit env destructors without running base env __init__."""
+
+    env = _FakeMultiAgentEnv()
+    converted_env = converter(env)
+
+    converted_env.__del__()
+    converted_env.__del__()
+
+    assert converted_env._is_closed
+    assert env.closed_count == 1
diff --git a/source/isaaclab/test/install_ci/Dockerfile.installci b/source/isaaclab/test/install_ci/Dockerfile.installci
index 662af204ce33..68b127df7b34 100644
--- a/source/isaaclab/test/install_ci/Dockerfile.installci
+++ b/source/isaaclab/test/install_ci/Dockerfile.installci
@@ -42,9 +42,9 @@ RUN apt-get update && \
     sudo \
     && rm -rf /var/lib/apt/lists/*
 
-# ARM-specific build deps (swig, GL/X11 dev headers) are intentionally NOT
-# pre-installed here.  ``./isaaclab.sh -i`` auto-installs them via apt when
-# missing, so install_ci exercises the real user-visible install path on ARM.
+# ARM-specific GL/X11 dev headers are intentionally NOT pre-installed here.
+# ``./isaaclab.sh -i`` auto-installs them via apt when missing, so install_ci
+# exercises the real user-visible install path on ARM.
 
 # Make python3 the default python
 RUN ln -sf /usr/bin/python3 /usr/bin/python
@@ -100,7 +100,7 @@ RUN if getent passwd ubuntu >/dev/null; then userdel -r ubuntu; fi \
  && chown -R isaaclab:isaaclab ${ISAACLAB_PATH}
 
 # Passwordless sudo for the runtime user so ``./isaaclab.sh -i`` can apt-get
-# install missing build deps (swig, GL/X11) without prompting at test time.
+# install missing GL/X11 build deps without prompting at test time.
 RUN echo "isaaclab ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/isaaclab \
  && chmod 0440 /etc/sudoers.d/isaaclab
 
diff --git a/source/isaaclab/test/sim/test_newton_model_utils.py b/source/isaaclab/test/sim/test_newton_model_utils.py
index cc157074fd42..ca5224da7472 100644
--- a/source/isaaclab/test/sim/test_newton_model_utils.py
+++ b/source/isaaclab/test/sim/test_newton_model_utils.py
@@ -19,9 +19,11 @@
 
 from pxr import Gf, Sdf, Usd, UsdGeom, UsdShade
 
+from isaaclab.cloner import ClonePlan
 from isaaclab.sim.utils.newton_model_utils import (
     _OMNIPBR_DEFAULTS,
     _UNBOUND_DEFAULT_FALLBACK_GRAY,
+    _build_clone_source_map,
     _get_omnipbr_albedo,
     _resolve_shape_color,
     _scatter_shape_color_rows_kernel,
@@ -514,3 +516,60 @@ def test_replace_newton_shape_colors_instanced(device: str):
     exp = _reference_linear_to_srgb((0.1, 0.2, 0.3))
     expected = torch.tensor([exp, exp], dtype=after.dtype, device=after.device)
     torch.testing.assert_close(after, expected, rtol=1e-5, atol=1e-5)
+
+
+def test_build_clone_source_map_homogeneous():
+    """Missing dest paths are mapped to the clone source in a homogeneous scene.
+
+    Simulates the Newton headless path (USD cloning skipped): only the env_0 source
+    prim exists; envs 1-3 labels are missing and must resolve back to env_0's source.
+    """
+    clone_plan = ClonePlan(
+        sources=("/World/envs/env_0/Robot",),
+        destinations=("/World/envs/env_{}/Robot",),
+        clone_mask=torch.ones((1, 4), dtype=torch.bool),
+    )
+
+    missing = {f"/World/envs/env_{i}/Robot/Mesh" for i in range(1, 4)}
+    result = _build_clone_source_map(missing, clone_plan)
+
+    assert result == {key: "/World/envs/env_0/Robot/Mesh" for key in missing}
+
+
+def test_build_clone_source_map_heterogeneous():
+    """Each missing dest path resolves to the correct variant source in a heterogeneous scene.
+
+    Two robot variants share the same destination template but populate disjoint env
+    subsets: RobotA → envs 0,2; RobotB → envs 1,3.  env_2 must map to RobotA's
+    source and env_3 to RobotB's source, not always to the first row's source.
+    """
+    mask = torch.zeros((2, 4), dtype=torch.bool)
+    mask[0, [0, 2]] = True  # RobotA populates envs 0 and 2
+    mask[1, [1, 3]] = True  # RobotB populates envs 1 and 3
+    clone_plan = ClonePlan(
+        sources=("/World/envs/env_0/RobotA", "/World/envs/env_1/RobotB"),
+        destinations=("/World/envs/env_{}/Robot", "/World/envs/env_{}/Robot"),
+        clone_mask=mask,
+    )
+
+    missing = {
+        "/World/envs/env_2/Robot/Mesh",  # env_2 → RobotA (row 0 owns env_ids {0, 2})
+        "/World/envs/env_3/Robot/Mesh",  # env_3 → RobotB (row 1 owns env_ids {1, 3})
+    }
+    result = _build_clone_source_map(missing, clone_plan)
+
+    assert result["/World/envs/env_2/Robot/Mesh"] == "/World/envs/env_0/RobotA/Mesh"
+    assert result["/World/envs/env_3/Robot/Mesh"] == "/World/envs/env_1/RobotB/Mesh"
+
+
+def test_build_clone_source_map_no_match():
+    """Paths not owned by any clone-plan row are absent from the result."""
+    clone_plan = ClonePlan(
+        sources=("/World/envs/env_0/Robot",),
+        destinations=("/World/envs/env_{}/Robot",),
+        clone_mask=torch.ones((1, 4), dtype=torch.bool),
+    )
+
+    # "Sensor" sub-tree is not under the "Robot" template, so no match.
+    result = _build_clone_source_map({"/World/envs/env_2/Sensor/Mesh"}, clone_plan)
+    assert result == {}
diff --git a/source/isaaclab/test/sim/test_simulation_context_visualizers.py b/source/isaaclab/test/sim/test_simulation_context_visualizers.py
index 3fe816b86d6d..40ee55884e56 100644
--- a/source/isaaclab/test/sim/test_simulation_context_visualizers.py
+++ b/source/isaaclab/test/sim/test_simulation_context_visualizers.py
@@ -194,6 +194,35 @@ def test_update_visualizers_handles_training_pause_loop():
     assert viz.step_calls == [0.0, 0.2]
 
 
+def test_reset_initializes_visualizers_before_playing_timeline():
+    """Initial visualizers must see the PhysX views created by reset before play() pumps timeline events."""
+    events: list[str] = []
+    ctx = object.__new__(SimulationContext)
+    ctx._visualizers = []
+
+    class _PhysicsManager:
+        @staticmethod
+        def reset(soft=False):
+            events.append(f"reset:{soft}")
+
+        @staticmethod
+        def play():
+            events.append("play")
+
+    def _initialize_visualizers():
+        events.append("initialize_visualizers")
+        ctx._visualizers = [_FakeVisualizer()]
+
+    ctx.physics_manager = _PhysicsManager()
+    ctx.initialize_visualizers = _initialize_visualizers
+
+    ctx.reset()
+
+    assert events == ["reset:False", "initialize_visualizers", "play"]
+    assert ctx.is_playing()
+    assert not ctx.is_stopped()
+
+
 class _DummyViserSceneDataProvider:
     @property
     def num_envs(self) -> int:
diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py
index 009949de4c9c..b66888146a30 100644
--- a/source/isaaclab/test/sim/test_spawn_from_files.py
+++ b/source/isaaclab/test/sim/test_spawn_from_files.py
@@ -44,7 +44,7 @@ def sim():
 def test_spawn_usd(sim):
     """Test loading prim from Usd file."""
     # Spawn cone
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd")
     prim = cfg.func("/World/Franka", cfg)
     # Check validity
     assert prim.IsValid()
diff --git a/source/isaaclab/test/sim/test_utils_prims.py b/source/isaaclab/test/sim/test_utils_prims.py
index 0d11afe22f45..12c958b332b7 100644
--- a/source/isaaclab/test/sim/test_utils_prims.py
+++ b/source/isaaclab/test/sim/test_utils_prims.py
@@ -84,7 +84,7 @@ def test_create_prim():
     assert prim.GetAttribute("size").Get() == 100
 
     # check adding USD reference
-    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
     prim = sim_utils.create_prim("/World/Test/USDReference", usd_path=franka_usd, stage=stage)
     # check USD reference set
     assert prim.IsValid()
@@ -328,7 +328,7 @@ def test_delete_prim():
     # check for usd reference
     prim = sim_utils.create_prim(
         "/World/Test/USDReference",
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
         stage=stage,
     )
     # delete prim
@@ -362,7 +362,7 @@ def test_get_usd_references():
     assert len(refs) == 0
 
     # Create a prim with a USD reference
-    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
     sim_utils.create_prim("/World/WithReference", usd_path=franka_usd, stage=stage)
     # Check that it has the expected reference (remote URLs are resolved to local paths)
     refs = sim_utils.get_usd_references("/World/WithReference", stage=stage)
diff --git a/source/isaaclab/test/sim/test_utils_queries.py b/source/isaaclab/test/sim/test_utils_queries.py
index 4f5a0758342c..8f1f30e89c36 100644
--- a/source/isaaclab/test/sim/test_utils_queries.py
+++ b/source/isaaclab/test/sim/test_utils_queries.py
@@ -98,7 +98,9 @@ def test_get_all_matching_child_prims():
     # note: isaac sim function does not support instanced prims so we add it here
     #  after the above test for the above test to still pass.
     sim_utils.create_prim(
-        "/World/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/Franka",
+        "Xform",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
     )
 
     # test with predicate
@@ -123,13 +125,19 @@ def test_get_first_matching_child_prim():
     # create scene
     sim_utils.create_prim("/World/Floor")
     sim_utils.create_prim(
-        "/World/env_1/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_1/Franka",
+        "Xform",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
     )
     sim_utils.create_prim(
-        "/World/env_2/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_2/Franka",
+        "Xform",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
     )
     sim_utils.create_prim(
-        "/World/env_0/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_0/Franka",
+        "Xform",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
     )
 
     # test
@@ -152,7 +160,9 @@ def test_find_global_fixed_joint_prim():
     # create scene
     sim_utils.create_prim("/World")
     sim_utils.create_prim("/World/ANYmal", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd")
-    sim_utils.create_prim("/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    sim_utils.create_prim(
+        "/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
+    )
     if "4.5" in ISAAC_NUCLEUS_DIR:
         franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd"
     else:
diff --git a/source/isaaclab/test/utils/test_assets.py b/source/isaaclab/test/utils/test_assets.py
index ab13a9a7c772..918f48e93191 100644
--- a/source/isaaclab/test/utils/test_assets.py
+++ b/source/isaaclab/test/utils/test_assets.py
@@ -18,7 +18,7 @@ def test_nucleus_connection():
 def test_check_file_path_nucleus():
     """Test checking a file path on the Nucleus server."""
     # robot file path
-    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd"
     # check file path
     assert assets_utils.check_file_path(usd_path) == 2
 
diff --git a/source/isaaclab_assets/config/extension.toml b/source/isaaclab_assets/config/extension.toml
index 055e3a5ff2f2..a178825d1965 100644
--- a/source/isaaclab_assets/config/extension.toml
+++ b/source/isaaclab_assets/config/extension.toml
@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "0.3.4"
+version = "0.3.5"
 
 # Description
 title =  "Isaac Lab Assets"
diff --git a/source/isaaclab_assets/docs/CHANGELOG.rst b/source/isaaclab_assets/docs/CHANGELOG.rst
index e9eda5822210..54abedf3749a 100644
--- a/source/isaaclab_assets/docs/CHANGELOG.rst
+++ b/source/isaaclab_assets/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.3.5 (2026-07-24)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :obj:`~isaaclab_assets.FRANKA_PANDA_CFG` to use the available legacy Franka Panda USD asset.
+
+
 0.3.4 (2026-05-12)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_assets/isaaclab_assets/robots/franka.py b/source/isaaclab_assets/isaaclab_assets/robots/franka.py
index f03d21760f90..bae058073561 100644
--- a/source/isaaclab_assets/isaaclab_assets/robots/franka.py
+++ b/source/isaaclab_assets/isaaclab_assets/robots/franka.py
@@ -25,7 +25,7 @@
 
 FRANKA_PANDA_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
         activate_contact_sensors=False,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
diff --git a/source/isaaclab_mimic/config/extension.toml b/source/isaaclab_mimic/config/extension.toml
index 7a5b5368d57e..3e04557ca396 100644
--- a/source/isaaclab_mimic/config/extension.toml
+++ b/source/isaaclab_mimic/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Semantic Versioning is used: https://semver.org/
-version = "1.3.1"
+version = "1.3.4"
 
 # Description
 category = "isaaclab"
diff --git a/source/isaaclab_mimic/docs/CHANGELOG.rst b/source/isaaclab_mimic/docs/CHANGELOG.rst
index ceb7a15c9ca8..8e31ff9d2752 100644
--- a/source/isaaclab_mimic/docs/CHANGELOG.rst
+++ b/source/isaaclab_mimic/docs/CHANGELOG.rst
@@ -1,6 +1,33 @@
 Changelog
 ---------
 
+1.3.4 (2026-07-24)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added support for environment-provided demonstration recorder configurations during Mimic generation.
+
+
+1.3.3 (2026-06-26)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Bumped the ``h5py`` requirement from a pinned ``==3.15.1`` to ``>=3.16.0``.
+
+
+1.3.2 (2026-06-14)
+~~~~~~~~~~~~~~~~~~
+
+Removed
+^^^^^^^
+
+* Removed the ``nvidia-srl-usd-to-urdf`` dependency now that Pink IK conversion uses Isaac Sim's URDF exporter.
+
+
 1.3.1 (2026-06-02)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/datagen/generation.py b/source/isaaclab_mimic/isaaclab_mimic/datagen/generation.py
index 72dc9c8d4c13..5001726e50c3 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/datagen/generation.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/datagen/generation.py
@@ -167,7 +167,7 @@ def setup_env_config(
         num_envs: Number of environments to run
         device: Device to run on
         generation_num_trials: Optional override for number of trials
-        recorder_cfg: Recorder manager configuration
+        recorder_cfg: Recorder manager configuration. Overrides recorder configurations supplied by the environment.
         dataset_compression: Whether to enable dataset compression
 
     Returns:
@@ -201,9 +201,8 @@ def setup_env_config(
 
     # Setup recorders
     if recorder_cfg is None:
-        env_cfg.recorders = ActionStateRecorderManagerCfg()
-    else:
-        env_cfg.recorders = recorder_cfg
+        recorder_cfg = env_cfg.mimic_recorder_config
+    env_cfg.recorders = recorder_cfg if recorder_cfg is not None else ActionStateRecorderManagerCfg()
     env_cfg.recorders.dataset_export_dir_path = output_dir
     env_cfg.recorders.dataset_filename = output_file_name
 
diff --git a/source/isaaclab_mimic/setup.py b/source/isaaclab_mimic/setup.py
index 7b1aa19f6b79..9af6c0125362 100644
--- a/source/isaaclab_mimic/setup.py
+++ b/source/isaaclab_mimic/setup.py
@@ -22,13 +22,9 @@
     # jupyter notebook
     "ipywidgets==8.1.5",
     # data collection
-    "h5py==3.15.1",
+    "h5py>=3.16.0",
 ]
 
-# nvidia-srl-usd-to-urdf depends on usd-core which has no aarch64 wheels
-if platform.machine() != "aarch64":
-    INSTALL_REQUIRES.append("nvidia-srl-usd-to-urdf")
-
 # robomimic has no Windows/macOS wheels; only add it on Linux
 if platform.system() == "Linux":
     INSTALL_REQUIRES.append("robomimic @ git+https://github.com/ARISE-Initiative/robomimic.git@v0.4.0")
diff --git a/source/isaaclab_newton/changelog.d/huidongc-fix-index-error-in-newton-replicate.rst b/source/isaaclab_newton/changelog.d/huidongc-fix-index-error-in-newton-replicate.rst
deleted file mode 100644
index 414f3a81720a..000000000000
--- a/source/isaaclab_newton/changelog.d/huidongc-fix-index-error-in-newton-replicate.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-Fixed
-^^^^^
-
-* Fixed ``IndexError`` in Newton heterogeneous replication when resolving
-  source-world indices for inactive clone-plan rows with no assigned
-  environment.
diff --git a/source/isaaclab_newton/changelog.d/huidongc-newton-replicate-source-env-xform.rst b/source/isaaclab_newton/changelog.d/huidongc-newton-replicate-source-env-xform.rst
deleted file mode 100644
index d99454ed8d72..000000000000
--- a/source/isaaclab_newton/changelog.d/huidongc-newton-replicate-source-env-xform.rst
+++ /dev/null
@@ -1,5 +0,0 @@
-Fixed
-^^^^^
-
-* Fixed Newton replication to apply per-source world transforms when adding
-  prototypes to cloned worlds, instead of always offsetting from ``env_0``.
diff --git a/source/isaaclab_newton/config/extension.toml b/source/isaaclab_newton/config/extension.toml
index d972ec0d9503..e67c1ac65c88 100644
--- a/source/isaaclab_newton/config/extension.toml
+++ b/source/isaaclab_newton/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.13.4"
+version = "0.13.6"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"
diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst
index 3979a7e7b63b..b64d8bb158f4 100644
--- a/source/isaaclab_newton/docs/CHANGELOG.rst
+++ b/source/isaaclab_newton/docs/CHANGELOG.rst
@@ -1,6 +1,29 @@
 Changelog
 ---------
 
+0.13.6 (2026-06-14)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added an explicit ``pyglet>=2.1.6,<3`` dependency for Newton GL video
+  recording support.
+
+
+0.13.5 (2026-06-13)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ``IndexError`` in Newton heterogeneous replication when resolving
+  source-world indices for inactive clone-plan rows with no assigned
+  environment.
+* Fixed Newton replication to apply per-source world transforms when adding
+  prototypes to cloned worlds, instead of always offsetting from ``env_0``.
+
+
 0.13.4 (2026-06-12)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_newton/setup.py b/source/isaaclab_newton/setup.py
index d6012a653d2c..55f9e29c608c 100644
--- a/source/isaaclab_newton/setup.py
+++ b/source/isaaclab_newton/setup.py
@@ -39,6 +39,7 @@ def run(self):
     "all": [
         "prettytable==3.3.0",
         "PyOpenGL-accelerate==3.1.10",
+        "pyglet>=2.1.6,<3",
         "newton[sim]==1.2.1",
     ],
 }
diff --git a/source/isaaclab_rl/config/extension.toml b/source/isaaclab_rl/config/extension.toml
index 504968069300..f7984db2a69b 100644
--- a/source/isaaclab_rl/config/extension.toml
+++ b/source/isaaclab_rl/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.4"
+version = "0.5.7"
 
 # Description
 title = "Isaac Lab RL"
diff --git a/source/isaaclab_rl/docs/CHANGELOG.rst b/source/isaaclab_rl/docs/CHANGELOG.rst
index 1df416d93604..dc893dcaaaf0 100644
--- a/source/isaaclab_rl/docs/CHANGELOG.rst
+++ b/source/isaaclab_rl/docs/CHANGELOG.rst
@@ -1,6 +1,47 @@
 Changelog
 ---------
 
+0.5.7 (2026-07-14)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed standalone ``isaaclab_rl`` installs downgrading ``pillow`` below the
+  version prebundled by Isaac Sim: ``moviepy`` 2.x caps ``pillow<12.0``, and
+  on aarch64 the forced downgrade deleted the prebundled copy that
+  ``omni.kit.pip_archive`` shares via per-file symlinks, breaking extension
+  startup. Added a ``pillow>=12.1.1`` floor so pip resolves ``moviepy`` 1.0.3
+  instead of touching pillow.
+* Fixed ``--video`` recording crashing on prerelease-allowing installs by
+  bounding ``moviepy`` to ``>=1.0.3,<2.0.0.dev0``: once the pillow floor
+  excludes stable ``moviepy`` 2.x, such resolvers otherwise fall through to
+  the broken ``2.0.0.dev2`` build whose ``write_videofile`` drops the clip
+  fps.
+
+
+0.5.6 (2026-07-11)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed docker installs deleting ``packaging`` from Isaac Sim's
+  ``omni.isaac.core_archive`` prebundle by removing the ``packaging<24`` bound
+  (no consumer requires it). The deletion dangled the symlink farm that
+  ``omni.services.pip_archive`` shares with it and broke 13 extensions at
+  startup.
+
+
+0.5.5 (2026-06-26)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Bumped the ``h5py`` requirement from a pinned ``==3.15.1`` to ``>=3.16.0``.
+
+
 0.5.4 (2026-06-10)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py
index 0a14506f2b06..633be582a5ed 100644
--- a/source/isaaclab_rl/setup.py
+++ b/source/isaaclab_rl/setup.py
@@ -26,12 +26,18 @@
     # configuration management
     "hydra-core",
     # data collection
-    "h5py==3.15.1",
+    "h5py>=3.16.0",
     # basic logger
     "tensorboard",
     # video recording
-    "moviepy",
-    "packaging<24",
+    # moviepy bounded to the 1.x line: stable 2.x caps pillow<12 (conflicts with the floor
+    # below), and prerelease-allowing resolvers otherwise fall through to the broken
+    # 2.0.0.dev2 build whose write_videofile crashes video recording.
+    "moviepy>=1.0.3,<2.0.0.dev0",
+    # pillow floor: without it, standalone isaaclab_rl installs let moviepy 2.x (pillow<12 cap)
+    # downgrade pillow and delete Isaac Sim's prebundled copy (nvbugs 6410989).
+    "pillow>=12.1.1",
+    "packaging",
     "tqdm==4.67.1",  # previous version was causing sys errors
 ]
 
diff --git a/source/isaaclab_tasks/changelog.d/huidongc-heterogeneous-ovrtx-cloning.skip b/source/isaaclab_tasks/changelog.d/huidongc-heterogeneous-ovrtx-cloning.skip
deleted file mode 100644
index e69de29bb2d1..000000000000
diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml
index 692422d1aad3..96582af86896 100644
--- a/source/isaaclab_tasks/config/extension.toml
+++ b/source/isaaclab_tasks/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.10.7"
+version = "1.10.9"
 
 # Description
 title = "Isaac Lab Environments"
diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
index 4a514d3343b5..39af2ee75c60 100644
--- a/source/isaaclab_tasks/docs/CHANGELOG.rst
+++ b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,27 @@
 Changelog
 ---------
 
+1.10.9 (2026-06-16)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Updated golden test images for the ``dexsuite_kuka_hetero`` Newton + Warp renderer
+  tests (``newton-newton_renderer-rgb`` and ``newton-newton_renderer-rgba``) to reflect
+  correct per-environment colors after fixing shape color resolution when USD cloning is
+  skipped.
+
+
+1.10.8 (2026-06-14)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Updated GR1T2 and G1-Inspire Pink IK task frame names to match URDFs generated by Isaac Sim's exporter.
+
+
 1.10.7 (2026-06-12)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py
index 107d9443695e..18acb1854e0a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env_cfg.py
@@ -47,7 +47,7 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
     robot = ArticulationCfg(
         prim_path="/World/envs/env_.*/Robot",
         spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
+            usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
             activate_contact_sensors=False,
             rigid_props=sim_utils.RigidBodyPropertiesCfg(
                 disable_gravity=False,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
index 0ac003f6a8e4..f3cada601dbe 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
@@ -82,14 +82,14 @@ def __post_init__(self):
                 fail_on_joint_limit_violation=False,
                 variable_input_tasks=[
                     FrameTaskCfg(
-                        frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                        frame="left_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
                     FrameTaskCfg(
-                        frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                        frame="right_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
@@ -102,8 +102,8 @@ def __post_init__(self):
                         cost=0.2,
                         lm_damping=1,
                         controlled_frames=[
-                            "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
-                            "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                            "left_hand_pitch_link",
+                            "right_hand_pitch_link",
                         ],
                         controlled_joints=[
                             "left_shoulder_pitch_joint",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
index 5afad1f238fc..880836d03fa1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
@@ -80,14 +80,14 @@ def __post_init__(self):
                 fail_on_joint_limit_violation=False,
                 variable_input_tasks=[
                     FrameTaskCfg(
-                        frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                        frame="left_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
                         gain=0.5,
                     ),
                     FrameTaskCfg(
-                        frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                        frame="right_hand_pitch_link",
                         position_cost=8.0,  # [cost] / [m]
                         orientation_cost=1.0,  # [cost] / [rad]
                         lm_damping=10,  # dampening for solver for step jumps
@@ -100,8 +100,8 @@ def __post_init__(self):
                         cost=0.2,
                         lm_damping=1,
                         controlled_frames=[
-                            "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
-                            "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                            "left_hand_pitch_link",
+                            "right_hand_pitch_link",
                         ],
                         controlled_joints=[
                             "left_shoulder_pitch_joint",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
index c736375ab96e..a0ab8a89afa6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
@@ -402,14 +402,14 @@ class ActionsCfg:
             fail_on_joint_limit_violation=False,
             variable_input_tasks=[
                 FrameTaskCfg(
-                    frame="GR1T2_fourier_hand_6dof_left_hand_pitch_link",
+                    frame="left_hand_pitch_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=1.0,  # [cost] / [rad]
                     lm_damping=12,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
                 FrameTaskCfg(
-                    frame="GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                    frame="right_hand_pitch_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=1.0,  # [cost] / [rad]
                     lm_damping=12,  # dampening for solver for step jumps
@@ -422,8 +422,8 @@ class ActionsCfg:
                     cost=0.5,
                     lm_damping=1,
                     controlled_frames=[
-                        "GR1T2_fourier_hand_6dof_left_hand_pitch_link",
-                        "GR1T2_fourier_hand_6dof_right_hand_pitch_link",
+                        "left_hand_pitch_link",
+                        "right_hand_pitch_link",
                     ],
                     controlled_joints=[
                         "left_shoulder_pitch_joint",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
index 8afa97e6a42c..e7412ac41ea7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
@@ -397,14 +397,14 @@ class ActionsCfg:
             fail_on_joint_limit_violation=False,
             variable_input_tasks=[
                 FrameTaskCfg(
-                    frame="g1_29dof_rev_1_0_left_wrist_yaw_link",
+                    frame="left_wrist_yaw_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=2.0,  # [cost] / [rad]
                     lm_damping=10,  # dampening for solver for step jumps
                     gain=0.5,
                 ),
                 FrameTaskCfg(
-                    frame="g1_29dof_rev_1_0_right_wrist_yaw_link",
+                    frame="right_wrist_yaw_link",
                     position_cost=8.0,  # [cost] / [m]
                     orientation_cost=2.0,  # [cost] / [rad]
                     lm_damping=10,  # dampening for solver for step jumps
@@ -414,8 +414,8 @@ class ActionsCfg:
                     cost=0.5,
                     lm_damping=1,
                     controlled_frames=[
-                        "g1_29dof_rev_1_0_left_wrist_yaw_link",
-                        "g1_29dof_rev_1_0_right_wrist_yaw_link",
+                        "left_wrist_yaw_link",
+                        "right_wrist_yaw_link",
                     ],
                     controlled_joints=[
                         "left_shoulder_pitch_joint",
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png
index 91ddf533bdb5..595a20df902d 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7bfebde993bf98092a3b266bdbd57ff1af2d3d82c810616abb332291d4eb56e
-size 3049
+oid sha256:1ca369871e6d34c24d99489985cffd9c453c1c48a777e94b99e03b9b88094b3e
+size 3505
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-depth.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-depth.png
index 1d04eb07dd8e..d823d5d96998 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-depth.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-depth.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:744496790b110dc97eb26fe8c893161c73c9e96a0f23c04b792b4df1e8463404
-size 515
+oid sha256:8f401da10698c1025957c57b8ca5ee359dab0449a78613941e3d9841df595794
+size 568
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png
index 9b403d7e1cc5..4f5134b7324e 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e3b847ffe199b75b0c8796dc78d496239a2c39607a9dec1413865c5a4450d90
-size 17432
+oid sha256:8b8eda157e0e14393bc2e62fa613053e860fcb798180ea7309bf4c7c9b3ebe8f
+size 17708
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png
index f40b9b9cfa9e..90c0486d00dc 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7adb9a8651057324d69e04462a60e3107128d1e47a8fe445cb3d54a631befa98
-size 19718
+oid sha256:71e877239d99259c5ed04dace9f5eb808fe25163d3d0f99d9a55d7ba9d156482
+size 20075
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-semantic_segmentation.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-semantic_segmentation.png
index fd369a1403d0..273343a01900 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-semantic_segmentation.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-semantic_segmentation.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:639b3b6800b5fea38e44135ee9f0c007f31a08d4fabda4653c6e68462d28734f
-size 635
+oid sha256:7681c231ab2c75ee863b70f61a252480cb42d2214ef2d4397f0aa418d95aa82a
+size 703
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
index 8170dea9175a..8a7e7f1bc6bc 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc5af580f592889835fb667b8b9cae521c67707e20b9cfc01f444bce0144fdbd
-size 1477
+oid sha256:2d6b61a08f44d446ac22ccd07a0afbcdabcf09cbc91aa45c3d1756631214d5ee
+size 1671
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
index 04e711058abf..969c2cce00c7 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e2d094d62aadbffe9bacd0778376fce4556d467878053791219bbf6e980fafbb
-size 3695
+oid sha256:f1b76b696ee4f8d3168d827c6dc4c42ef68f509ac4172eea871978c96d5d3a0f
+size 3882
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
index db3d75a0baeb..ba370705e550 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39fcf58c99779401be00c3674631d443cd41ef1134856ced697e45e8cd6ccac3
-size 4249
+oid sha256:eaafeb30c4f84da19e2dac3ebc791bdb43f1a615cf098fdbce2ac6bbccc753fe
+size 4451
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgb.png
index a08ff6fa472d..843191f727b8 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgb.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2f0f0d8bb9390f45824ab3338ed37eb0787ac70f6550c967bc2905148545fd58
-size 2541
+oid sha256:ffb6f5de5bfb0f28574db7f81a971dac8473f4946ab4c145519115028f1122eb
+size 1798
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgba.png
index b674e80c2aef..d8e9e6bc1144 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka_hetero/newton-newton_renderer-rgba.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8825ffcbfe8434a7874f1062d8b58b0be6cacaeebb20e48c5c58d4d68e163056
-size 3480
+oid sha256:58b30f938cbeb857a0c2ba6db9f64f96ae367236aad7f8f52ed54057e1e5a60a
+size 2833
diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py
index 1a941e5564f4..9264dde7625c 100644
--- a/source/isaaclab_tasks/test/rendering_test_utils.py
+++ b/source/isaaclab_tasks/test/rendering_test_utils.py
@@ -905,6 +905,11 @@ def rendering_test_dexsuite_kuka(
         get_settings_manager().set_bool("/isaaclab/runtime/has_ovrtx_renderer", True)
 
         _redirect_ovrtx_renderer_log_to_stdout(env_cfg)
+    elif renderer == "isaacsim_rtx_renderer":
+        # PR#5979 followup: on release/3.0.0-beta2, the flag is set in launch_simulation() as a workaround to keep
+        # USD cloning enabled when using Isaac RTX renderer. The test has to set the flag manually here to match the
+        # behavior of training.
+        get_settings_manager().set_bool("/isaaclab/runtime/needs_kit", True)
 
     # Disable the observation point-cloud visualisation markers (/Visuals/ObservationPointCloud).
     # The underlying point sampling uses the global numpy/torch RNG, so marker positions shift
@@ -944,6 +949,8 @@ def rendering_test_dexsuite_kuka(
             # native code could probably complain about leaks and trigger segmentation fault.
             env = None
 
+        # Reset the flags to False to avoid affecting other tests.
         if renderer == "ovrtx_renderer":
-            # Reset the flag to False to avoid affecting other tests.
             get_settings_manager().set_bool("/isaaclab/runtime/has_ovrtx_renderer", False)
+        elif renderer == "isaacsim_rtx_renderer":
+            get_settings_manager().set_bool("/isaaclab/runtime/needs_kit", False)
diff --git a/source/isaaclab_visualizers/changelog.d/zhengyuz-newton-pyglet-dependency.rst b/source/isaaclab_visualizers/changelog.d/zhengyuz-newton-pyglet-dependency.rst
new file mode 100644
index 000000000000..fca37d799265
--- /dev/null
+++ b/source/isaaclab_visualizers/changelog.d/zhengyuz-newton-pyglet-dependency.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Added an explicit ``pyglet>=2.1.6,<3`` dependency for the Newton visualizer
+  extra so the OpenGL viewer does not rely on ambient transitive installs.
diff --git a/source/isaaclab_visualizers/setup.py b/source/isaaclab_visualizers/setup.py
index 4ddbad0ddba9..e1391be7a0b4 100644
--- a/source/isaaclab_visualizers/setup.py
+++ b/source/isaaclab_visualizers/setup.py
@@ -26,6 +26,7 @@
         "warp-lang",
         "newton[sim]==1.2.1",
         "PyOpenGL-accelerate",
+        "pyglet>=2.1.6,<3",
         "imgui-bundle>=1.92.601",
         "typing-extensions==4.12.2",
         "pydantic>=2.7,<2.12",
@@ -33,7 +34,7 @@
     "rerun": [
         "newton[sim]==1.2.1",
         "rerun-sdk>=0.29.0",
-        "pyarrow==22.0.0",
+        "pyarrow==23.0.1",
     ],
     "viser": [
         "newton[sim]==1.2.1",
diff --git a/tools/wheel_builder/res/python_packages.toml b/tools/wheel_builder/res/python_packages.toml
index 013bbc4abfb7..58235e1e64ba 100644
--- a/tools/wheel_builder/res/python_packages.toml
+++ b/tools/wheel_builder/res/python_packages.toml
@@ -24,8 +24,9 @@ pyproject.dependencies.all = [
     "einops",  # needed for transformers, doesn't always auto-install
     "warp-lang==1.13.0",
     "matplotlib>=3.10.3",
-    # make sure this is consistent with isaac sim version
-    "pillow==12.1.1",
+    # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
+    # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
+    "pillow>=12.1.1",
     "botocore",
     # livestream
     # range chosen to coexist with isaacsim 6.0 (isaacsim-kernel pulls fastapi==0.117.1 -> starlette<0.49.0)
@@ -41,7 +42,7 @@ pyproject.dependencies.all = [
     # visualizers
     "imgui-bundle==1.92.601",
     "rerun-sdk>=0.29.0",
-    "pyarrow==22.0.0",
+    "pyarrow==23.0.1",
     # viser is intentionally not a base dep: viser>=1.0.16 pulls websockets>=13.1,
     # but isaacsim-kernel==6.0.0.0 pins websockets==12.0. Users who want the viser
     # visualizer install isaaclab[viser] explicitly (see the optional-dependencies
@@ -51,7 +52,7 @@ pyproject.dependencies.all = [
     "pydantic>=2.7,<2.12",
     "lazy_loader>=0.4",
     "pin ; platform_system == 'Linux'",
-    "pin-pink>=2.3.6 ; platform_system == 'Linux'",
+    "pin-pink==3.3.0 ; platform_system == 'Linux'",
     # ================================================================================
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_rl/setup.py
     # ================================================================================
@@ -67,8 +68,12 @@ pyproject.dependencies.all = [
     # basic logger
     "tensorboard",
     # video recording
-    "moviepy",
-    "packaging<24",
+    # moviepy bound and pillow floor mirror isaaclab_rl/setup.py: keep moviepy 2.x
+    # (pillow<12 cap) from downgrading pillow below Isaac Sim's prebundled version
+    # (nvbugs 6410989), and keep prerelease-allowing resolvers off the broken 2.0.0.dev2.
+    "moviepy>=1.0.3,<2.0.0.dev0",
+    "pillow>=12.1.1",
+    "packaging",
     "tqdm==4.67.1",
     # ================================================================================
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/setup.py
@@ -84,7 +89,7 @@ pyproject.dependencies.all = [
 ]
 pyproject.optional-dependencies.all = [
     # Isaac Sim
-    { "isaacsim" = ["isaacsim[all,extscache]==6.0.0.1"] },
+    { "isaacsim" = ["isaacsim[all,extscache]==6.0.1.0"] },
     # ================================================================================
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_newton/setup.py
     # ================================================================================
@@ -99,12 +104,6 @@ pyproject.optional-dependencies.all = [
     # RL libraries
     { "sb3" = ["stable-baselines3>=2.6", "tqdm", "rich"] },
     { "skrl" = ["skrl>=2.1.0"] },
-    # Do not pin aiohttp here: isaacsim-kernel==6.0.0.0 pins aiohttp==3.12.14.
-    { "rl-games" = [
-        "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
-        "gym",
-        "standard-distutils",
-    ] },
     { "rsl-rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
     { "rsl_rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
     # ================================================================================
@@ -120,9 +119,6 @@ pyproject.optional-dependencies.all = [
         "tqdm",
         "rich",
         "skrl>=2.1.0",
-        "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
-        "gym",
-        "standard-distutils",
         "rsl-rl-lib==5.0.1",
         "onnxscript>=0.5",
     ] },